CN111650944B

CN111650944B - Automobile automatic driving and wire-combining control method for improving driving safety

Info

Publication number: CN111650944B
Application number: CN202010576697.2A
Authority: CN
Inventors: 陈子龙; 熊庆
Original assignee: Xihua University
Current assignee: Shenzhen Shihang Intelligent Technology Co ltd
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2021-05-04
Anticipated expiration: 2039-07-12
Also published as: CN111736605A; CN110412980B; CN111736605B; CN111650944A; CN110412980A; CN111552302A; CN111552302B

Abstract

The invention relates to an automatic driving and merging control method for improving driving safety of an automobile, which is characterized in that a vehicle A running on a straight lane and a vehicle B running on an auxiliary merging lane respectively judge whether vehicles exist on the lanes and the lanes of the other side, and the vehicles A and the vehicles B can respectively run in a slightly inclined mode when merging into the lane section to run through speed judgment or distance judgment, so that the actual transverse distance of the vehicles A and the vehicles B in parallel is larger in the running mode, and the driving safety performance is effectively improved.

Description

Automobile automatic driving and wire-combining control method for improving driving safety

The application has the following application numbers: 201910633072.2, filing date: 2019-07-12, the patent name "automatic driving and merging control method for automobile" and the divisional application of the invention patent.

Technical Field

The invention relates to the technical field of automatic driving of automobiles, in particular to an automatic driving and wire-combining control method for improving driving safety of an automobile.

Background

In the existing automatic driving technology of automobiles, when an automobile runs on a straight lane, a general control strategy is to keep the automobile running at the center of the lane, so that the transverse distance between two parallel automobiles can be effectively kept, if an afflux lane appears in an expressway or a special lane, the automobile running on an auxiliary afflux lane still keeps running in a centering way, and because the width of the auxiliary afflux lane is gradually narrowed and disappeared, before the automobile running on the auxiliary afflux lane is converged into a normal lane, the automobile running on the auxiliary afflux lane is gradually narrowed due to the width of a lane line where the automobile is located, and the automobile still runs in a centering way, so that the actual transverse distance between the automobile and the automobile running on the normal lane is reduced, as shown in fig. 1, the transverse distance between the two parallel automobiles is likely to scratch or collide too small, which is very unsafe, such a situation has already occurred in an actual auto-driving experiment of a car, and has caused a related safety accident.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide an automatic driving and merging control method for an automobile, which has high driving safety and improves driving safety.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: when the automobile runs on a lane in a straight line and is in an automatic driving mode, automatically adjusting the distances D1 and D2 between the left side and the right side of the automobile body and lane lines on the two sides of the lane to ensure that D1 is equal to D2; when an entry lane appears on one side of a road section in front of the lane where the automobile is located, the automobile in the straight lane C1 is marked as an A automobile, and the automobile in an entry section C2 adjacent to the C1 in the entry lane is marked as a B automobile; an auxiliary straight section C3 of a straight line route is arranged behind the convergence section C2, a merging section C4 with gradually reduced width is arranged behind the C3, and the C4 is finally merged with the C1; d1 is the distance of the side of the A vehicle far away from the merging section C2, and D2 is the distance of the side of the A vehicle close to the merging section C2; the distance between the vehicle body of the side, close to the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D3, and the distance between the vehicle body of the side, far away from the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D4; the road sections parallel to the C2, the C3 and the C4 in the C1 road sections are called parallel section lanes;

the automatic automobile driving and wire combining control method for improving the driving safety comprises the following steps: when the distance L1 between the vehicle A and the entrance of the merging section C2 is less than a certain value, controlling the vehicle A to enable D1 to be less than D2;

