CN114475662A - Vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation - Google Patents
Vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation Download PDFInfo
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Abstract
The application discloses a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation, which comprises a navigation subsystem, an environment perception subsystem, a cooperative control subsystem and a driving control subsystem; the navigation subsystem is used for generating a vehicle navigation route of the vehicle according to the road large environment between the starting place and the destination of the vehicle; the environment perception subsystem is used for perceiving the small road environment in real time to generate road condition data; the cooperative control subsystem is used for sharing the navigation route of the vehicle with other vehicles, and generating driving authority when the navigation route has an intersection point; the driving control subsystem is used for generating a driving direction instruction of the vehicle according to the navigation route of the vehicle, generating a driving route instruction according to the road condition data and the driving authority, and controlling the automatic driving of the vehicle. The method and the device can reasonably and safely solve the problem of the passing sequence in the vehicle meeting process; meanwhile, the obstacle is reasonably and safely avoided by combining the road surface environment sensing.
Description
Technical Field
The application belongs to the technical field of automatic driving control, and particularly relates to a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation.
Background
With the development of science and technology, the automatic driving technology of the vehicle is more mature, the vehicle is continuously controlled in real time by means of artificial intelligence, visual calculation, radar and monitoring devices, passengers only need to input destinations when using the automatic driving vehicle, and the automatic driving vehicle generates a driving route based on the current position and the destinations and drives according to the generated driving route.
An intelligent automatic driving system of a vehicle is a control strategy obtained by summarizing and analyzing through various detection means, and is on the premise of safety as a whole. However, in the current vehicle intelligent control, an empty place is used as a background, or a closed road section with a very small traffic flow is used, so that a multi-vehicle intersection scene hardly exists, and the vehicle intersection processing is basically 'give way', and the vehicle can continue to run after other vehicles pass through the vehicle intersection processing. However, when multiple automatic driving vehicles meet a multi-vehicle meeting scene, the situation that the multiple vehicles are in 'courtesy' but do not run is likely to occur. In addition, the current automatic driving technology still takes fixed obstacles as the standard for judging obstacles on roads, and still judges the positions of pedestrians or other objects in the moving process according to the fixed positions at a certain time point, so that the obstacles, particularly the moving vehicles and pedestrians cannot be reasonably avoided when multiple vehicles meet. Obviously, the current automatic driving technology is difficult to adapt to the actual road environment with complex road conditions.
The automatic driving technology of the vehicle is higher than all in principle, but how to reasonably process multi-vehicle intersection and reasonably avoid obstacles needs more intelligent sensing and analysis technology and a subsequent vehicle control system.
Disclosure of Invention
The application provides a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation, on the basis of the traditional automatic driving technology based on navigation information, the condition of vehicle intersection in the vehicle intersection process is taken as a research key point, the road surface environment is perceived simultaneously, a driving instruction in the vehicle intersection process is generated, and intersection traveling of multiple vehicles is achieved.
In order to achieve the above purpose, the present application provides the following solutions:
a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation comprises a navigation subsystem, an environment perception subsystem, a cooperative control subsystem and a driving control subsystem;
the navigation subsystem is used for generating a vehicle navigation route of the vehicle according to the road large environment between the starting place and the destination of the vehicle, and the vehicle navigation route is displayed by taking a lane as a unit;
the environment perception subsystem is used for perceiving a small road environment in real time to generate road condition data in the automatic running process of the vehicle along the navigation route of the vehicle;
the cooperative control subsystem is used for sharing the vehicle navigation route with other vehicles, receiving other vehicle navigation routes sent by other vehicles, and generating driving authority when intersection points appear between the vehicle navigation route and the other vehicle navigation routes;
the driving control subsystem is used for generating a driving direction instruction of the vehicle according to the vehicle navigation route and generating a driving route instruction according to the road surface condition data and the driving authority, and the driving direction instruction and the driving route instruction are used for controlling the automatic driving of the vehicle.
