CN108995708A - A kind of vehicle automatic turning control method and device - Google Patents
A kind of vehicle automatic turning control method and device Download PDFInfo
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- CN108995708A CN108995708A CN201710417478.8A CN201710417478A CN108995708A CN 108995708 A CN108995708 A CN 108995708A CN 201710417478 A CN201710417478 A CN 201710417478A CN 108995708 A CN108995708 A CN 108995708A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004044 response Effects 0.000 claims abstract description 6
- 230000004913 activation Effects 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000012888 cubic function Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of vehicle automatic turning control methods comprising: judging whether this vehicle is in can turning condition；Being in this vehicle can prompt driver to activate automatic turning mode in the case where turning condition；Activation in response to automatic turning mode executes following steps: the target travel track of this vehicle (a) is fitted according to the motion profile of front truck point；(b) the current driving track based on the target travel track and Ben Che determines the crosswise joint parameter and longitudinally controlled parameter of this vehicle；And (c) this vehicle is set to turn along the target travel track according to the crosswise joint parameter and the longitudinally controlled parameter.In addition, the present invention also provides corresponding vehicle automatic turning control devices.
Description
Technical field
This invention relates generally to automatic Pilot technical fields, and self-adaptive controlled for vehicle in particular it relates to one kind
The scheme of system.
Background technique
At this stage, automobile control technology just develops towards the direction of " intelligent automobile ".Increase on the basis of common vehicle
The devices such as more and more advanced sensors, controller, actuator, make the vehicle have intelligent environment sensing ability, can
The safety and precarious position of vehicle driving are automatically analyzed, and arrives at the destination vehicle according to the wish of people, final realize is replaced
The purpose operated for people.
In current driving assistance system, road environment is one of the main information of sensor environment perception.However, big
Part driving assistance system is also only applicable to lane line clearly traffic scene, such as highway.In complicated urban road,
Such as without the crossroad of lane line, vehicle is difficult to realize to be walked to stop and automatic turning automatically.These problems lead to driving assistance system
The degree of automation it is limited, driving experience is bad, and utilization rate is very low.
It is therefore desired to design a kind of vehicle drive subplan suitable for urban transportation scene.
Summary of the invention
In view of this, the present invention provides a kind of vehicle automatic turning control method comprising: judging whether this vehicle is in can
Turning condition；Being in this vehicle can prompt driver to activate automatic turning mode in the case where turning condition；In response to from turn
The activation of curved mode executes following steps: the target travel track of this vehicle (a) is fitted according to the motion profile of front truck point；(b)
The crosswise joint parameter and longitudinally controlled parameter of this vehicle are determined based on the current driving track of the target travel track and Ben Che；
And (c) this vehicle is set to turn along the target travel track according to the crosswise joint parameter and the longitudinally controlled parameter.
Method as described above, wherein judge this vehicle whether be in can turning condition be included in detect front truck open turn
Judge that this vehicle is in the work that can turn in the case where entering specified turn-around zone and traffic signal light condition to lamp, vehicle for green light
Condition.
Method as described above, wherein start to acquire the motion profile point of front truck when front truck starts and plays turn signal, and
In response to the activation of automatic turning mode, opened when the motion profile of front truck and the lateral position deviation of this vehicle are more than predetermined threshold
Begin to be fitted the target travel track.
Method as described above further includes enabling driver to activate the automatic turning mould by playing turn signal
Formula.
Method as described above, wherein sat with detecting that front truck starts to beat this vehicle coordinate system at turn signal moment to be global
Mark system determines this vehicle based on target travel track and current driving track to be fitted the target travel track, and wherein
Crosswise joint parameter and longitudinally controlled parameter are included in the target travel track under the global coordinate system and work as with described
Preceding driving trace.
Method as described above, wherein be fitted the target travel track and be included in front truck under the global coordinate system
Motion profile point be fitted to polynomial function as the target travel track.