when the vehicle A runs through a parallel section of the C1 and the merging section C2 and starts to run parallel to the auxiliary straight-going section C3, the vehicle A judges whether at least one vehicle B exists in the auxiliary straight-going section C3, if the vehicle A does not exist, the vehicle A returns to the D1-D2 mode to run in the process of running parallel to the section C3, and if the vehicle A judges that at least 1 vehicle B exists in the section C3, the vehicle A still keeps the D1 < D2 mode to run in the process of running parallel to the section C3;

when the vehicle A drives in the vehicle C1 until the distance L2 from the start of the merging section C4 is less than a certain value, judging whether at least one vehicle B exists in the merging section C4, if not, the vehicle A resumes driving in a mode of D1-D2 until the vehicle A drives away from the merging section lane; if at least one vehicle B in the vehicles C4 is in the lane of the vehicle A, judging the highest vehicle speed V2 and the vehicle speed V1 of the vehicle A in the at least one vehicle B, when the V1 is more than or equal to the V2, driving the vehicle A in a mode of D1-D2, keeping the original speed, simultaneously sending yielding signals to all vehicles B in the vehicle C4, and after all vehicles B receive the yielding signals, reducing the speed or keeping the original speed, and merging the vehicles B into the lane of the vehicle C1 from the rear of the vehicle A; when V1 < V2, the vehicle A runs in a mode of D1 < D2, the vehicle A is decelerated to run, meanwhile, a passing signal is sent to all vehicles B in C4, all vehicles B keep the original speed or accelerate after receiving the passing signal, the vehicles B merge into a lane C1 from the front of the vehicle A, and after the vehicles A and B run through a lane merging section, the vehicles A and B keep running in a mode of D1-D2 and D3-D4.

Preferably, when the vehicle A is a passenger vehicle, when the vehicle A runs in a mode that D2 is larger than D1, D2-D1 are less than or equal to 500-1000 mm; when the A car is a commercial car, when the A car runs in a mode that D2 is larger than D1, D2-D1 are less than or equal to 200-600 mm.

Preferably, the vehicle B always keeps D3 > D4 when driving in the merge section C2.

The invention has the following beneficial effects: through a special judgment process, the vehicle A and the vehicle B run in a mode of slightly deviating to one side when merging into a lane section, the actual transverse distance of the vehicle A and the vehicle B is larger in the running mode, and the running safety performance is effectively improved.

Drawings

FIG. 1 is a schematic diagram of a situation in which a vehicle A and a vehicle B are parallel and have a small lateral distance in the prior art;

FIG. 2 is a schematic view of the regulated driving of the A vehicle when the L1 is less than a certain value before the A vehicle enters the parallel lane segment;

FIG. 3 is a schematic view illustrating the adjustment of the driving of the vehicle A when the vehicle A drives into the section C1 parallel to the section C3 and the vehicle B is judged to be in the section C3;

FIG. 4 is a schematic diagram of the vehicle A judging that there is no vehicle B in the vehicle C4 when the vehicle L2 is less than a certain value while the vehicle A is running in the vehicle C1;

FIG. 5 is a schematic diagram of the determination that the vehicle A passes through the vehicle C4 after the vehicle L2 is less than a certain value when the vehicle A travels through the vehicle C1;

FIG. 6 is a schematic diagram of a vehicle A driving in the vehicle C1 with the L2 smaller than a certain value, and then the vehicle B is judged to be in the vehicle C4 and firstly passes through;

fig. 7 is a flowchart of an automatic driving and line-combining control method.

Detailed Description

When the vehicle is traveling straight on a lane and is in an automatic driving mode, a general control method is to automatically adjust distances D1, D2 between the left and right sides of the vehicle body and lane lines on both sides of the lane so that D1 is D2; according to the American SAE J3016(TM) Standard road vehicle driving Automation System Classification and definition, the automobiles with automatic driving function are classified into L0 grade-L5 grade, and the automobiles with automatic driving mode described in the application are at least L3 grade or L4 grade or L5 grade; that is, the automobile described herein should include at least the following hardware devices:

(1) the automatic driving automobile sensor can be a laser radar, a millimeter wave radar, a camera or combined navigation, and can also be a sensor in other modes; the parameters at least needing to be collected by the automatic driving automobile sensor comprise the speed of the automobile, the positioning position of the automobile, a driving map, the position of a static obstacle in the driving map, the position of a peripheral moving object in the driving map, the movement speed and the movement direction of the peripheral moving object in the driving map;

if the laser radar is adopted, the device is generally arranged on the roof and coaxially rotates for 360 degrees, a circle of point cloud information around the device can be provided, and the laser radar is not only used for vehicle perception, but also used for positioning and mapping of high-precision maps;

if the camera is adopted, the light of the camera passes through a lens and an optical filter to a CMOS or CCD integrated circuit at the rear section, an optical signal is converted into an electric signal, the electric signal is converted into a digital image signal in a standard format of RAW, RGB or YUV and the like through an image processor (ISP), and the digital image signal is transmitted to a computing unit through a data transmission interface;

if a millimeter wave radar and a laser radar are adopted, the basic working principle is to emit a beam of electromagnetic waves, the distance and the speed are calculated by observing the difference between an echo and an incident wave, the distance and the speed are mainly divided into 24G and 77G, and the radar is mainly arranged on a front bumper, a rear bumper and the side face of a vehicle body when used;

if combined navigation is adopted, GNSS + INS are fused together, a GNSS board card receives GPS and RTK signals through an antenna, the spatial position of the GNSS board card is analyzed and calculated, when a vehicle runs to a shady road or some buildings, the GPS has no signals or generates multipath effect, positioning generates deviation and inaccuracy, and at the moment, the combination operation is carried out through information fusion of the INS to accurately position the position of the vehicle.

The automatic driving automobile sensors can be combined with a plurality of or all of the automatic driving automobile sensors according to needs, and a sensor combination mode adopted by a Tesla model 3 is recommended to be adopted, wherein the sensor combination mode comprises 3 front cameras (wide angle, long focus and medium in different visual angles); 2 side cameras (one left and one right); 3 rear cameras; 12 ultrasonic sensors are arranged along the periphery of the vehicle body; the head is provided with a front radar; the parking space is provided with a rear reversing camera, the automobile can accurately position the position of the automobile in the lane in the arrangement mode, meanwhile, front, rear, left and right moving objects and obstacles can be detected, and road marks such as lane lines and traffic lights can be accurately collected through the camera.

(2) The processor can be of different types according to the number and types of the sensors, for example, an FSD processor of Tesla, a Drive Xavier processor of Inviada, Nuvo-5095G of Baidu open source, or a singlechip or a PLC control board according to the types and the number of the sensors. Communication device

(3) The actuating element at least comprises a steering wheel auxiliary motor, a brake pedal auxiliary motor and an accelerator auxiliary motor, the actuating element can directly adopt the existing products, such as a steering wheel driving motor, a brake pedal driving motor and an accelerator pedal driving motor which are used on Tesla models, an automatic driving auxiliary mechanism set on an ES 8 automobile can also be used, and the auxiliary motor can also be designed according to the structure of the automobile.

Because the technical scheme only relates to the optimization of the control flow under the automatic driving mode and does not relate to a hardware part, the description of the hardware part of the automobile with the automatic driving mode is only used for explaining that the automobile with the automatic driving mode has a plurality of mature products, particularly the hardware part, companies such as Google, Baidu, high-pass and the like have provided a complete set of complete automatic driving hardware equipment at present, open source software systems are provided for editing or direct use, and the main difference of products of various companies is actually different from an algorithm, so the technical scheme can select to directly use the existing mature hardware products without self-design.

In the process of optimizing the control flow under the automatic driving mode, the technical scheme is only specially optimized for a special road section, namely a parallel line section appearing in an expressway or a special road, and does not need to design the whole flow of automatic driving control.