Optionally, the navigation subsystem includes a map unit, a positioning unit and a dynamic optimization unit;
the map unit is used for providing high-precision map data and generating the navigation route of the vehicle based on the map data;
the positioning unit is used for providing high-precision vehicle real-time position information and marking the real-time position information on the vehicle navigation route;
and the dynamic optimization unit is used for dynamically adjusting the navigation route of the vehicle according to the change of the road large environment.
Optionally, the road surface condition data includes road identification and obstacle information;
the environment perception subsystem comprises a visual recognition unit and a radar detection unit;
the visual recognition unit is used for acquiring a space video picture around the vehicle and recognizing the road mark and the obstacle image according to the space video picture;
the radar detection unit is used for acquiring obstacle position data around the vehicle through radar waves and acquiring obstacle information according to the obstacle position data and the obstacle images.
Optionally, the cooperative control subsystem includes a data sharing unit, a route analyzing unit, a driving authority allocating unit, and a driving authority transferring unit;
the data sharing unit is used for sending the own vehicle navigation route within a preset distance ahead of the own vehicle to other vehicles and receiving other vehicle navigation routes sent by other vehicles;
the route analysis unit is used for judging whether a navigation intersection point appears or not based on the vehicle navigation route and the other vehicle navigation routes, and if the navigation intersection point appears, intersection point information is generated;
the driving authority distribution unit is used for acquiring driving authority according to the rendezvous point information and a preset safe rendezvous range;
and the driving authority transfer unit is used for transferring the driving authority to other vehicles after the vehicle drives away from the safe intersection range.
Optionally, the vehicle which firstly enters the safety meeting range is marked as the vehicle with the first driving authority;
then, the vehicles arriving at the safe intersection range are marked as vehicles with second driving authority, and the driving authority is marked according to the sequence of arriving at the safe intersection range;
when the vehicle marked as the first driving authority leaves the safe intersection range, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and at the moment, the vehicle marked as the second driving authority is marked as the first driving authority.
Optionally, if the vehicle marked as the first driving authority stops running within the safe meeting range, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and at this time, the vehicle marked as the second driving authority is marked as the first driving authority;
when the vehicle marked as the first driving authority leaves the safety intersection range, the vehicle staying in the safety intersection range is marked as the first driving authority, the vehicle can continue to travel, if the vehicle does not travel within a limited time, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and at the moment, the vehicle marked as the second driving authority is marked as the first driving authority.
Alternatively, only vehicles marked as first driving authority may be subject to manual operation by the driver.
Optionally, the driving control subsystem includes a driving direction unit and a route instruction unit;
the driving direction unit is used for generating the driving direction instruction according to the vehicle navigation route;
the route instruction unit is used for generating a driving route instruction according to the road surface condition data and the driving authority, and the driving route instruction is used for avoiding obstacles on the own vehicle navigation route, controlling the own vehicle to run in the safe intersection range and maintaining the correct route of the own vehicle on the own vehicle navigation route.
The beneficial effect of this application does:
the application discloses a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation, on the basis of a traditional automatic driving technology based on navigation information, the vehicle meeting situation in the driving process is taken as a research focus, meeting points are judged from a navigation route of a vehicle through multi-vehicle interaction, and a cooperation strategy of first-come first-pass is adopted, so that the passing sequence problem in the vehicle meeting process is reasonably and safely solved; meanwhile, a driving instruction capable of reasonably and safely avoiding obstacles in the vehicle intersection process is generated by combining with the road surface environment perception, and the problem of safe passing of the vehicle is solved.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.
FIG. 1 is a schematic structural diagram of a vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation according to an embodiment of the application;
FIG. 2 is a schematic view of a driving state of four vehicles sensing a meeting point in the embodiment of the present application;
FIG. 3 is a diagram illustrating the formation of authority assignment rules in an embodiment of the present application;
fig. 4 is a schematic diagram of passing driving authority in the embodiment of the present application.
