CN105109488A - Intelligent car following system and method - Google Patents
Intelligent car following system and method Download PDFInfo
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- CN105109488A CN105109488A CN201510489188.5A CN201510489188A CN105109488A CN 105109488 A CN105109488 A CN 105109488A CN 201510489188 A CN201510489188 A CN 201510489188A CN 105109488 A CN105109488 A CN 105109488A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000694 effects Effects 0.000 claims abstract description 26
- 238000011156 evaluation Methods 0.000 claims abstract description 14
- 230000002708 enhancing effect Effects 0.000 claims description 49
- 238000005728 strengthening Methods 0.000 claims description 25
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000002787 reinforcement Effects 0.000 abstract 3
- 230000009471 action Effects 0.000 description 25
- 238000013528 artificial neural network Methods 0.000 description 22
- 230000004927 fusion Effects 0.000 description 4
- 230000001537 neural effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010606 normalization Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000002939 deleterious effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/205—Steering speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses an intelligent car following system and an intelligent car following method, and belongs to the technical field of car active safety. The intelligent car following system comprises an acquisition module, an evaluation module and a car following module, wherein the acquisition module is used for obtaining a deviation angle, a first car distance and a second car distance between a car and a front car; the first car distance is a distance between the car and the front car along a direction vertical to a lane line; the second car distance is a distance between the car and the front car along a direction parallel to the lane line; the evaluation module adopts a reinforcement learning mode and is capable of determining a reinforcement signal used for evaluating a car following effect according to the deviation angle, the first car distance, the second car distance and a set car following distance; and the car following module is used for adjusting a steering wheel, an accelerator or a brake of a car according to the deviation angle, the first car distance, the second car distance and the reinforcement signal. According to the intelligent car following system and the intelligent car following method, car jounce caused by repeated adjustment cannot occur, and the stability, the reliability and the comfort level of car following can be improved.
Description
Technical field
The present invention relates to automobile active safety technical field, particularly a kind of intelligence is with truck system and method.
Background technology
Along with increasing substantially of automobile pollution, traffic jam issue is more and more serious.During traffic congestion, chaufeur needs the state of constantly adjustment automobile (travelling as travelled, to right travel, straight-line travelling, stopping) left, causes chaufeur spirit high concentration, driving fatigue, improves the possibility that traffic accident occurs.
Intelligence with truck system can make chaufeur from traffic congestion during driving fatigue free, the generation avoided traffic accident.Current intelligence mainly adopts the device such as camera, radar to detect actual spacing, the deviation angle of vehicle and front vehicles with truck system, and adopt the mode of supervised learning, throttle or the brake of vehicle is regulated according to the difference of the following distance of actual spacing and setting, regulate the bearing circle of vehicle according to the difference of car angle of following of deviation angle and setting, difference is minimized.
Realizing in process of the present invention, contriver finds that prior art at least exists following problem:
Example is adjusted to throttle and brake, when actual spacing is greater than the following distance of setting, if front vehicles is due to emergency situations (as turning) just in time Reduced Speed Now, then regulate throttle according to the difference of the following distance of actual spacing and setting, actual spacing can be caused to be less than again the following distance of setting.Now regulate according to the difference of the following distance of actual spacing and setting again and brake, if front vehicles (as completing turning) is given it the gun again, then not only can cause actual spacing but also be greater than the following distance of setting.So repeatedly, vehicle constantly intersects and regulates throttle and brake, causes vehicle to jolt.Similarly, also there will be the phenomenon that bearing circle constantly intersects to turn left and turns right during adjustment bearing circle, cause vehicle to jolt.Poor with the stability of car, reliability and traveling comfort.
Summary of the invention
Following the problem that the stability of car, reliability and traveling comfort are poor in order to solve prior art, embodiments providing a kind of intelligence with truck system and method.Described technical scheme is as follows:
On the one hand, embodiments provide a kind of intelligence with truck system, described intelligence comprises with truck system:
Acquisition module, for obtaining the deviation angle of vehicle and front truck, the first spacing and the second spacing, described first spacing is described vehicle and the spacing of described front truck on edge perpendicular to lane mark direction, and described second spacing is that described vehicle and described front truck are parallel to the spacing in described lane mark direction on edge;
Evaluation module, for the following distance according to described deviation angle, described first spacing, described second spacing and setting, determines evaluating with the enhancing signal of car effect;
With car module, for adopting the mode strengthening study, according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake.