Method as described above, wherein the current driving track according to wheel speed pulse, steering wheel angle, speed and
The physical size of this vehicle is determined and is positioned under the global coordinate system.
Method as described above, wherein determine that longitudinally controlled parameter includes: true according to the curvature of the target travel track
Determine the maximum lateral acceleration of vehicle；And the speed of this vehicle is determined according to the maximum lateral acceleration.
Method as described above, wherein determine that crosswise joint parameter includes: to determine to manage according to the curvature of target travel track
Think steering wheel angle；Direction is determined according to the lateral deviating distance and posture angular displacement of current driving track and target travel track
The adjusted value of disk corner；And the ideal orientation disk corner is modified with the adjusted value to obtain the practical side of this vehicle
To disk corner.
Method as described above, wherein further according to cross after the driving status for adjusting this vehicle according to longitudinally controlled parameter
The driving status of this vehicle is adjusted to control parameter, is turned to control this vehicle along the target travel track.
On the other hand, the present invention also provides a kind of vehicle automatic turning control device, the vehicle automatic turning controls
Device includes memory, processor and the computer program being stored on the memory, wherein when on the processor
The vehicle automatic turning control device is set to execute method as described above when executing the computer program.
Detailed description of the invention
Foregoing and other target of the invention, feature and advantage according to it is following to the embodiment of the present invention in particular
Bright to will be apparent, these embodiments are illustrated in the accompanying drawings.
Fig. 1 is the flow chart of an exemplary vehicle automatic turning control method according to the present invention.
Fig. 2 is the application scenarios of an exemplary vehicle automatic turning control method according to the present invention.
Fig. 3 is the block diagram of an exemplary vehicle automatic turning control device according to the present invention.
Specific embodiment
Schematic example of the invention is described referring now to attached drawing, identical drawing reference numeral indicates identical element.Hereafter
Each example of description facilitates those skilled in the art and understands thoroughly the present invention, and each example is intended to example rather than limits.In figure
Each component, assembly unit, module, the diagram of device and apparatus body only illustrate schematically that there are these component, assembly units, module, devices
And apparatus body also shows relativeness between them simultaneously, but not to limit their concrete shape；In flow chart
The relationship of each step is not also limited with given sequence, can be adjusted but not depart from the protection of the application according to practical application
Range.
As mentioned by the background technology, in complicated urban road, if there is no lane line information, vehicle
It would become hard to realize and walk to stop and automatic turning automatically, especially in most of vehicle and high-precision map and global positioning system is not configured
In the case where system GPS.The present invention provides a kind of vehicle assistant drive schemes, can not need such as high-precision map and GPS
Automatic turning control of the vehicle under urban transportation scene is realized in the case where etc. the configuration of high-end assisting navigation.
Vehicle assistant drive scheme provided by the present invention can undertake operating and controlling vehicle instead of driver whithin a period of time
Responsibility, especially need turn in the case where.Method according to the present invention, vehicle by simultaneously have longitudinally and laterally from
Dynamic control, but driver still needs to be monitored driving-activity, that is, observes ambient conditions, and driver can share with vehicle
Control, it is necessary to stand ready, be connected at any time when vehicle exits automatic control.
Fig. 1 is the flow chart of an exemplary vehicle automatic turning control method according to the present invention.As shown in Figure 1, the party
Method include first judge whether this vehicle is in a step 11 can turning condition.In the context of the present invention, can turning condition refer to
Be condition of road surface that this vehicle is able to carry out turning.
In some embodiments, judge this vehicle whether be in can turning condition be included in detect front truck open turn signal,
Vehicle enter specified turn-around zone and traffic signal light condition be judge that this vehicle is in the case where green light can turning condition.?
In realization, the distance of traffic lights can be detected by the one or more front cameras arranged on vehicle body, is thus sentenced
Whether disconnected vehicle enters specified turn-around zone.Further, it is also possible to the state of traffic lights is detected using front camera,
And think in the case where traffic lights are green light this vehicle be in can one of the condition of turning condition met.In addition,
Whether front truck can also be opened turn signal as judge this vehicle whether be in can turning condition an essential condition, this will be
Hereinafter it is described in detail.