Detailed Description
The present application provides an intelligent strategy technique related to autonomous driving, but is not limited to one that provides full vehicle operation and control for a vehicle with intelligent control. To facilitate an understanding of the various technologies and terms used in this application, a description will first be given of some related technologies related to intelligent vehicle control.
Autonomous driving system technology (abbreviated ADS) refers to systems that perform driving tasks for a vehicle (e.g., lateral and longitudinal control of the vehicle) and allow the vehicle to drive with reduced and/or no human controlled driving tasks.
GPS is a Global Navigation Satellite System (GNSS) that provides geographic location and time information to a receiver. Examples of GNSS include, but are not limited to, the Global positioning System developed in the United states, the Differential Global Positioning System (DGPS), the Beidou navigation satellite System (BDS), the GLONASS Global navigation satellite System, the European Union Galileo positioning System.
An automated vehicle (abbreviated "AV") refers to an automated vehicle that operates in an automation mode (e.g., at any automation level).
The automation or intelligence level of a vehicle is described in terms of a "intelligence level" or "automation level". The vehicle intelligence or automation level is one of the following: v0: no automation function; v1: basic functions that assist a human driver in controlling the vehicle; v2: the system assists a human driver to control the vehicle to complete simple tasks and provides a basic sensing function; v3: the system has a detailed real-time environment sensing function and can complete relatively complex driving tasks; v4: a function of allowing the vehicle to run independently under defined conditions and with the support of a human driver; v5: a function that allows the vehicle to run independently in any situation without the support of a human driver.
The system intelligence and/or automation level is one of the following: s0: no function; s1: the system provides simple functions such as cruise control, passive safety and the like for individual vehicles; the system detects the speed, position and distance of the vehicle; s2: the system consists of individual intelligence and can detect the functional state of the vehicle, the acceleration of the vehicle and/or traffic signs and signals; the individual vehicle makes a decision according to the self information, partially realizes automatic driving, and provides complex functions of assisting the vehicle in self-adaptive cruise control, lane keeping, lane-changing automatic parking and the like; s3: the system integrates information of a group of vehicles, has point-to-point intelligence and prediction capability, can make intelligent decision on the vehicle group, and can complete complex conditional automatic driving tasks such as collaborative cruise control, vehicle formation, vehicle navigation at intersections, confluence, diversion and the like; s4: the system optimally integrates driving behaviors in a local network; the system detects and transmits detailed information in a local network, makes decisions according to vehicle and traffic information in the network, and processes complex and high-level automatic driving tasks, such as guiding a traffic signal corridor, and provides an optimal track for vehicles in a small traffic network; s5: vehicle automation and system traffic automation, where the system optimally manages the entire transportation network; the system detects and transmits detailed information within the transportation network and makes decisions based on all available information within the network; the system handles fully automated driving tasks, including individual vehicle tasks and traffic transportation tasks, and coordinates all vehicles to manage traffic.
Some other common standards in this field may be referred to SAE international standard J3016.
In the present embodiment, when automated driving or smart driving control is involved, the above technical contents may be referred to or cited.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As is known, a vehicle must travel on a road in the general sense, and a large number of other vehicles must be present on the road, and at intersections without traffic lights or without guidance, autonomous intersections between vehicles must be generated. In addition, many pedestrians and other vehicles on the road belong to obstacles for vehicles with an automatic driving function, the safety of the obstacles is ensured and the passing of the vehicles is ensured in the driving process of the vehicles, and the vehicles and the pedestrians are in a moving state and are not fixed, so that the judgment of the positions of the obstacles is greatly influenced.
Therefore, according to the method and the device, intersection points in the driving path are judged according to the navigation information of the multiple vehicles, the driving sequence of the vehicles is combed in a reasonable mode on the premise of cooperation of the multiple vehicles, meanwhile, various barriers and pedestrians are reasonably and safely avoided through environment perception, and reasonable and safe passing of the vehicles in the intersection process is guaranteed.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, a schematic structural diagram of a vehicle-mounted intelligent control system based on environment sensing and multi-vehicle coordination in the embodiment of the present application mainly includes a navigation subsystem, an environment sensing subsystem, a coordination control subsystem, and a driving control subsystem.
