CN107650911A - A kind of intelligent driving control system and method for vehicle - Google Patents
A kind of intelligent driving control system and method for vehicle Download PDFInfo
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- CN107650911A CN107650911A CN201710888679.6A CN201710888679A CN107650911A CN 107650911 A CN107650911 A CN 107650911A CN 201710888679 A CN201710888679 A CN 201710888679A CN 107650911 A CN107650911 A CN 107650911A
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0872—Driver physiology
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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
- B60W2540/00—Input parameters relating to occupants
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of intelligent driving control system for vehicle, the system may include：Sensor unit, the ambient parameter that the sensor unit is used for around collection vehicle；Weather data unit, the weather data unit are used to obtain real-time weather situation and the weather forecast on the road and navigation way of vehicle current driving on the way；Highway traffic data unit, the highway traffic data unit are used for the traffic for obtaining road；Processor, the processor receives the information obtained by the sensor unit, the weather data unit and the highway traffic data unit to judge whether to be appropriate for automatic Pilot based on these information, and exports corresponding control instruction according to judged result；Driving model controller, the driving model controller receives the control instruction from the processor, and the control instruction in response to being received performs corresponding Driving control.The invention further relates to a kind of intelligent driving control method for vehicle.
Description
Technical field
The present invention relates to Vehicular automatic driving field, more particularly it relates to which a kind of intelligence for vehicle is driven
Sail control system and method.
Background technology
Automobile passes through various sensors (such as radar, shooting first-class) identification vehicle-surroundings obstacle under automatic driving mode
Thing.Due to reasons such as technology, weather, sensor not always can correctly identify barrier, it is thus possible to vehicle-surroundings ring
Erroneous judgement is made in border, causes automobile timely and effectively to make corresponding be operated such that and causes traffic accident.
In addition, under pilot steering pattern, when the condition of driver is bad, continuing that pilot steering has very much can
It can cause security incident.
The content of the invention
For the above-mentioned problems in the prior art, the present invention provides a kind of intelligent driving control system for vehicle
And method, it directly can not only be adopted when analyzing automatic Pilot reliability using sensor cluster on vehicle etc.
Collect car external environment data, can also read vehicle current driving road in real time by means of highway traffic data unit, weather data unit
Know traffic on the way and weather conditions on navigation way on road or in advance, received in advance by the device in addition to sensor cluster
The traffic data collected identifies traffic congestion, traffic accident, natural calamity etc., so as in advance judge whether to be appropriate for " from
It is dynamic to drive ".In the case where judging that vehicle is not suitable for carrying out " automatic Pilot ", the system according to the present invention can be sent to driver
Voice or alarm sounds, and vehicle is switched to pilot steering pattern from automatic driving mode, to reduce accident rate.
According to an aspect of the present invention, there is provided a kind of intelligent driving control system for vehicle, the system may include：
Sensor unit, the ambient parameter that the sensor unit is used for around collection vehicle；Weather data unit, the weather data unit
Real-time weather situation on the way and weather forecast on road and navigation way for obtaining vehicle current driving；Road traffic number
According to unit, the highway traffic data unit is used for the traffic for obtaining road；Processor, the processor are received by the sensing
The information that device unit, the weather data unit and the highway traffic data unit obtain based on these information to be judged whether
Automatic Pilot is appropriate for, and corresponding control instruction is exported according to judged result；Driving model controller, the driving model
Controller receives the control instruction from the processor, and the control instruction in response to being received performs corresponding drive and controlled
System.
Advantageously, the control instruction can be the output result related to automatic Pilot reliability, when the output knot
When fruit is more than threshold value set in advance, the driving model controller starts/continue automatic driving mode；When the output result
During less than or equal to threshold value set in advance, the driving model controller closing/do not start automatic driving mode.
Advantageously, the system may also include the alarm device for receiving the output result from the processor, when next
When being less than or equal to threshold value set in advance from the output result of the processor, the alarm device sends voice to driver
Or alarm sounds.
Advantageously, the system may also include physiological driver's state of the body physiological parameter for monitoring driver in real time
Monitoring unit, in the case where judging to be not suitable for carrying out automatic Pilot, the processor is based further on by the driver
The information that physiological status monitoring unit obtains exports accordingly to judge whether to be appropriate for pilot steering according to judged result
Control instruction.
