CN106681318A - Vehicle safety control system and method for lane line detection temporary loss in automatic drive - Google Patents
Vehicle safety control system and method for lane line detection temporary loss in automatic drive Download PDFInfo
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- CN106681318A CN106681318A CN201611125581.7A CN201611125581A CN106681318A CN 106681318 A CN106681318 A CN 106681318A CN 201611125581 A CN201611125581 A CN 201611125581A CN 106681318 A CN106681318 A CN 106681318A
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 230000001052 transient effect Effects 0.000 claims description 24
- 230000008859 change Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000003287 optical effect Effects 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000007420 reactivation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a vehicle safety control system and method for lane line detection temporary loss in automatic drive, and the system comprises an automatic drive decision-making module, an image processing module, a light controller, an execution mechanism, an HMI module and a camera, wherein the image processing module, the light controller, the execution mechanism and the HMI module are respectively connected with the automatic drive decision-making module, and the camera is connected with the image processing module. The image processing module carries out the processing of an image, and carries out the detection of a lane line. The automatic drive decision-making module carries out the planning of a driving path of a vehicle based on the lane line, and controls the running of the vehicle. When the image processing module cannot detect the lane line, the automatic drive decision-making module obtains a passable region of a road according to a historical track of the vehicle and the information detected by a radar group, and controls the vehicle to reduce the speed and run in the passable region, and the light controller turns on an emergency light, and the HMI module continuously reminds a driver of taking charge of the vehicle. When the lane line cannot be detected in a short time, the system can guarantee that the vehicle is in a safety state, and guarantees the safety of the driver.
Description
Technical field
The invention belongs to automatic Pilot technology, and in particular to the vehicle of lane detection transient loss in a kind of automatic Pilot
Safety control system and method.
Background technology
Highway automated driving system is the automated driving system for highway structured road, in highway
Lane line is detected by the cooperation of forward sight photographic head and image processing module on main road, to determine vehicle and lane line
Relative position, so as to control direction disk is travelled along lane line or switches road；And by the radar sensor pair around vehicle body
Vehicle's surroundings traffic environment is detected, so as to certain safe condition.
But if incomplete or insufficient light occurs in the lane line on road, image processing module just cannot be from photographic head institute
Lane line is detected in the image of collection, lane line is can't detect, automated driving system cannot just cook up the traveling road of vehicle
Footpath, is accomplished by driver this when come adapter vehicle, but if driver is not concerned with driving behavior, driver just cannot and
When respond the prompting of vehicle, but automated driving system directly can exit, and will certainly cause unnecessary vehicle accident.
Therefore, it is necessary to develop the vehicle safety control system of lane detection transient loss and side in a kind of automatic Pilot
Method.
The content of the invention
It is an object of the invention to provide in a kind of automatic Pilot lane detection transient loss vehicle safety control system
And method, when lane line cannot be detected within the of short duration time, can ensure that vehicle is in a safe condition, it is ensured that the peace of driver
Entirely.
The vehicle safety control system of lane detection transient loss in automatic Pilot of the present invention, including shooting
Head, radar group, image processing module, lamp dimmer, automatic Pilot decision-making module, actuator and HMI module；
The photographic head is connected with image processing module；
The automatic Pilot decision-making module is connected with image processing module, lamp dimmer, actuator, HMI module respectively；
The photographic head is used for the image of collection vehicle road surface ahead；
The radar group at least includes four angles and the radar of dead ahead for being separately mounted to vehicle, for entering to surrounding
Row detection；
Described image processing module is processed to image, the detection of driveway line of going forward side by side；
The automatic Pilot decision-making module cooks up the driving path of vehicle based on detected lane line, and controls vehicle
Actuator makes vehicle travel according to driving path, and when image processing module cannot detect lane line, automatic Pilot is determined
Plan module according to the historical track and radar group of vehicle the testing result of surrounding is obtained road can traffic areas, perform
Mechanism controls vehicle can Reduced Speed Now in traffic areas, and automatic Pilot decision-making module send light emergency light control instruction to
Lamp dimmer, lamp dimmer light emergency light, and constantly remind driver's adapter vehicle by HMI module.
The radar adopts millimetre-wave radar, for road edge or expressway guardrail, and the detection of barrier.
The photographic head is arranged on the front windshield of right ahead.