In this embodiment, the navigation subsystem is configured to generate the own vehicle navigation route of the own vehicle according to a road large environment between the origin and the destination of the own vehicle. The cooperative control subsystem is used for sharing the vehicle navigation route with other vehicles, receiving other vehicle navigation routes sent by other vehicles, and generating driving authority when intersection points appear on the vehicle navigation route and the other vehicle navigation routes. The environment perception subsystem is used for perceiving the small environment of the road surface in real time to generate road surface condition data in the automatic running process of the vehicle along the navigation route of the vehicle. The driving control subsystem is used for generating a driving direction instruction of the vehicle according to the navigation route of the vehicle and generating a driving route instruction according to the road condition data and the driving authority, and the driving direction instruction and the driving route instruction are used for controlling the automatic driving of the vehicle.
The structural composition and functional implementation of each subsystem are described in detail below.
In this embodiment, the navigation subsystem includes a map unit, a positioning unit, and a dynamic optimization unit.
The map unit is used for providing high-precision map data and generating the navigation route of the vehicle based on the map data. The positioning unit is used for providing high-precision vehicle real-time position information and marking the real-time position information on the vehicle navigation route.
At this stage, navigation and positioning technologies have been greatly improved, and related technologies are numerous. However, these navigation and positioning functions, which are commonly located at the road level, only show the road path. The navigation technology is far from meeting the requirement of vehicles on reasonably avoiding road obstacles.
In fact, the existing navigation technology, especially the Beidou navigation and positioning technology, has reached the high precision of 10cm level, and based on such high-precision maps and high-precision positioning, navigation information can be marked on a certain lane of a road, namely, the navigation and road data are displayed by taking the lane as a unit, and a vehicle is guided to run in a certain lane. In this embodiment, when there is only one lane, the lane is used as the navigation route, when there are two lanes, the right lane is used as the navigation route, when there are multiple lanes, the middle lane is used as the navigation route, and the rest lanes are used as the standby lanes. The lane is used as a unit for navigation display and prompt, and the obstacle is favorably and reasonably avoided in the later period.
Meanwhile, based on such high-precision positioning, the position of the vehicle is positioned, and based on the overall dimension of the vehicle, the occupied area of the vehicle relative to the lane is identified, and the occupied area of the vehicle is marked on the navigated lane.
Based on a high-precision map and high-precision positioning, and in combination with the current road traffic conditions, such as the current traffic flow, traffic control, vehicle restriction, road construction and other road large environments, a reasonable vehicle navigation route suitable for the vehicle to pass is generated between the starting place and the destination.
In this embodiment, a dynamic optimization unit is further added, which is used to dynamically adjust the navigation route of the vehicle according to the change of the road large environment, for example, if a certain section of the original navigation route is congested, the driver may be prompted whether to change the navigation route.
In this embodiment, the vehicle navigation route planned in advance in units of lanes is a basis for vehicle traveling, and on this basis, no matter how many vehicles meet or whether the obstacle is avoided during automatic driving, the vehicle navigation route returns to the originally planned lane after the meeting and the obstacle avoidance are completed.
In the present embodiment, what corresponds to a large road environment is a small road environment including various types of obstacles on all lanes, such as fixed obstacles on the road surface, other vehicles in motion, and pedestrians. The information of the obstacles and various road marks, which are collectively called as road surface condition data, are obtained by the real-time perception of the environment perception subsystem except the road marks which are originally marked on the high-precision map.
In this embodiment, the environmental perception subsystem includes a visual recognition unit and a radar detection unit. The visual identification unit is used for acquiring a space video picture around the vehicle and identifying a road mark and an obstacle image according to the space video picture; the radar detection unit is used for acquiring obstacle position data around the vehicle through radar waves and acquiring complete obstacle information according to the obstacle position data and the obstacle images.