In a kind of possible implementation of the present invention, described evaluation module is used for,
Following formulae discovery is adopted to strengthen signal:
Wherein, 0≤α≤1,0≤β≤1,0≤γ≤1, alpha+beta+γ=1, R (t) is for strengthening signal, and t represents the moment, and α is the weights of the described deviation angle of setting, △ θ (t) is described deviation angle, and β is the weights of described second spacing of setting, △ y
rfor described following distance, △ y (t) is described second spacing, and γ is the weights of described first spacing of setting, △ x (t) for described first spacing, wd be the width of lane mark.
In the another kind of possible implementation of the present invention, described car module of following comprises:
Angle adjusting, for according to described deviation angle and described enhancing signal, determines the cireular frequency that described bearing circle regulates, and regulates described bearing circle by the described cireular frequency determined;
Spacing adjustment unit, for according to described second spacing and described enhancing signal, determines the speed of a motor vehicle regulating described throttle or described brake to reach, and regulates described throttle or described brake by the described speed of a motor vehicle determined.
Alternatively, described angle adjusting also for,
According to described deviation angle, described enhancing signal and described second spacing, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle according to the described cireular frequency determined.
In another possible implementation of the present invention, described acquisition module comprises:
Spacing collecting unit, for gathering described first spacing and described second spacing;
Angle calculation unit, for according to described first spacing and described second spacing, calculates described deviation angle.
On the other hand, embodiments provide a kind of intelligence with car method, described intelligence comprises with car method:
Obtain the deviation angle of vehicle and front truck, the first spacing and the second spacing, described first spacing is described vehicle and the spacing of described front truck on edge perpendicular to lane mark direction, and described second spacing is that described vehicle and described front truck are parallel to the spacing in described lane mark direction on edge;
According to the following distance of described deviation angle, described first spacing, described second spacing and setting, determine evaluating with the enhancing signal of car effect;
Adopt the mode strengthening study, according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake.
In a kind of possible implementation of the present invention, the described following distance according to described deviation angle, described first spacing, described second spacing and setting, determines evaluating with the enhancing signal of car effect, comprising:
Following formulae discovery is adopted to strengthen signal:
Wherein, 0≤α≤1,0≤β≤1,0≤γ≤1, alpha+beta+γ=1, R (t) is for strengthening signal, and t represents the moment, and α is the weights of the described deviation angle of setting, △ θ (t) is described deviation angle, and β is the weights of described second spacing of setting, △ y
rfor described following distance, △ y (t) is described second spacing, and γ is the weights of described first spacing of setting, △ x (t) for described first spacing, wd be the width of lane mark.
In the another kind of possible implementation of the present invention, described according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake, comprising:
According to described deviation angle and described enhancing signal, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle by the described cireular frequency determined;
According to described second spacing and described enhancing signal, determine the speed of a motor vehicle regulating described throttle or described brake to reach, and regulate described throttle or described brake by the described speed of a motor vehicle determined.
Alternatively, described according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake, also comprise:
According to described deviation angle, described enhancing signal and described second spacing, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle according to the described cireular frequency determined.
In another possible implementation of the present invention, the deviation angle of described acquisition vehicle and front truck, the first spacing and the second spacing, comprising:
Gather described first spacing and described second spacing;
According to described first spacing and described second spacing, calculate described deviation angle.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
By obtaining the deviation angle of vehicle and front truck, first spacing and the second spacing, according to deviation angle, first spacing, second spacing, and the following distance of setting, determine evaluating the enhancing signal with car effect, and adopt the mode strengthening study, according to deviation angle, first spacing, second spacing, and enhancing signal, regulate the bearing circle of vehicle, and throttle or brake, thus constantly according to car effect autonomous learning, vehicle is adjusted, the adjusting range of moving velocity only directly can not be determined according to the deviation amplitude between actual spacing and the dream car distance of setting, also the adjusting range of travel direction only directly can not be determined according to the deviation amplitude of the holding position of actual position and setting, therefore do not exist constantly accelerate with slow down between the problem that switches or constantly cause vehicle to jolt turning left and switch between turning right, with the stability of car, reliability and traveling comfort are all improved.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of intelligence of providing of the embodiment of the present invention one with truck system;
Fig. 2 is the structural representation of a kind of intelligence of providing of the embodiment of the present invention two with truck system;
Fig. 3 is the schematic diagram of the intelligence that provides of the embodiment of the present invention two with car environment;
Fig. 4 is the diagram of circuit of a kind of intelligence of providing of the embodiment of the present invention three with car method;
Fig. 5 is the diagram of circuit of a kind of intelligence of providing of the embodiment of the present invention four with car method.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Embodiment one
Embodiments provide a kind of intelligence with truck system, see Fig. 1, this intelligence comprises with truck system:
Acquisition module 101, for obtaining the deviation angle of vehicle and front truck, the first spacing and the second spacing, the first spacing is vehicle and front truck along the spacing perpendicular to lane mark direction, the spacing in the second spacing to be vehicle with front truck be parallel on edge lane mark direction;
Evaluation module 102, for the following distance according to deviation angle, the first spacing, the second spacing and setting, determines evaluating with the enhancing signal of car effect;
With car module 103, for adopting the mode strengthening study, according to deviation angle, the first spacing, the second spacing and strengthen signal, regulate the bearing circle of vehicle and throttle or brake.