Advantageously, the system may also include controller of parking, if the processor judges to be not suitable for carrying out pilot steering,
Then the processor sends control instruction to force vehicle to carry out automatic parking to the controller of parking.
According to another aspect of the present invention, there is provided a kind of intelligent driving control method for vehicle, it includes following step
Suddenly：Utilize the ambient parameter around sensor unit collection vehicle；The traffic shape of road is obtained using highway traffic data unit
Condition；The real-time weather situation and weather on the road and navigation way of vehicle current driving on the way are obtained using weather data unit
Forecast；Based on the acquired information relevant with the ambient parameter of vehicle periphery, traffic, weather condition and weather forecast come
Judge whether to be appropriate for automatic Pilot；In response to coming to perform accordingly vehicle if appropriate for the judged result for carrying out automatic Pilot
Driving control.
Further, it is if it is judged that being appropriate for automatic Pilot, then automatic by driving model controller startup/continuation
Driving model.
Further, if it is judged that being not suitable for carrying out automatic Pilot, then alarm is sent, and utilize physiological driver's shape
State monitoring unit monitors the physiological parameter of driver.
According to a preferred embodiment, this method may also include：Based on the physiological parameter of driver come judge whether to be adapted into
Row pilot steering, if be adapted to, switch to/continue pilot steering.
Further, if not suitable for pilot steering is carried out, then automatic parking operation is started.
According to above-mentioned intelligent driving control system and method according to the present invention, except paying the utmost attention to may influence " automatically
Drive " external factor beyond, also time selection of land considers that the human factor of " pilot steering " may be influenceed, so as to be both not suitable for into
Row " automatic Pilot " is also not suitable for carrying out " pilot steering " in particular cases, forces vehicle automatic parking or according to current scene
Start vehicle proactive security measures, so as to farthest reduce accident rate.
Brief description of the drawings
Embodiments of the invention are further described hereinafter with reference to accompanying drawing, in the accompanying drawings：
Fig. 1 shows the structure of the intelligent driving control system for vehicle according to the first exemplary embodiment of the present invention
Figure；
Fig. 2 is shown based on the system shown in Fig. 1 to perform the flow chart of the method for the intelligent driving control for vehicle；
Fig. 3 shows the structure of the intelligent driving control system for vehicle according to the second exemplary embodiment of the present invention
Figure；
Fig. 4 is shown based on the system shown in Fig. 3 to perform the flow chart of the method for the intelligent driving control for vehicle.
Embodiment
Control system below with reference to accompanying drawings and by embodiment come the intelligent driving for vehicle described according to the present invention
System and method.In the following description, many details are elaborated to make person of ordinary skill in the field more comprehensively
Ground understands the present invention.But for the technical staff in art it is evident that the realization of the present invention can not have this
Some in details a bit.Conversely, it may be considered that implement the present invention with any combination of following feature and key element, and nothing
Whether it is related to different embodiments by them.Therefore, method, feature, embodiment and advantage below be used for illustrative purposes only without
Key element or the restriction of claim are should be considered as, unless clearly proposing in the claims.
Fig. 1 shows the structure chart of the intelligent driving control system for vehicle according to a first embodiment of the present invention.Such as
Shown in Fig. 1, the system includes being used for the information acquisition module 10 for obtaining the various information that can influence automatic Pilot reliability,
The information acquisition module 10 includes but is not limited to：For the sensor unit 20 of the ambient parameter around collection vehicle, such as thunder
Reach, camera, optical sensor etc.；For obtaining the reality of the road and navigation way set in advance of vehicle current driving on the way
When weather condition and weather forecast weather data unit 30；And for utilizing the real-time road data or electricity such as high in the clouds storage
The road conditions of platform Traffic Announcement are reported to obtain the highway traffic data unit 40 of the traffic of road.
In addition, the intelligent driving control system for vehicle according to a first embodiment of the present invention may also include processor
50, it is relevant that processor 50 receives the ambient parameter, weather condition, traffic data with vehicle periphery etc. from information acquisition module 10
Information, and based on these informixs judge whether to be appropriate for automatic Pilot (that is, whether automatic driving mode reliable) with
Corresponding control operation is performed to vehicle.