As mentioned above, the navigation route is from the starting point to the destination, but the change of the road environment is real-time, especially for moving pedestrians, so that the road section which needs the vehicle to sense and adopt the control strategy in real time is the road section which is actually based on the current position of the vehicle, including the road section within the preset distance of all lanes in front of, beside and behind the vehicle. In the present embodiment, the length of the road section ahead of the vehicle is set in relation to the vehicle speed, because the higher the vehicle speed, the longer the distance traveled over a period of time, the more analysis and anticipation need to be performed in advance. Specifically, in this embodiment, a driving distance of 10 seconds at the current speed of the vehicle is used as a distance range of a road section ahead of the vehicle, but the distance range of the road section ahead of the vehicle is 50 meters at the lowest, for example, the current speed of the vehicle is 36km/h, that is, 10m/s, the driving distance of 10 seconds is 100m, the driving distance exceeds the limit value of 50m at the lowest, and 100m is taken as the distance range of the road section ahead of the vehicle for obstacle sensing; if the vehicle speed is faster, for example 72km/h, namely 20m/s, the driving distance of 10 seconds is 200m, and 200m is taken as the distance range of the road section in front of the vehicle for obstacle perception. However, if the current vehicle speed is lower than 18km/h, namely lower than 5m/s, the distance traveled by the vehicle in 10 seconds does not exceed 50m, and at the moment, 50m is taken as the distance range of the road section in front of the vehicle for obstacle sensing. The method for taking the distance in front of the vehicle can reserve enough safe distance and route analysis time for the vehicle.
On the vehicle side, if the vehicle changes lanes, the vehicle may make collision contact with an obstacle on the vehicle side, and therefore, it is necessary to sense the obstacle in the range of all lanes (the lowest value is 10m on each side) on both sides of the vehicle.
For the rear of the vehicle, because there may be other vehicles that are traveling fast, the lane change of the vehicle may send a collision with the vehicle that is traveling fast behind, and therefore, the sensing range on the rear side of the vehicle is the same as that on the front side of the vehicle, and is not described herein again.
In the present embodiment, the visual recognition unit includes a video capture device, an image processing unit, and a visual analysis unit. The high-definition camera is used as video acquisition equipment to acquire video information of the front of a vehicle, the side of the vehicle and the back of the vehicle. The image processing unit adopts a mature 360-degree panoramic technology to carry out splicing integration to generate 360-degree panoramic video data with the vehicle as the center, and captures video frame images at a time interval of 0.1s to generate a continuous 360-degree panoramic two-dimensional image sequence with the vehicle as the center.
Then, the visual analysis unit recognizes the road sign and the obstacle image in each two-dimensional image using a visual analysis technique.
As described above, in the present embodiment, the obstacle is divided into a fixed obstacle and a moving obstacle, and the position, shape and spatial size of the fixed obstacle and the moving obstacle are both sensed, wherein for the moving obstacle, the movement tendency, including the movement direction and speed, is also sensed. The obstacle recognition adopts the existing mature visual analysis recognition technology, and is not limited herein, further, the optical flow analysis method combined with the existing mature theory is used for recognizing the position of the same obstacle or pedestrian in the continuous images, and distinguishing the movement trends of the fixed obstacle, the moving obstacle and the moving obstacle.
Then, in combination with a radar detection unit device, such as a laser radar detection technology widely configured on the current vehicle, a detection range of the laser radar is mapped into the two-dimensional image, and then the position of the obstacle detected by the radar is mapped into the detection range in the two-dimensional image, so that the position data of the obstacle, including the angle of the obstacle relative to the vehicle forward direction and the distance from the vehicle, is obtained. The position, spatial shape, range of occupation of the road surface, and tendency of movement of the obstacle constitute obstacle information.
Finally, all road marks and obstacle information in the perception range are marked on a high-precision map, particularly the movement route of the moving obstacle.
Based on the high-precision map navigation and the real-time environment perception in the vehicle traveling process, technical support is provided for subsequent vehicle obstacle avoidance and vehicle intersection.