Understandably, strengthen and learn to be the Autonomous Agent (agent) by an energy perception environment, autonomous learning selects the optimum action that can reach its target.The process of concrete autonomous learning is that agency makes action in its environment, environment can feed back, agency's feedback (successfully award, unsuccessfully punish) environmentally, action is familiar with and learns, thus in follow-up action, pay the utmost attention to correct behavior and avoid the behavior of mistake to occur, unceasing study like this, finally can determine optimum action.In conjunction with the present embodiment, acquisition module 101 obtains environmental information (i.e. the deviation angle of vehicle and front truck, the first spacing and the second spacing), with car module 103 first environmentally information determine arbitrarily an action policy (i.e. the adjusting range of the travel direction of vehicle), and carry out action (namely regulating the bearing circle of vehicle and throttle or brake) according to the action policy determined.Then acquisition module 101 obtains environmental information again, and evaluation module 102 situation of change is environmentally fed back (namely strengthening signal), with car module 103 according to enhancing signal update action policy, and carries out action according to the action policy after upgrading.So constantly adjustment, until determine optimum action policy (namely reaching best with car effect).
Further, after carrying out action with car module 103, the deviation angle of vehicle and front truck, the first spacing and the second spacing can change, and may improve, also possible deviation with car effect.If improved with car effect, the punishment given by strengthening signal reduces thereupon, and it is correct for learning action before with car module 103, can preferentially adopt this action to regulate later; If with car deleterious, increasing by strengthening the punishment successively given thereupon, learning to action to be before wrong with car module 103, can avoid adopting this action to regulate later.Particularly, when actual spacing is greater than the following distance of setting, first time is when causing actual spacing to be less than the following distance of setting due to front vehicles Reduced Speed Now, strengthen study module 102 to be punished accordingly by strengthening signal, just can avoid time secondary occurring identical situation as far as possible, decrease jolting of vehicle, improve with the stability of car, reliability and traveling comfort.Similarly, when actual position is relative to the holding position left avertence set, during the holding position right avertence that the track travelled due to vehicle for the first time becomes left-turning pathways from rectilinear stretch and causes actual position relative to setting, can be punished accordingly by strengthening signal with car module 103, just can avoid time secondary occurring identical situation as far as possible, decrease jolting of vehicle, improve stability, reliability and traveling comfort that track keeps.
The embodiment of the present invention is by obtaining the deviation angle of vehicle and front truck, first spacing and the second spacing, according to deviation angle, first spacing, second spacing, and the following distance of setting, determine evaluating the enhancing signal with car effect, and adopt the mode strengthening study, according to deviation angle, first spacing, second spacing, and enhancing signal, regulate the bearing circle of vehicle, and throttle or brake, thus constantly according to car effect autonomous learning, vehicle is adjusted, the adjusting range of moving velocity only directly can not be determined according to the deviation amplitude between actual spacing and the dream car distance of setting, also the adjusting range of travel direction only directly can not be determined according to the deviation amplitude of the holding position of actual position and setting, therefore do not exist constantly accelerate with slow down between the problem that switches or constantly cause vehicle to jolt turning left and switch between turning right, with the stability of car, reliability and traveling comfort are all improved.