It will be understood by those skilled in the art that it is this can turning condition judgement the situation that it is not limited to the above example.It lifts
For example, in current right-hand rotation, it may not be necessary to judge the state of traffic lights, and can be only by determining vehicle
Whether in specified turn-around zone (such as right-turn lane) come judge whether this vehicle is in can turning condition.
Further, if environmental condition meets, i.e., this vehicle is in the condition of road surface for being able to carry out turning, then can be
It prompts driver to activate automatic turning mode in step 12, and judges whether automatic turning mode is activated in step 13.
In some instances, driver can be enable and activates automatic turning mode by playing turn signal, and in response to turn signal
Starting can enter automatic turning mode to determine.It, can also be by the way that special mode be arranged in other some examples
Starting/switching push button makes driver activate automatic turning mode.
Step 14 is executed to step 16 in the case where the starting of automatic turning mode.As shown in Figure 1, basis at step 14
The motion profile point of front truck is fitted the target travel track of this vehicle.It in some instances, can be with the movement rail of continuous collecting front truck
Mark point.In other examples, the motion profile point for acquiring front truck can be started when front truck starts and plays turn signal.In the present invention
Some embodiments in, front truck start beat turn signal be considered an important timing node.In addition to being opened at the moment
Begin except the motion profile point of acquisition front truck, can also be complete with this vehicle coordinate system for detecting that front truck starts dozen turn signal moment
Office's coordinate system.On the one hand, the target travel track of this vehicle can be fitted in the global coordinate system.It on the other hand, can also be with
The subsequent motion track of this vehicle is controlled on the basis of this global coordinate system.
Fig. 2 is the application scenarios of an exemplary vehicle automatic turning control method according to the present invention, i.e., this vehicle is in cross
The case where crossing is turned right.Underlying automobile is by this vehicle in Fig. 2, and the automobile being located above is front truck.If will
At the time of the scene of Fig. 2 signal is considered that front truck starts to play turn signal, then the rectangular coordinate system drawn according to the orientation of this vehicle
It is considered as global coordinate system, wherein the direction of advance of vehicle is x-axis, vertical with vehicle body using the mass center of vehicle as origin
Direction is y-axis.In some embodiments, it will be fitted the target travel track of this vehicle in this global coordinate system, and incite somebody to action this
The subsequent motion track of vehicle is all with the global coordinate system as a reference to characterization.
In some instances, it can be opened when the motion profile of front truck and the lateral position deviation of this vehicle are more than predetermined threshold
Beginning fit object driving trace.By taking scene shown in Fig. 2 as an example, wherein front truck can be counted as with the segment length that d is marked
Motion profile and this vehicle lateral position deviation.As described above, the calculating of the lateral position deviation can be in world coordinates
System is lower to carry out.That is, front truck motion profile point collected can be indicated under global coordinate system, while also by this vehicle
Real time position be also illustrated under global coordinate system, the lateral position deviation both thereby determined that.
In some instances, can under global coordinate system using the motion profile of front truck point be fitted to polynomial function as
The target travel track of this vehicle.Used polynomial function can be selected according to specific targeted scene, and e.g. two
Secondary function, cubic function etc..
In step 15, the current driving track based on target travel track and Ben Che determines the crosswise joint parameter of this vehicle
With longitudinally controlled parameter.In some instances, the step of determining crosswise joint parameter and longitudinally controlled parameter may include in institute
State the target travel track and the current driving track under global coordinate system.For example, can use this vehicle apart from mesh
Range deviation and the posture angular displacement of trajectory line are marked, wherein range deviation may include horizontal and vertical distance, and attitude angle is inclined
Difference can refer to the extension line in headstock direction and the corner cut of target travel track.