In the embodiment, the cooperative control subsystem comprises a data sharing unit, a route analyzing unit, a driving authority distributing unit and a driving authority transferring unit. In the vehicle meeting process, a set of feasible cooperation strategy is needed to smoothly complete the meeting of multiple vehicles.
The data sharing unit is used for sending the vehicle navigation route in the preset distance in front of the vehicle to other vehicles and receiving other vehicle navigation routes sent by other vehicles. All navigation routes are based on lanes, and if a certain road section has a plurality of lanes for passing, the vehicle can completely change lanes to avoid the conflict of driving rights of roads. Therefore, only by taking the lane as a unit and the intersection point appears on the navigation route, a multi-vehicle cooperative intersection control strategy is needed.
The route analysis unit judges whether a navigation intersection point appears or not based on the navigation route of the vehicle and the navigation routes of other vehicles, and if the navigation intersection point appears, intersection point information is generated. Since each vehicle is sharing the navigation route, the vehicles will simultaneously generate meeting point information, which includes the location of the meeting point, the distance to the vehicle, the time expected to arrive at the meeting point, and other vehicle information involved (speed, distance to the meeting point, time expected to arrive at the meeting point, etc.). As shown in fig. 2, in the drawing, the vehicle No. 1 turns left from point a to point B, the vehicle No. 2 turns left from point B to point C, the vehicle No. 3 turns left from point C to point D, and the vehicle No. 4 turns left from point D to point a, and the navigation route generates a meeting at point O within the road environment perception range of the four vehicles. There is no need to consider the time at which the vehicle reaches point O, because the travel time in the sensing range is only 10s for each vehicle, and obviously, four vehicles must be in rendezvous cooperation within 10 s.
The driving authority distributing unit is used for acquiring driving authority according to the meeting point information and a preset safe meeting range, namely which vehicle goes ahead and which vehicle goes behind, and distinguishing which vehicle can pass through the safe meeting range and which vehicle can not pass through the safe meeting range temporarily. In the present embodiment, the safety meeting range is set to the whole intersection area (within the dashed line frame in fig. 2), and of course, may be set to a certain range centered on the intersection point, which is not limited in detail herein, and in principle, should at least satisfy the normal traffic of one vehicle. As an automatic driving vehicle, the automatic driving vehicle can run at a constant speed in principle, and sudden rapid acceleration or rapid deceleration can not occur. In fig. 3, the vehicle 1 enters the safe intersection range first, and is the vehicle with the first driving authority, and the vehicle 2 subsequently, is the vehicle with the second authority, and the vehicle 3 and the vehicle 4 do not reach the safe intersection range yet, and the driving authority is not acquired for the time being.
When the vehicle No. 1 marked as the first driving authority leaves the safety intersection range, the driving authority transfer unit transfers the first driving authority to the vehicle No. 2 marked as the second driving authority, and the vehicle No. 2 marked as the second driving authority is marked as the first driving authority at the moment. As shown in fig. 4. At this time, the vehicle number 3 also reaches the safe intersection range, and the second driving authority is acquired.
The embodiment further considers that if two vehicles enter the safe meeting range at the same time, the vehicle on the narrower road is marked as the first driving authority. Of course, in this case, the driving authority may be assigned in other manners, which is not exhaustive in the present application.
The embodiment further considers that if the vehicle marked as the first driving authority stops running in the safe meeting range, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and the vehicle marked as the second driving authority is marked as the first driving authority at the moment. When the vehicle marked as the first driving authority leaves the safety intersection range, the vehicle staying in the safety intersection range is marked as the first driving authority, the vehicle can continue the journey, if the vehicle does not drive within a limited time (for example, 10s), the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and the vehicle marked as the second driving authority is marked as the first driving authority.
When the vehicle acquires the driving authority, the vehicle is in a multi-vehicle cooperative control system, and at the moment, only the vehicle marked as the first driving authority can accept the manual operation of the driver, and other vehicles do not respond to the vehicle operation of the driver, so that the driving sequence and the rules established in the early stage are prevented from being damaged.