Embodiment two
Embodiments provide a kind of intelligence with truck system, the present embodiment is the concrete discussion that the intelligence provided embodiment one follows truck system, and see Fig. 2, this intelligence comprises with truck system:
Acquisition module 201, for obtaining the deviation angle of vehicle and front truck, the first spacing and the second spacing, the first spacing is vehicle and front truck along the spacing perpendicular to lane mark direction, the spacing in the second spacing to be vehicle with front truck be parallel on edge lane mark direction;
Evaluation module 202, for the following distance according to deviation angle, the first spacing, the second spacing and setting, determines evaluating with the enhancing signal of car effect;
With car module 203, for adopting the mode strengthening study, according to deviation angle, the first spacing, the second spacing and strengthen signal, regulate the bearing circle of vehicle and throttle or brake.
In a kind of implementation of the present embodiment, acquisition module 201 can comprise:
Spacing collecting unit 201a, for gathering the first spacing and the second spacing;
Angle calculation unit 201b, for according to the first spacing and the second spacing, calculates deviation angle.
Particularly, composition graphs 3, angle calculation unit 201b may be used for,
Following formula (1) is adopted to calculate deviation angle:
Wherein, △ θ (t) is deviation angle, and △ x (t) is the first spacing, and △ y (t) is the second spacing.
In actual applications, spacing collecting unit 201a can be the sensor such as camera, radar (as millimeter wave radar, laser radar), and angle calculation unit 201b can be treater.
Alternatively, acquisition module 201 can also comprise:
Normalization method unit 201c, for by the first spacing, the second spacing, deviation angle normalization method.
Understandably, after the first spacing, the second spacing, deviation angle normalization method, span is limited, and convenient process, is also convenient to make system be applicable to all vehicles.
In the another kind of implementation of the present embodiment, evaluation module 202 may be used for,
Adopt following formula (2) to calculate and strengthen signal:
Wherein, 0≤α≤1,0≤β≤1,0≤γ≤1, alpha+beta+γ=1, R (t) is for strengthening signal, and t represents the moment, and α is the weights of the deviation angle of setting, and △ θ (t) is deviation angle, and β is the weights of the second spacing of setting, △ y
rfor following distance, △ y (t) is the second spacing, and γ is the weights of the first spacing of setting, and △ x (t) is the first spacing, and wd is the width of lane mark.
Easily know, △ x (t)=0, △ y
r-△ y (t)=0, during △ θ (t)=0, reach best with car effect, now R (t) reaches maximum (R (t)=0), awards.Along with △ x (t), | △ y
r-△ y (t) |, the increase of △ θ (t), R (t) reduces gradually (R (t) < 0), gives corresponding punishment.Unceasing study like this, until determine suitable range of regulation.
In actual applications, the weights of the weights of deviation angle, the second spacing, the weights of the first spacing can set the impact with car effect according to deviation angle, the second spacing, the first spacing.
Alternatively, acquisition module 201 can also be used for,
Obtain the width of lane mark.
In specific implementation, by the distance between detections of radar vehicle and two ends lane mark, then two distances of radar acquisition can be added, the width of lane mark can be reached.
In another implementation of the present embodiment, can comprise with car module 203:
Angle adjusting 203a, for according to deviation angle and enhancing signal, determines the cireular frequency that bearing circle regulates, and regulates bearing circle by the cireular frequency determined;
Spacing adjustment unit 203b, for according to the second spacing and enhancing signal, determines the speed of a motor vehicle regulating throttle or brake to reach, and regulates throttle or brake by the speed of a motor vehicle determined.
Particularly, angle adjusting 203a can comprise:
Action neural network, for according to deviation angle, determines the cireular frequency that bearing circle regulates;
Evaluate neural network, for the cireular frequency regulated according to deviation angle, enhancing signal and bearing circle, produce cost signal, cost signal is for representing enhancing signal; According to cost signal, regulate the neural network weight evaluating neural network, to minimize cost signal and the error strengthening signal;
Action neural network also for, according to the cost signal that the evaluation neural network after neural network weight regulates produces, regulate the neural network weight of action neural network, obtain the cireular frequency that optimum bearing circle regulates, to minimize the error of cost signal and expectation value, the cost signal that expectation value is deviation angle to be produced when being 0.