In some instances, it can be determined according to the physical size of wheel speed pulse, steering wheel angle, speed and this vehicle
The current driving track of this vehicle, and the current driving track is located under global coordinate system, in order to adjust control in real time
Parameter makes current driving track meet target travel track.In the implementation, wheel speed pulse may, for example, be wheel speed sensors
Output.Skilled artisans appreciate that can be according to any known or in the future available method determines the current of this vehicle
Driving trace, and it is not limited record in this article.
In some instances, the maximum lateral acceleration and root of vehicle can be determined according to the curvature of target travel track
The speed of this vehicle is determined according to the maximum lateral acceleration.Speed is considered longitudinally controlled parameter.It can be in the maximum
Comfort level and the safety of driving are comprehensively considered in transverse acceleration limited range to determine vehicle required for turning process
Speed, and make this vehicle that the speed be kept to drive at a constant speed.
In some instances, can also be according to the curvature of target travel track, i.e. the turning radius of front truck determines this vehicle
Ideal orientation disk corner.It, can also be according to current driving track and target in order to more accurately generate steering wheel angle request
The lateral deviating distance of driving trace and posture angular displacement determine the adjusted value of steering wheel angle, and eventually by with the tune
Whole value is modified ideal orientation disk corner to obtain the actual steering wheel corner of this vehicle.In some cases, this can be by
It is interpreted as a kind of process of feedback adjustment.Steering wheel angle is considered crosswise joint parameter.It can be with by crosswise joint
Reduce the error of driving trace and target trajectory, so that it is guaranteed that this vehicle is travelled along target trajectory.
Finally, in step 16, turning this vehicle along target travel track according to crosswise joint parameter and longitudinally controlled parameter
It is curved.It in some instances, can be first according to the driving status and then root of the longitudinally controlled parameter of such as speed adjustment vehicle
According to the driving status of the crosswise joint parameter adjustment vehicle of such as steering wheel angle, thus controls this vehicle and turn along target travel track
It is curved.Vertically and horizontally Dynamics Decoupled control in this way, especially decoupling vehicle acceleration and deceleration motion and divertical motion make automatically
The experience of steering meets the normal driving habit of driver, and prevents the vehicle too fast generation rollover of speed during the turn,
It also can guarantee the accurate, real-time of vehicle lateral control, stability under at the uniform velocity simultaneously.
Vehicle automatic turning control method provided by the present invention can be applicable in urban transportation scene abundant, so that driving
Member can realize full-automatic driving in turning, and be not only restricted to whether vehicle has high-end navigation configuration.
Fig. 3 is the block diagram of an exemplary vehicle automatic turning control device according to the present invention.As shown in figure 3, vehicle is certainly
The curved control device 300 of turn includes memory 31 and processor 33, wherein computer program is stored on memory 31, and
These computer programs can make the vehicle automatic turning control device execute root as described above when being executed by processor 33
According to vehicle automatic turning control method of the invention.
Vehicle automatic turning control device 300 can be individually implemented, or be integrated in the electronic control list of vehicle
In first ECU.In the latter case, device 300 can be realized by sharing processor in ECU and memory.
It should be noted that the above specific embodiment is merely illustrative of the technical solution of the present invention rather than limits it
System.Although referring to above-mentioned specific embodiment, invention is explained in detail, and those skilled in the art should
Understand, can still modify to a specific embodiment of the invention or some technical features can be equivalently replaced without de-
From essence of the invention, it is encompassed by the claimed range of the present invention.
Claims (11)
1. a kind of vehicle automatic turning control method comprising:
Judging whether this vehicle is in can turning condition；
Being in this vehicle can prompt driver to activate automatic turning mode in the case where turning condition；
Activation in response to automatic turning mode executes following steps:
(a) the target travel track of this vehicle is fitted according to the motion profile of front truck point；
(b) the current driving track based on the target travel track and Ben Che determines the crosswise joint parameter and longitudinal direction of this vehicle
Control parameter；And
(c) this vehicle is made to turn along the target travel track according to the crosswise joint parameter and the longitudinally controlled parameter.