When the automobile runs on a lane in a straight line and is in an automatic driving mode, automatically adjusting the distances D1 and D2 between the left side and the right side of the automobile body and lane lines on the two sides of the lane to make D1 equal to D2; when an entry lane appears on one side of a road section in front of the lane where the automobile is located, the automobile in the straight lane C1 is marked as an A automobile, and the automobile in an entry section C2 adjacent to the C1 in the entry lane is marked as a B automobile; an auxiliary straight section C3 of a straight line route is arranged behind the convergence section C2, a merging section C4 with gradually reduced width is arranged behind the C3, and the C4 is finally merged with the C1; d1 is the distance of the side of the A vehicle far away from the merging section C2, and D2 is the distance of the side of the A vehicle close to the merging section C2; the distance between the vehicle body of the side, close to the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D3, and the distance between the vehicle body of the side, far away from the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D4; the road sections parallel to the C2, the C3 and the C4 in the C1 road sections are called parallel section lanes;

the automatic automobile driving and wire combining control method for improving the driving safety comprises the following steps: when the distance L1 between the A car and the entrance of the merging section C2 is less than a certain value, controlling the A car to enable D1 to be less than D2, as shown in figure 2;

when the vehicle a runs through a parallel section of the section C1, which is parallel to the merging section C2, and starts to run parallel to the auxiliary straight-going section C3, the vehicle a determines whether there is at least one vehicle B in the auxiliary straight-going section C3, if not, the vehicle a resumes the D1-D2 mode in the process of running parallel to the section C3, and if the vehicle a determines that there is at least 1 vehicle B in the section C3, the vehicle a still keeps the D1 < D2 mode in the process of running parallel to the section C3, as shown in fig. 3;

when the vehicle A runs in the C1 until the distance L2 from the start of the merge section C4 is less than a certain value, judging whether at least one vehicle B exists in the merge section C4, if not, as shown in FIG. 4, the vehicle A returns to the D1-D2 mode to run until the vehicle leaves the merge section lane; if at least one vehicle B in the vehicle C4 is in a lane of the vehicle A, as shown in FIG. 5, judging the highest vehicle speed V2 and the vehicle speed V1 of the vehicle A in the at least one vehicle B, when the V1 is more than or equal to the V2, the vehicle A runs in a mode of D1-D2 and keeps running at the original speed, meanwhile, a yield signal is sent to all vehicles B in the vehicle C4, and after receiving the yield signal, all vehicles B reduce the speed or keep the original speed and merge into a lane of the vehicle C1 from the rear of the vehicle A; as shown in fig. 6, when V1 < V2, the vehicle a travels in a manner of D1 < D2 and decelerates, and simultaneously sends a passing signal to all vehicles B in C4, all vehicles B receive the passing signal and keep the original speed or accelerate, and merge into a lane C1 from the front of the vehicle a, and after the vehicle a and the vehicle B travel through a lane merging line, the vehicle a keeps traveling in a manner of D1-D2-D3-D4.

Under a traditional control mode, when a vehicle A and a vehicle B pass through a merging lane, the vehicle A runs in a mode that D1 is equal to D2 when two lanes are changed into a single lane, and the vehicle B runs in a mode that D3 is equal to D4, at a lane merging position, the vehicle lane in front of the vehicle B gradually narrows and approaches to the vehicle lane A in advance, so that the problem that the vehicle A and the vehicle B are too close to each other in the transverse direction can be caused.

The better implementation mode is as follows: when the vehicle A is a passenger vehicle, when the vehicle A runs in a mode that D2 is larger than D1, D2-D1 are less than or equal to 500-1000 mm; considering that the width of the passenger car body is between 1600-1900mm, and the width of the urban road and the highway lane is between 3500-3750 mm; the size design is more suitable; when the A vehicle is a commercial vehicle, when the A vehicle runs in a mode that D2 is larger than D1, the D2-D1 are less than or equal to 200-600mm in consideration of the width of the commercial vehicle between 1600-2200 mm.