Particularly, spacing adjustment unit 203b can comprise:
Action neural network, for according to the second spacing, determines the speed of a motor vehicle regulating throttle or brake to reach;
Evaluate neural network, for the speed of a motor vehicle reached according to the second spacing, enhancing signal and adjustment throttle or brake, produce cost signal, cost signal is for representing enhancing signal; According to cost signal, regulate the neural network weight evaluating neural network, to minimize cost signal and the error strengthening signal;
Action neural network also for, according to the cost signal that the evaluation neural network after neural network weight regulates produces, regulate the neural network weight of action neural network, obtain the speed of a motor vehicle that optimum adjustment throttle or brake reach, to minimize the error of cost signal and expectation value, the cost signal produced during the following distance of expectation value to be the second spacing be setting.
In specific implementation, the action neural network of angle adjusting 203a and the action neural network of spacing adjustment unit can adopt same neural fusion, and also can adopt different neural fusion, the present invention is not restricted this.The evaluation neural network of angle adjusting 203a and the evaluation neural network of spacing adjustment unit can adopt same neural fusion, and also can adopt different neural fusion, the present invention is not restricted this.
In actual applications, first deviation angle can be converted into the adjustment angle of bearing circle, then according to the adjustment angle of bearing circle, determine the cireular frequency that bearing circle regulates.
Particularly, the adjustment angle that deviation angle is converted into bearing circle can adopt following formula (3) to realize:
Δδ(t)＝k·Δθ(t)；(3)
Wherein, the adjustment angle that △ δ (t) is bearing circle, k is setting value, as 15 or 16, △ θ (t) be deviation angle.
Particularly, spacing adjustment unit 203b may be used for,
When the second spacing is greater than the following distance of setting, the speed of a motor vehicle that raising throttle or brake reach;
When the second spacing is less than the following distance of setting, the speed of a motor vehicle that reduction throttle or brake reach.
Alternatively, angle adjusting 203a can also be used for,
According to deviation angle, strengthen signal and the second spacing, determine the cireular frequency that bearing circle regulates, and regulate bearing circle according to the cireular frequency determined.
Particularly, angle adjusting 203a may be used for,
When the second spacing is greater than the following distance of setting, reduce the cireular frequency that bearing circle regulates;
When the second spacing is less than the following distance of setting, improve the cireular frequency that bearing circle regulates.
Understandably, when the second spacing is greater than the following distance of setting, vehicle can give it the gun, front vehicles is lost to prevent because spacing is comparatively large, if the cireular frequency of now bearing circle adjustment is larger, then can cause vehicle racing, drift, out of control, easily cause traffic accident, therefore now can reduce the cireular frequency that bearing circle regulates.When the second spacing is less than the following distance of setting, vehicle needs to revise deviation angle fast, therefore now needs the cireular frequency improving bearing circle adjustment, and now vehicle meeting Reduced Speed Now, also can provide space for bearing circle regulates, ensure vehicle smooth-ride simultaneously.
The embodiment of the present invention is by obtaining the deviation angle of vehicle and front truck, first spacing and the second spacing, according to deviation angle, first spacing, second spacing, and the following distance of setting, determine evaluating the enhancing signal with car effect, and adopt the mode strengthening study, according to deviation angle, first spacing, second spacing, and enhancing signal, regulate the bearing circle of vehicle, and throttle or brake, thus constantly according to car effect autonomous learning, vehicle is adjusted, the adjusting range of moving velocity only directly can not be determined according to the deviation amplitude between actual spacing and the dream car distance of setting, also the adjusting range of travel direction only directly can not be determined according to the deviation amplitude of the holding position of actual position and setting, therefore do not exist constantly accelerate with slow down between the problem that switches or constantly cause vehicle to jolt turning left and switch between turning right, with the stability of car, reliability and traveling comfort are all improved.
Embodiment three
See Fig. 4, embodiments provide a kind of intelligence with car method, be applicable to intelligence that embodiment one or embodiment two provide with truck system, this intelligence follows car method to comprise:
Step 301: obtain the deviation angle of vehicle and front truck, the first spacing and the second spacing.
In this enforcement, the first spacing is vehicle and the spacing of front truck on edge perpendicular to lane mark direction, and the second spacing is that vehicle and front truck are parallel to the spacing in lane mark direction on edge.
Step 302: according to the following distance of deviation angle, the first spacing, the second spacing and setting, determine evaluating with the enhancing signal of car effect.
Step 303: adopt the mode strengthening study, according to deviation angle, the first spacing, the second spacing and strengthen signal, regulates the bearing circle of vehicle and throttle or brake.