For example, road excessively congestion, ice and snow weather or vehicle front visibility it is too low when, processor 50 can be sentenced
Determine vehicle to be not suitable for carrying out automatic Pilot, so as to send instruction to control driving model controller 70 from automatic driving mode to switch
To pilot steering pattern (in the case where vehicle is currently at automatic driving mode), or instruction is not sent to continue people
Work is driven (in the case where vehicle is currently at pilot steering pattern).According to the embodiment, intelligent driving control system may be used also
Including alarm device 60, in the case where vehicle is currently at automatic driving mode, when processor 50 judge vehicle be not suitable for into
During row automatic Pilot, processor 50 can control alarm device 60 to send alarm or voice message, be driven with reminding driver to take over
Operation.
In another example if processor 50 judges that vehicle is appropriate for automatic Pilot, it sends instruction to control driving mould
Formula controller 70 (is currently at the situation of pilot steering pattern from pilot steering pattern switching to automatic driving mode in vehicle
Under), or do not send instruction to continue automatic Pilot (in the case where vehicle is currently at automatic driving mode).
In specific practice, processor 50 receives the various information that can influence automatic Pilot reliability, dynamically divides
Analyse these information and produce an output result related to automatic Pilot reliability, only set in advance when the output result is more than
During fixed threshold value, automatic driving mode is just allowed to enable.In the case where vehicle is currently in automatic driving mode, when defeated
Go out result and show automatic Pilot reliability when being less than or equal to threshold value set in advance, processor 50 is by alarm device 60 to driving
The person of sailing sends voice or alarm sounds, and vehicle is switched to manually from automatic driving mode by driving model controller 70
Driving model, to reduce accident rate.
Fig. 2 shows the flow of the method for the intelligent driving control for being used to perform vehicle according to a first embodiment of the present invention
Figure.The specific of the method for the intelligent driving control for vehicle is described in detail below with reference to the step S101 to S106 in Fig. 2
Flow.
First, in step S101, by the ambient parameter around sensor unit collection vehicle.In step s 102,
The traffic of road is obtained using highway traffic data unit.In step s 103, vehicle is obtained using weather data unit
The road of current driving and navigation way set in advance real-time weather conditions on the way and weather forecast.It should be noted here that
It is that step S101, S102, S103 are not limited to perform by above-mentioned order, but can be carried out by other order or simultaneously.
Then, in step S104, based on the acquired environment with vehicle periphery in step S101, S102, S103
The relevant information such as parameter, weather condition, traffic data judges whether to fit into automatic driving mode.If step S104
Judged result be "Yes", then start/switch to automatic driving mode in step S105 and (be currently at pilot steering in vehicle
In the case of pattern), or continue automatic driving mode (in the case where vehicle is currently at automatic driving mode).If
Step S104 judged result is "No", then sends alarm in step s 106, and thus do not start automatic driving mode (
In the case that vehicle is currently at pilot steering pattern), or close automatic driving mode/from automatic driving mode and switch to people
Work driving model (in the case where vehicle is currently at automatic driving mode).
Specifically, in step S104, dynamically analysis can influence the various information of automatic Pilot reliability, and produce
One output result related to automatic Pilot reliability.Only when the output result is more than threshold value set in advance, automatically
Driving model is just allowed to enable.In the case where vehicle is currently in automatic driving mode, when output result is shown automatically
When Driving reliability is less than or equal to threshold value set in advance, voice or alarm sounds are sent to driver by alarm device,
And vehicle is set to switch to pilot steering pattern from automatic driving mode by driving model controller.
Fig. 3 shows the structure chart of the intelligent driving control system for vehicle according to a second embodiment of the present invention.With
The difference of first embodiment described in Fig. 1 is, also includes physiological driver according to the system of the second embodiment
Condition Monitoring Unit 90 and automatic parking controller 80.Hereafter come only for the two modules newly established to according to the present invention the
The intelligent driving control system of two embodiments is illustrated.
Physiological driver's Condition Monitoring Unit 90 is used for the body physiological parameter for monitoring driver in real time, such as blood pressure, arteries and veins
Fight, breathe, number of winks etc. may influence the physiological parameter of driver's normal operating vehicle.With that may be influenceed automatically for obtaining
The information acquisition module 10 of the various information of Driving reliability is on the contrary, physiological driver's Condition Monitoring Unit 90 is used to obtain possibility
Influence the various information of pilot steering reliability.Processor 50 is based respectively on from information acquisition module 10 and physiological driver's shape
The information of state monitoring unit 90 judges whether to be appropriate for automatic Pilot and if appropriate for pilot steering is carried out, and is based on pin
" automatic Pilot " and " pilot steering " respective result of determination is come to perform corresponding Driving control to vehicle.