The better implementation mode is as follows: when the vehicle B runs in the gathering section C2, D3 is always greater than D4. This avoids the vehicle B from remaining at the proper distance from the vehicle a when it enters the C3 and is not yet discovered by the vehicle a.

When the B vehicle drives into the C3 segment, judging whether at least one A vehicle exists in the C1 parallel to the C3 and the C4, if so, judging the distance between the B vehicle and all the A vehicles by the B vehicle, if the distance is proper, merging the B vehicle into the C1 in the C3 segment, then marking the B vehicle as the A vehicle, and driving the B vehicle in the remaining distance under the driving condition of the A vehicle; and if the distance is not proper, the B vehicle is driven to the section C4 and then merged into the section C1.

Claims

1. When the automobile runs on a lane in a straight line and is in an automatic driving mode, automatically adjusting the distances D1 and D2 between the left side and the right side of the automobile body and lane lines on the two sides of the lane to ensure that D1 is equal to D2; when an entry lane appears on one side of a road section in front of the lane where the automobile is located, the automobile in the straight lane C1 is marked as an A automobile, and the automobile in an entry section C2 adjacent to the C1 in the entry lane is marked as a B automobile; an auxiliary straight section C3 of a straight line route is arranged behind the convergence section C2, a merging section C4 with gradually reduced width is arranged behind the C3, and the C4 is finally merged with the C1; d1 is the distance of the side of the A vehicle far away from the merging section C2, and D2 is the distance of the side of the A vehicle close to the merging section C2; the distance between the vehicle body of the side, close to the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D3, and the distance between the vehicle body of the side, far away from the C1 lane, of the B vehicle and the lane line of the side, in the lane, where the B vehicle is located, is D4; the road sections parallel to the C2, the C3 and the C4 in the C1 road sections are called parallel section lanes;

the method is characterized in that: the basic control in the automatic driving process of the automobile adopts a directly called automatic driving control module contained in both OpenCV software and libQGLViewer software, wherein the automatic driving control module comprises a camera calibration program, a target detection program, an identification program and a tracking program;

when the vehicle A drives in the vehicle C1 until the distance L2 from the start of the merging section C4 is less than a certain value, judging whether at least one vehicle B exists in the merging section C4, if not, the vehicle A resumes driving in a mode of D1-D2 until the vehicle A drives away from the merging section lane; if at least one vehicle B in the vehicles C4 is in the lane of the vehicle A, judging the highest vehicle speed V2 and the vehicle speed V1 of the vehicle A in the at least one vehicle B, when the V1 is more than or equal to the V2, driving the vehicle A in a mode of D1-D2, keeping the original speed, simultaneously sending yielding signals to all vehicles B in the vehicle C4, and after all vehicles B receive the yielding signals, reducing the speed or keeping the original speed, and merging the vehicles B into the lane of the vehicle C1 from the rear of the vehicle A; when V1 is less than V2, the vehicle A runs in a mode of D1 is less than D2, the vehicle A runs at a reduced speed, meanwhile, a passing signal is sent to all vehicles B in C4, all vehicles B keep the original speed or accelerate after receiving the passing signal, and merge into a lane C1 from the front of the vehicle A, and after the vehicles A and B run through a lane merging section, the vehicles A and B keep running in a mode of keeping D1-D2 and D3-D4;

when the vehicle B runs in the convergence section C2, D3 is always greater than D4; when the B vehicle drives into the C3 segment, judging whether at least one A vehicle exists in the C1 parallel to the C3 and the C4, if so, judging the distance between the B vehicle and all the A vehicles by the B vehicle, if the distance is proper, merging the B vehicle into the C1 in the C3 segment, then marking the B vehicle as the A vehicle, and driving the B vehicle in the remaining distance under the driving condition of the A vehicle; and if the distance is not proper, the B vehicle is driven to the section C4 and then merged into the section C1.