2. the method for claim 1, wherein judge this vehicle whether be in can turning condition be included in and detect that front truck is beaten
It opens turn signal, vehicle and judges that this vehicle is in and can turn into specified turn-around zone and in the case that traffic signal light condition is green light
Curved operating condition.
3. the method for claim 1, wherein starting the motion profile of acquisition front truck when front truck starts and plays turn signal
Point, and in response to the activation of automatic turning mode, it is more than predetermined in the motion profile of front truck and the lateral position deviation of this vehicle
Start to be fitted the target travel track when threshold value.
4. the method as described in claim 1 further includes, enables driver and activated by playing turn signal and is described from turn
Curved mode.
5. the method for claim 1, wherein to detect that front truck starts to beat this vehicle coordinate system at turn signal moment to be complete
Office's coordinate system is fitted the target travel track, and wherein, is determined based on target travel track and current driving track
The crosswise joint parameter and longitudinally controlled parameter of vehicle are included in the target travel track and institute under the global coordinate system
State current driving track.
6. method as claimed in claim 5, wherein be fitted the target travel track and be included in general under the global coordinate system
The motion profile point of front truck is fitted to polynomial function as the target travel track.
7. method as claimed in claim 5, wherein the current driving track is according to wheel speed pulse, steering wheel angle, speed
And the physical size of this vehicle is determined and is positioned under the global coordinate system.
8. the method for claim 1, wherein determining that longitudinally controlled parameter includes:
The maximum lateral acceleration of vehicle is determined according to the curvature of the target travel track；And
The speed of this vehicle is determined according to the maximum lateral acceleration.
9. the method for claim 1, wherein determining that crosswise joint parameter includes:
Ideal orientation disk corner is determined according to the curvature of target travel track；
Steering wheel angle is determined according to the lateral deviating distance and posture angular displacement of current driving track and target travel track
Adjusted value；And
The ideal orientation disk corner is modified with the adjusted value to obtain the actual steering wheel corner of this vehicle.
10. the method for claim 1, wherein after the driving status for adjusting this vehicle according to longitudinally controlled parameter again
The driving status of this vehicle is adjusted according to crosswise joint parameter, is turned to control this vehicle along the target travel track.
11. a kind of vehicle automatic turning control device, the vehicle automatic turning control device include memory, processor and
The computer program being stored on the memory, wherein make institute when executing the computer program on the processor
It states vehicle automatic turning control device and executes such as method of any of claims 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417478.8A CN108995708B (en) | 2017-06-06 | 2017-06-06 | Automatic turning control method and device for vehicle |
| PCT/CN2018/075482 WO2018223723A1 (en) | 2017-06-06 | 2018-02-06 | Automatic turning control method and device for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417478.8A CN108995708B (en) | 2017-06-06 | 2017-06-06 | Automatic turning control method and device for vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108995708A true CN108995708A (en) | 2018-12-14 |
| CN108995708B CN108995708B (en) | 2022-10-04 |
Family
ID=64565727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710417478.8A Active CN108995708B (en) | 2017-06-06 | 2017-06-06 | Automatic turning control method and device for vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108995708B (en) |
| WO (1) | WO2018223723A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861650A (en) * | 2019-11-21 | 2020-03-06 | 驭势科技（北京）有限公司 | Vehicle path planning method and device, vehicle-mounted equipment and storage medium |
| CN111731307A (en) * | 2020-06-28 | 2020-10-02 | 中国第一汽车股份有限公司 | Vehicle turning control method and device, vehicle and storage medium |
| WO2024056064A1 (en) * | 2022-09-16 | 2024-03-21 | 广州小鹏自动驾驶科技有限公司 | Turning path planning method, device, vehicle, and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109635516B (en) * | 2019-01-23 | 2023-03-24 | 合肥工业大学 | Method for predicting dangerous area of difference of turning inner wheels of large vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018223723A1 (en) | 2018-12-13 |
| CN108995708B (en) | 2022-10-04 |
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