Specifically, if processor 50 judges that vehicle is appropriate for " automatic Pilot ", it sends instruction and driven with controlling
Mode controller 70 (is currently at the situation of pilot steering pattern from pilot steering pattern switching to automatic driving mode in vehicle
Under), or do not send instruction to continue automatic Pilot (in the case where vehicle is currently at automatic driving mode)；If
Processor 50 judges that vehicle is not suitable for carrying out " automatic Pilot " and being appropriate for " pilot steering ", then it sends instruction and driven with controlling
Sail mode controller 70 and switch to pilot steering pattern from automatic driving mode and (be currently at the feelings of automatic driving mode in vehicle
Under condition), or instruction is not sent to continue pilot steering (in the case where vehicle is currently at pilot steering pattern；Such as
Fruit processor 50 judges that vehicle is neither appropriate for " automatic Pilot " and is also not suitable for carrying out " pilot steering ", then it is to automatic parking
Controller 80 sends instruction and provides the time of having a rest to force vehicle automatic parking for driver or driver is being parked
Corresponding help (such as looking for generation to drive) can be sought afterwards, or vehicle automatic safe measure is started according to current scene, thus
Accident rate can farthest be reduced.
Fig. 4 shows the flow of the method for the intelligent driving control for being used to perform vehicle according to a second embodiment of the present invention
Figure.The difference of this method and the method in Fig. 2 first embodiment is, except considering may to influence " automatic Pilot "
Beyond factor, also need to consider the factor that may influence " pilot steering ".Hereafter only for the difference step S107 to S110 in Fig. 4
To describe the idiographic flow of the intelligent driving control method for vehicle according to a second embodiment of the present invention.
It is similar with the method in Fig. 2, if step S104 judged result is "Yes", starts in step S105/cut
Automatic driving mode (in the case where vehicle is currently at pilot steering pattern) is shifted to, or continues automatic driving mode
(in the case where vehicle is currently at automatic driving mode).If step S104 judged result is "No", in step
Alarm is sent in S106, and utilizes the physiology ginseng of physiological driver's Condition Monitoring Unit monitoring driver in step s 107
Number.
Then in step S108, based on judging whether to be adapted in the physiological status of the driver acquired in step S107
Carry out pilot steering.If step S108 judged result is "Yes", in step s 110 close automatic driving mode/from from
Dynamic driving model switches to pilot steering pattern (in the case where vehicle is currently at automatic driving mode), or continues
Pilot steering (in the case where vehicle is currently at pilot steering pattern).If step S108 judged result is "No",
Start automatic parking operation in step S109, to provide the time of having a rest for driver or enable a driver to ask for help.
In addition to said structure, video camera filter may also include (not according to the intelligent driving control system of the present invention
Show), and sensor unit 20 may also include light intensity sensor (not shown), when the illumination detected by light intensity sensor is strong
When degree is higher than predetermined threshold, the system according to the present invention can activate video camera filter to filter light and reduce intensity of illumination
So as to avoid camera blinding, while alarm is alternatively sent to remind driver careful or force to make vehicle from driving automatically
Pattern switching is sailed to pilot steering pattern.
Additionally or alternatively, high and low two kinds of detection means may include (not according to the intelligent driving control system of the present invention
Show) --- such as sensor or radar, higher detection means be arranged at the front upper place of vehicle for detection can not by compared with
The obstacle that low detection means (such as millimetre-wave radar below preceding grid) detects.Under automatic driving mode,
Limited by vertical angle of view scope, may be because although front truck is in the distance range that relatively low detection means is perceived
Front vehicles vehicle body is higher, and the radar beam of relatively low detection dress passes through on the downside of vehicle body, causes missing inspection.In this case, this
Class obstacle can be detected by the higher detection means of installation site.When higher detection means detects obstacle, its
Alarm signal is produced to remind driver careful, and alternatively switches back into pilot steering pattern.