The vehicle safety control method of lane detection transient loss in a kind of automatic Pilot of the present invention, using this
The vehicle safety control system of lane detection transient loss in the described automatic Pilot of invention, its method are comprised the following steps：
Step one, the image on photographic head Real-time Collection vehicle front road surface, image processing module enter driveway line based on the image
Detection；
Step 2, judge to detect whether normal to lane line, if so, automatic Pilot decision-making module is according to the lane line for being detected
The driving path of vehicle is cooked up, the actuator for controlling vehicle makes vehicle travel according to the driving path, and return to step one；
If it is not, then entering step 3；
Step 3, judge in X detection cycle to lane line detect whether recover normal, if so, automatic Pilot decision-making
Module cooks up the driving path of vehicle according to the lane line for being detected, and controls the actuator of vehicle and make vehicle according to the row
Sail route, and return to step one；If it is not, then entering step 4；
Step 4, automatic Pilot decision-making module obtain road according to the information detected by the historical track and radar group of vehicle can
Traffic areas, control vehicle here can be travelled in traffic areas, and automatic Pilot decision-making module sends deceleration instruction and gives execution machine
Structure, actuating mechanism controls vehicle deceleration, automatic Pilot decision-making module also sends lights emergency light control instruction to lamp dimmer,
Lamp dimmer lights emergency light, and constantly reminds driver's adapter vehicle by HMI module, until driver's adapter vehicle.
In the step 4, also include：Judge to lane line detect whether recover normal, if so, then automatic Pilot
Decision-making module cooks up the driving path of vehicle according to the lane line for being detected, control actuator makes vehicle according to the traveling road
Footpath travels, and controls vehicle continuation deceleration, until driver's adapter vehicle.
The automatic Pilot decision-making module obtains road according to the information detected by the historical track and radar group of vehicle
Can traffic areas, specially：
Automatic Pilot decision-making module is according to the of short duration running orbit for estimating vehicle of historical track, and is detected with reference to millimetre-wave radar
Guardrail information, obtain track situation of change, in conjunction with the obstacle information detected by millimetre-wave radar, obtaining road can lead to
Row region.
The present invention has advantages below：It is interior in short-term lane line cannot be recognized accurately in the case of, vehicle can be entered
Row security control, it is to avoid driver adapter vehicle and the security risk that causes not in time, substantially increases automated driving system
The ability of reply special operation condition.
Description of the drawings
Fig. 1 is the theory diagram of the present invention；
Fig. 2 is the flow chart of the present invention；
In figure：1st, radar, 2, image processing module, 3, photographic head, 4, lamp dimmer, 5, automatic Pilot decision-making module, 6, hold
Row mechanism, 7, HMI module.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The vehicle safety control system of lane detection transient loss in automatic Pilot as shown in Figure 1, including photographic head
3rd, radar group, image processing module 2, lamp dimmer 4, automatic Pilot decision-making module 5, actuator 6 and HMI（I.e.：Man-machine boundary
Face）Module 7.In the present invention, actuator 6 include the electromotor of electric boosting steering system, electronic brake system,electronic antiskid system and vehicle and
Variator.The annexation of each module is as follows above：Photographic head 3 is connected with image processing module 2；Automatic Pilot decision-making module 5
It is connected with image processing module 2, lamp dimmer 4, actuator 6, HMI module 7 respectively.
The photographic head 3 is arranged on the front windshield of right ahead, for the image of collection vehicle road surface ahead.
The radar group includes four angles and the radar 1 of dead ahead for being separately mounted to vehicle, for surrounding
Detected.The quantity of radar 1 can be appropriate according to the actual requirements adjustment.In the present embodiment, radar 1 adopts millimetre-wave radar, uses
In the detection to road edge or expressway guardrail, to provide road edge information；Simultaneously for the detection to barrier, to hide
Keep away surrounding vehicles and barrier.
Described image processing module 2 is processed to image, the detection of driveway line of going forward side by side.
The automatic Pilot decision-making module 5 cooks up the driving path of vehicle based on detected lane line, and controls
The actuator 6 of vehicle（I.e. automatic Pilot decision-making module 5 provides steering wheel（Torque command）And throttle（Torque command）, braking
Controlling organization（Deceleration order）Control targe amount）Vehicle is made to travel according to driving path.And cannot in image processing module 2
When detecting lane line, detection of the automatic Pilot decision-making module 5 according to the historical track and radar group of vehicle to surrounding
As a result obtain road can traffic areas, actuator 6 control vehicle can Reduced Speed Now in traffic areas, such as：Automatic Pilot
Decision-making module 5 makes steering wheel not have the saltus step of step evolution based on controlling steering wheel in traffic areas；Cancel to vehicle simultaneously
The Driving control of longitudinal direction.Automatic Pilot decision-making module 5 sends and lights emergency light control instruction to lamp dimmer 4, signal light control
Device 4 lights emergency light, to remind other vehicles to note；And driver's adapter vehicle is constantly reminded by HMI module 7.