The embodiment of the present invention is by obtaining the deviation angle of vehicle and front truck, first spacing and the second spacing, according to deviation angle, first spacing, second spacing, and the following distance of setting, determine evaluating the enhancing signal with car effect, and adopt the mode strengthening study, according to deviation angle, first spacing, second spacing, and enhancing signal, regulate the bearing circle of vehicle, and throttle or brake, thus constantly according to car effect autonomous learning, vehicle is adjusted, the adjusting range of moving velocity only directly can not be determined according to the deviation amplitude between actual spacing and the dream car distance of setting, also the adjusting range of travel direction only directly can not be determined according to the deviation amplitude of the holding position of actual position and setting, therefore do not exist constantly accelerate with slow down between the problem that switches or constantly cause vehicle to jolt turning left and switch between turning right, with the stability of car, reliability and traveling comfort are all improved.
Embodiment four
See Fig. 5, embodiments provide a kind of intelligence with car method, be applicable to intelligence that embodiment one or embodiment two provide with truck system, the present embodiment is the concrete discussion with car method of the intelligence that provides embodiment three, and this intelligence follows car method to comprise:
Step 400: the instruction receiving the unlatching Car following model of user's input.
Understandably, after the instruction receiving user, then perform step 401-403, the non-not strategic point of vehicle can be avoided constantly to obtain the situation (deviation angle of vehicle and front truck, the first spacing and the second spacing) of vehicle.
Step 401: obtain the deviation angle of vehicle and front truck, the first spacing and the second spacing.
In this enforcement, the first spacing is vehicle and the spacing of front truck on edge perpendicular to lane mark direction, and the second spacing is that vehicle and front truck are parallel to the spacing in lane mark direction on edge.
In a kind of implementation of the present embodiment, this step 401 can comprise:
Gather the first spacing and the second spacing;
According to the first spacing and the second spacing, calculate deviation angle.
Step 402: according to the following distance of deviation angle, the first spacing, the second spacing and setting, determine evaluating with the enhancing signal of car effect.
In a kind of implementation of embodiment, this step 402 can comprise:
Adopt formula (2) to calculate and strengthen signal.
Step 403: adopt the mode strengthening study, according to deviation angle, the first spacing, the second spacing and strengthen signal, regulates the bearing circle of vehicle and throttle or brake.
In a kind of implementation of the present embodiment, this step 403 can comprise:
According to deviation angle and enhancing signal, determine the cireular frequency that bearing circle regulates, and regulate bearing circle by the cireular frequency determined;
According to the second spacing and enhancing signal, determine the speed of a motor vehicle regulating throttle or brake to reach, and regulate throttle or brake by the speed of a motor vehicle determined.
Alternatively, this step 403 can also comprise:
According to deviation angle, strengthen signal and the second spacing, determine the cireular frequency that bearing circle regulates, and regulate bearing circle according to the cireular frequency determined.
Alternatively, a step 401-403 can be performed, as 20 milliseconds every the time gap of setting.
The embodiment of the present invention is by obtaining the deviation angle of vehicle and front truck, first spacing and the second spacing, according to deviation angle, first spacing, second spacing, and the following distance of setting, determine evaluating the enhancing signal with car effect, and adopt the mode strengthening study, according to deviation angle, first spacing, second spacing, and enhancing signal, regulate the bearing circle of vehicle, and throttle or brake, thus constantly according to car effect autonomous learning, vehicle is adjusted, the adjusting range of moving velocity only directly can not be determined according to the deviation amplitude between actual spacing and the dream car distance of setting, also the adjusting range of travel direction only directly can not be determined according to the deviation amplitude of the holding position of actual position and setting, therefore do not exist constantly accelerate with slow down between the problem that switches or constantly cause vehicle to jolt turning left and switch between turning right, with the stability of car, reliability and traveling comfort are all improved.
It should be noted that: the intelligence that above-described embodiment provides follows truck system when intelligence is with car, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by system is divided into different functional modules, to complete all or part of function described above.In addition, the intelligence that above-described embodiment provides belongs to same design with truck system and intelligence with car embodiment of the method, and its specific implementation process refers to embodiment of the method, repeats no more here.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. intelligence is with a truck system, it is characterized in that, described intelligence comprises with truck system:
Acquisition module, for obtaining the deviation angle of vehicle and front truck, the first spacing and the second spacing, described first spacing is described vehicle and the spacing of described front truck on edge perpendicular to lane mark direction, and described second spacing is that described vehicle and described front truck are parallel to the spacing in described lane mark direction on edge;
Evaluation module, for the following distance according to described deviation angle, described first spacing, described second spacing and setting, determines evaluating with the enhancing signal of car effect;
With car module, for adopting the mode strengthening study, according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake.