In summary, according to the intelligent driving control system and method for vehicle of the present invention, in analysis automatic Pilot
During reliability, the sensor cluster being arranged on vehicle not only can be directly utilized --- such as outside camera, radar collecting vehicle
Environmental data, can also be read in real time by means of highway traffic data unit, weather data unit on vehicle current driving road or
Traffic on the way and the weather conditions on navigation way are known in advance, are collected into advance by the device in addition to sensor cluster
Traffic data identifies traffic congestion, traffic accident, natural calamity etc., so as to judge whether to be appropriate for " driving automatically in advance
Sail ".
Receive it is above-mentioned may influence the various information of automatic Pilot reliability after, the system according to the present invention is movable
Analyze to state these information and produce an output result related to automatic Pilot reliability, only when the output result is more than
During threshold value set in advance, automatic driving mode is just allowed to enable.The situation of automatic driving mode is currently in vehicle
Under, when output result shows that automatic Pilot reliability is less than or equal to threshold value set in advance, the system is sent to driver
Voice or alarm sounds, and vehicle is switched to pilot steering pattern from automatic driving mode, to reduce accident rate.
In addition, in addition to paying the utmost attention to that the external factor of " automatic Pilot " may be influenceed, the present invention also time selection of land considers
The human factor of " pilot steering " may be influenceed, so as to be also not suitable for " manually drive being neither appropriate for " automatic Pilot "
Sail " in particular cases, force vehicle automatic parking or vehicle proactive security measures are started according to current scene.It is described herein
" secondary choosing " mean, pay the utmost attention to if appropriate for carry out " automatic Pilot ", if be adapted to, do not have to consider whether to meet
" pilot steering " condition and be directly entered automatic driving mode；If not suitable for " automatic Pilot " is carried out, then consider further that whether fit
Close and carry out " pilot steering ", be unsatisfactory for " automatic Pilot " condition in the case of meeting " pilot steering " condition, entering vehicle
Enter pilot steering pattern；In the case where being both unsatisfactory for " automatic Pilot " condition or being unsatisfactory for " pilot steering " condition, start car
Emergency measure, such as automatic parking or other vehicle proactive security measures are performed, so as to farthest reduce accident
Rate.
It will be apparent to a skilled person that above-mentioned be judged to being appropriate for " automatic Pilot " or " pilot steering "
Condition can voluntarily be set by car owner, or default setting is carried out in vehicle release, and the condition is not limited to listed above
Those lifted.
One of ordinary skill in the art will appreciate that：Although only emphasis is illustrated based on vehicle periphery in the embodiment above
Ambient parameter, road traffic condition and weather conditions determine whether to be appropriate for " automatic Pilot ", but the application does not arrange
Judged except other any parameters that may influence automatic Pilot can also be used, and be not excluded for including other corresponding inspections
Survey unit.
Herein, the implication of " intelligence " Driving control refers to, vehicle can be according to surrounding environment and physiological driver's shape
Condition independently selects driving model, and driving model here is not limited only to " pilot steering " and " autonomous driving " pattern, in addition to
It is it assures that the operation of vehicle safety, such as parks, triggers brake etc..
In this application, it will appreciated by the skilled person that disclosed system can be by another way
Realize.For example, system embodiment described above is only schematical, for example, the division of the module is only one
Kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple modules function can combine or
The function of some module can further be split.Sensor unit, day destiny in the intelligent driving control system of the application
According to unit, highway traffic data unit, processor, physiological driver's Condition Monitoring Unit, alarm device, automatic parking controller
And driving model controller etc. can be integrated in a processing unit or modules are individually physically present, and also may be used
It is integrated in a unit with two or more modules.Above-mentioned integrated module can both be realized in the form of hardware,
It can also be realized, or can be realized in the form of soft and hardware combination in the form of SFU software functional unit.
If the integrated unit is realized in the form of hardware function units, modules are real using hardware logic
The circuit-level hardware of existing specific function, and the annexation between each hardware is clear and definite hardware annexation.The application
The electrical connection between network connection and each module between host computer is realized using above-mentioned hardware, and completes signal biography
Send and operated with processing.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the application is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) or microcontroller
(microcontroller unit) performs all or part of step of each embodiment methods described of the application.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above-mentioned each method embodiment can lead to
The related hardware of programmed instruction is crossed to complete.Foregoing program can be stored in a computer read/write memory medium.The journey
Sequence upon execution, execution the step of including above-mentioned each method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.In each method embodiment of the present invention, the sequence number of each step is simultaneously
It cannot be used for limiting the sequencing of each step, for those of ordinary skill in the art, do not paying creative work
Under the premise of, the priority change to each step is also within protection scope of the present invention.