The vehicle safety control method of lane detection transient loss in a kind of automatic Pilot of the present invention, using this
The vehicle safety control system of lane detection transient loss in the described automatic Pilot of invention, its method are comprised the following steps：
Step one, the image on 3 Real-time Collection vehicle front road surface of photographic head, image processing module 2 enter runway based on the image
The detection of line.
Step 2, judge detecting whether normal to lane line, if so, automatic Pilot decision-making module 5 is according to being detected
Lane line is cooked up the driving path of vehicle and retains one section of route planning information for crossing（That is historical track）Also do not reach
The route planning information in section, the actuator 6 of the control vehicle of automatic Pilot decision-making module 5 make vehicle according to the driving path row
Sail, and return to step one；If it is not, open safe mode, i.e., into the vehicle peace of lane detection transient loss in automatic Pilot
Full control system, then into step 3.
Step 3, judge in X detection cycle to lane line detect whether recover normal, if so, automatic Pilot
Decision-making module 5 cooks up the driving path of vehicle according to the lane line for being detected, and control the actuator 6 of vehicle make vehicle by
Travel according to the driving path, during lane line is not detected by this section, vehicle can be according to the road for also not reaching section for being stored
Footpath planning information continues traveling, and return to step one；If it is not, i.e. represent vehicle rolled the section for having stored away from, now without
The driving path planned, then into step 4.
Step 4, automatic Pilot decision-making module 5 are obtained according to the information detected by the historical track and radar group of vehicle
Road can traffic areas, control vehicle here can traveling in traffic areas, and automatic Pilot decision-making module 5 send deceleration instruction to
Actuator 6, the control vehicle deceleration of actuator 6（No longer apply torque request to electromotor）, automatic Pilot decision-making module 5
Also send and emergency light control instruction is lighted to lamp dimmer 4, lamp dimmer 4 lights emergency light, to remind other vehicles to note
Meaning；Driver's adapter vehicle is constantly reminded by HMI module 7 simultaneously, until driver's adapter vehicle, safe mode is exited, i.e.,
Exit the vehicle safety control system of lane detection transient loss in automatic Pilot.
In the step 4, the automatic Pilot decision-making module 5 is detected according to the historical track and radar group of vehicle
Information obtain road can traffic areas, specially：Automatic Pilot decision-making module 5 is according to the of short duration fortune for estimating vehicle of historical track
Row track, and the guardrail information detected with reference to millimetre-wave radar, obtain the situation of change in track（Such as：Track be bend also
It is straight way, bend has how curved etc., the distance change of vehicle and the guardrail of highway both sides can be obtained by millimetre-wave radar
Situation, by this, estimates the change in track）, in conjunction with the obstacle information detected by millimetre-wave radar, obtaining road can lead to
Row region.
In the step 4, also include：Judge to lane line detect whether recover normal, if so, then automatic Pilot
Decision-making module 5 cooks up the driving path of vehicle according to the lane line for being detected, control actuator 6 makes vehicle according to the traveling
Route, and vehicle continuation deceleration is controlled, until driver's adapter vehicle.
In automatic Pilot of the present invention, the vehicle safety control system of lane detection transient loss is used as driving automatically
Sail the subsystem of system, when lane detection is normal, i.e. automated driving system normal operation, when lane detection it is abnormal
When, vehicle is controlled by the vehicle safety control system of lane detection transient loss in automatic Pilot.Work as driving
After member's adapter vehicle, in automatic Pilot, the vehicle safety control system of lane detection transient loss is automatically exited from, and works as driver
The non-reactivation automated driving system in X detection cycle, then in X detection cycle backed off after random automated driving system.
The present invention is in the case where the sensor architecture of existing automated driving system is constant（I.e. five millimetre-wave radars and one
The combination of individual photographic head）, by increasing safer control logic, safety is carried out to vehicle when lane line transient loss
Control, reduces automated driving system and exits vehicle safety risk caused by institute because of lane line transient loss completely.
Claims (6)
1. in a kind of automatic Pilot lane detection transient loss vehicle safety control system, it is characterised in that：Including shooting
Head（3）, radar group, image processing module（2）, lamp dimmer（4）, automatic Pilot decision-making module（5）, actuator（6）With
HMI module（7）；
The photographic head（3）With image processing module（2）Connection；
The automatic Pilot decision-making module（5）Respectively with image processing module（2）, lamp dimmer（4）, actuator（6）、
HMI module（7）Connection；
The photographic head（3）For the image of collection vehicle road surface ahead；
The radar group at least includes four angles and the radar of dead ahead for being separately mounted to vehicle（1）, for ring around
Detected in border；
Described image processing module（2）Image is processed, the detection of driveway line of going forward side by side；
The automatic Pilot decision-making module（5）The driving path of vehicle is cooked up based on detected lane line, and controls car
Actuator vehicle is travelled according to driving path, and in image processing module（2）When cannot detect lane line, automatically
Driving Decision-making module（5）Road is obtained to the testing result of surrounding according to the historical track and radar group of vehicle to pass through
Region, actuator（6）Control vehicle can Reduced Speed Now in traffic areas, and automatic Pilot decision-making module（5）Transmission is lighted
Emergency light control instruction is to lamp dimmer（4）, lamp dimmer（4）Emergency light is lighted, and passes through HMI module（7）Constantly carry
Awake driver's adapter vehicle.