2. intelligence according to claim 1 is with truck system, and it is characterized in that, described evaluation module is used for,
Following formulae discovery is adopted to strengthen signal:
Wherein, 0≤α≤1,0≤β≤1,0≤γ≤1, alpha+beta+γ=1, R (t) is for strengthening signal, and t represents the moment, and α is the weights of the described deviation angle of setting, △ θ (t) is described deviation angle, and β is the weights of described second spacing of setting, △ y
rfor described following distance, △ y (t) is described second spacing, and γ is the weights of described first spacing of setting, △ x (t) for described first spacing, wd be the width of lane mark.
3. intelligence according to claim 1 and 2 is with truck system, it is characterized in that, described car module of following comprises:
Angle adjusting, for according to described deviation angle and described enhancing signal, determines the cireular frequency that described bearing circle regulates, and regulates described bearing circle by the described cireular frequency determined;
Spacing adjustment unit, for according to described second spacing and described enhancing signal, determines the speed of a motor vehicle regulating described throttle or described brake to reach, and regulates described throttle or described brake by the described speed of a motor vehicle determined.
4. intelligence according to claim 3 is with truck system, it is characterized in that, described angle adjusting also for,
According to described deviation angle, described enhancing signal and described second spacing, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle according to the described cireular frequency determined.
5. intelligence according to claim 1 and 2 is with truck system, and it is characterized in that, described acquisition module comprises:
Spacing collecting unit, for gathering described first spacing and described second spacing;
Angle calculation unit, for according to described first spacing and described second spacing, calculates described deviation angle.
6. intelligence is with a car method, it is characterized in that, described intelligence comprises with car method:
Obtain the deviation angle of vehicle and front truck, the first spacing and the second spacing, described first spacing is described vehicle and the spacing of described front truck on edge perpendicular to lane mark direction, and described second spacing is that described vehicle and described front truck are parallel to the spacing in described lane mark direction on edge;
According to the following distance of described deviation angle, described first spacing, described second spacing and setting, determine evaluating with the enhancing signal of car effect;
Adopt the mode strengthening study, according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulate the bearing circle of described vehicle and throttle or brake.
7. intelligence according to claim 6 is with car method, it is characterized in that, the described following distance according to described deviation angle, described first spacing, described second spacing and setting, determines evaluating the enhancing signal with car effect, comprising:
Following formulae discovery is adopted to strengthen signal:
Wherein, 0≤α≤1,0≤β≤1,0≤γ≤1, alpha+beta+γ=1, R (t) is for strengthening signal, and t represents the moment, and α is the weights of the described deviation angle of setting, △ θ (t) is described deviation angle, and β is the weights of described second spacing of setting, △ y
rfor described following distance, △ y (t) is described second spacing, and γ is the weights of described first spacing of setting, △ x (t) for described first spacing, wd be the width of lane mark.
8. the intelligence according to claim 6 or 7 with car method, is characterized in that, described according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulates the bearing circle of described vehicle and throttle or brake, comprising:
According to described deviation angle and described enhancing signal, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle by the described cireular frequency determined;
According to described second spacing and described enhancing signal, determine the speed of a motor vehicle regulating described throttle or described brake to reach, and regulate described throttle or described brake by the described speed of a motor vehicle determined.
9. intelligence according to claim 8 is with car method, it is characterized in that, described according to described deviation angle, described first spacing, described second spacing and described enhancing signal, regulates the bearing circle of described vehicle and throttle or brake, also comprises:
According to described deviation angle, described enhancing signal and described second spacing, determine the cireular frequency that described bearing circle regulates, and regulate described bearing circle according to the described cireular frequency determined.
10. the intelligence according to claim 6 or 7 with car method, is characterized in that, the deviation angle of described acquisition vehicle and front truck, the first spacing and the second spacing, comprising:
Gather described first spacing and described second spacing;
According to described first spacing and described second spacing, calculate described deviation angle.
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