Although the present invention is disclosed as above with preferred embodiment, the present invention is not limited to this.Any people in the art
Member, the various changes made without departing from the spirit and scope of the present invention and modification, all should include protection scope of the present invention
It is interior, therefore protection scope of the present invention should be defined by claim limited range.
Claims (10)
1. a kind of intelligent driving control system for vehicle, it is characterised in that the system includes：
Sensor unit (20), the ambient parameter that the sensor unit is used for around collection vehicle；
Weather data unit (30), the weather data unit are used to obtain on the road and navigation way of vehicle current driving on the way
Real-time weather situation and weather forecast；
Highway traffic data unit (40), the highway traffic data unit are used for the traffic for obtaining road；
Processor (50), the processor are received by the sensor unit, the weather data unit and the road traffic number
The information obtained according to unit exports phase to judge whether to be appropriate for automatic Pilot based on these information according to judged result
The control instruction answered；
Driving model controller (70), the driving model controller receives the control instruction from the processor, and responds
Corresponding Driving control is performed in the control instruction received.
2. the intelligent driving control system according to claim 1 for vehicle, it is characterised in that the control instruction is
One output result related to automatic Pilot reliability, it is described to drive when the output result is more than threshold value set in advance
Sail mode controller start/continue automatic driving mode；When the output result is less than or equal to threshold value set in advance, institute
State driving model controller close/do not start automatic driving mode.
3. the intelligent driving control system according to claim 2 for vehicle, it is characterised in that the system also includes using
In the alarm device (60) for receiving the output result from the processor, be less than when the output result from the processor or
During equal to threshold value set in advance, the alarm device sends voice or alarm sounds to driver.
4. the intelligent driving control system according to claim 1 for vehicle, it is characterised in that the system also includes using
In physiological driver's Condition Monitoring Unit (90) of the body physiological parameter of monitoring driver in real time, judging to be not suitable for progress
In the case of automatic Pilot, the processor be based further on by physiological driver's Condition Monitoring Unit obtain information Lai
Judge whether to be appropriate for pilot steering, and corresponding control instruction is exported according to judged result.
5. the intelligent driving control system according to claim 4 for vehicle, it is characterised in that the system also includes pool
Vehicle controller (80), if the processor judges to be not suitable for carrying out pilot steering, the processor is to the control of parking
Device sends control instruction to force vehicle to carry out automatic parking.
6. a kind of intelligent driving control method for vehicle, it is characterised in that this method comprises the following steps：
Utilize the ambient parameter (S101) around sensor unit collection vehicle；
The traffic (S102) of road is obtained using highway traffic data unit；
The real-time weather situation and day on the road and navigation way of vehicle current driving on the way are obtained using weather data unit
Gas forecasts (S103)；
Based on the acquired information relevant with the ambient parameter of vehicle periphery, traffic, weather condition and weather forecast come
Judge whether to be appropriate for automatic Pilot (S104)；
In response to coming to perform corresponding Driving control to vehicle if appropriate for the judged result for carrying out automatic Pilot.
7. the intelligent driving control method according to claim 6 for vehicle, it is characterised in that if it is judged that being adapted to
Automatic Pilot is carried out, then starts/continue automatic driving mode (S105) by driving model controller.
8. the intelligent driving control method according to claim 6 for vehicle, it is characterised in that if it is judged that uncomfortable
Close and carry out automatic Pilot, then send alarm (S106), and utilize the life of physiological driver's Condition Monitoring Unit monitoring driver
Manage parameter (S107).
9. the intelligent driving control method according to claim 8 for vehicle, it is characterised in that this method also includes,
Judge whether to be appropriate for pilot steering (S108) based on the physiological parameter of driver, if be adapted to, switch to/continue people
Work drives (S110).
10. the intelligent driving control method according to claim 9 for vehicle, it is characterised in that if not suitable for entering
Row pilot steering, then start automatic parking operation (S109).
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