2. in automatic Pilot according to claim 1 lane detection transient loss vehicle safety control system, which is special
Levy and be：The radar（1）Using millimetre-wave radar, for road edge or expressway guardrail, and the detection of barrier.
3. in automatic Pilot according to claim 1 and 2 lane detection transient loss vehicle safety control system, its
It is characterised by：The photographic head（3）On the front windshield of right ahead.
4. in a kind of automatic Pilot lane detection transient loss vehicle safety control method, it is characterised in that：Using such as power
Profit requires the vehicle safety control system of lane detection transient loss in 1 to 3 arbitrary described automatic Pilot, and its method includes
Following steps：
Step one, the image on photographic head Real-time Collection vehicle front road surface, image processing module（2）Runway is entered based on the image
The detection of line；
Step 2, judge detecting whether normal, if so, automatic Pilot decision-making module to lane line（5）According to the car for being detected
Diatom cooks up the driving path of vehicle, and the actuator for controlling vehicle makes vehicle travel according to the driving path, and returns step
Rapid one；If it is not, then entering step 3；
Step 3, judge in X detection cycle to lane line detect whether recover normal, if so, automatic Pilot decision-making
Module（5）Lane line according to being detected cooks up the driving path of vehicle, and control the actuator of vehicle make vehicle according to
The driving path is travelled, and return to step one；If it is not, then entering step 4；
Step 4, automatic Pilot decision-making module（5）Obtained according to the information detected by the historical track and radar group of vehicle
Road can traffic areas, control vehicle here can traveling in traffic areas, and automatic Pilot decision-making module（5）Send deceleration instruction to
Actuator, actuating mechanism controls vehicle deceleration, automatic Pilot decision-making module（5）Also send emergency light control instruction is lighted to lamp
Optical controller（4）, lamp dimmer（4）Emergency light is lighted, and passes through HMI module（7）Driver's adapter vehicle is reminded constantly, directly
To driver's adapter vehicle.
5. in automatic Pilot according to claim 4 lane detection transient loss vehicle safety control method, which is special
Levy and be：In the step 4, also include：Judge to lane line detect whether recover normal, if so, then automatic Pilot is determined
Plan module（5）Lane line according to being detected cooks up the driving path of vehicle, and control actuator makes vehicle according to the traveling
Route, and vehicle continuation deceleration is controlled, until driver's adapter vehicle.
6. in the automatic Pilot according to claim 4 or 5 lane detection transient loss vehicle safety control method, its
It is characterised by：The automatic Pilot decision-making module（5）Obtained according to the information detected by the historical track and radar group of vehicle
Road can traffic areas, specially：
Automatic Pilot decision-making module（5）According to the of short duration running orbit for estimating vehicle of historical track, and combine millimetre-wave radar institute
The guardrail information of detection, obtains the situation of change in track, in conjunction with the obstacle information detected by millimetre-wave radar, obtains road
Can traffic areas.
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| CN201611125581.7A CN106681318A (en) | 2016-12-09 | 2016-12-09 | Vehicle safety control system and method for lane line detection temporary loss in automatic drive |
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| CN201611125581.7A CN106681318A (en) | 2016-12-09 | 2016-12-09 | Vehicle safety control system and method for lane line detection temporary loss in automatic drive |
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Family
ID=58867733
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| CN108357496A (en) * | 2018-02-12 | 2018-08-03 | 北京小马智行科技有限公司 | Automatic Pilot control method and device |
| CN108873013A (en) * | 2018-06-27 | 2018-11-23 | 江苏大学 | A kind of road using multi-line laser radar can traffic areas acquisition methods |
| CN108983766A (en) * | 2017-06-02 | 2018-12-11 | 本田技研工业株式会社 | Automatic ride control system and server unit |
| TWI646000B (en) * | 2017-11-30 | 2019-01-01 | 財團法人車輛研究測試中心 | Safe warning system for automatic driving takeover and method thereof |
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Application publication date: 20170517 |