When the driving authority is established, namely the driving sequence and the driving rule are established, the vehicle travels according to the driving sequence and the rule. The driving control subsystem comprises a driving direction unit and a route instruction unit.
The driving direction unit generates a driving direction instruction according to the navigation route of the vehicle, which is a large direction in which the vehicle travels. On the basis, the route instruction unit generates a driving route instruction according to the road surface condition data and the driving authority, wherein the driving route instruction is used for avoiding obstacles on the navigation route of the vehicle, controlling the vehicle to run in the safe intersection range and maintaining the correct route of the vehicle on the navigation route of the vehicle, namely, the vehicle returns to the original navigation route after leaving the safe intersection range and completing obstacle avoidance. The specific obstacle avoidance operation can adopt the prior art, but needs to take the safe intersection range and the navigation route as the reference, namely, the safe intersection range cannot be exceeded due to obstacle avoidance driving, and lane changing driving can be carried out only within the range allowed by the related traffic regulations.
The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.
Claims (8)
1. A vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation is characterized by comprising a navigation subsystem, an environment perception subsystem, a cooperative control subsystem and a driving control subsystem;
the navigation subsystem is used for generating a vehicle navigation route of the vehicle according to the road large environment between the starting place and the destination of the vehicle, and the vehicle navigation route is displayed by taking a lane as a unit;
the environment perception subsystem is used for perceiving a small road environment in real time to generate road condition data in the automatic running process of the vehicle along the navigation route of the vehicle;
the cooperative control subsystem is used for sharing the vehicle navigation route with other vehicles, receiving other vehicle navigation routes sent by other vehicles, and generating driving permission when intersection points appear on the vehicle navigation route and the other vehicle navigation routes;
the driving control subsystem is used for generating a driving direction instruction of the vehicle according to the vehicle navigation route and generating a driving route instruction according to the road surface condition data and the driving authority, and the driving direction instruction and the driving route instruction are used for controlling the automatic driving of the vehicle.
2. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 1,
the navigation subsystem comprises a map unit, a positioning unit and a dynamic optimization unit;
the map unit is used for providing high-precision map data and generating the navigation route of the vehicle based on the map data;
the positioning unit is used for providing high-precision vehicle real-time position information and marking the real-time position information on the vehicle navigation route;
and the dynamic optimization unit is used for dynamically adjusting the navigation route of the vehicle according to the change of the road large environment.
3. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 2,
the road surface condition data comprises road identification and obstacle information;
the environment perception subsystem comprises a visual recognition unit and a radar detection unit;
the visual recognition unit is used for acquiring a space video picture around the vehicle and recognizing the road mark and the obstacle image according to the space video picture;
the radar detection unit is used for acquiring obstacle position data around the vehicle through radar waves and acquiring obstacle information according to the obstacle position data and the obstacle images.
4. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 2, wherein the cooperative control subsystem comprises a data sharing unit, a route analyzing unit, a driving authority distributing unit and a driving authority transferring unit;
the data sharing unit is used for sending the own vehicle navigation route within a preset distance ahead of the own vehicle to other vehicles and receiving other vehicle navigation routes sent by other vehicles;
the route analysis unit is used for judging whether a navigation intersection point appears or not based on the vehicle navigation route and the other vehicle navigation routes, and if the navigation intersection point appears, intersection point information is generated;
the driving authority distribution unit is used for acquiring driving authority according to the rendezvous point information and a preset safe rendezvous range;
and the driving authority transfer unit is used for transferring the driving authority to other vehicles after the vehicle drives away from the safe intersection range.
5. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 4, wherein a vehicle which firstly enters the safety meeting range is marked as a vehicle with a first driving authority;
then, the vehicles arriving at the safe intersection range are marked as vehicles with second driving authority, and the driving authority is marked according to the sequence of arriving at the safe intersection range;
when the vehicle marked as the first driving authority leaves the safe intersection range, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and at the moment, the vehicle marked as the second driving authority is marked as the first driving authority.
6. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 5,
if the vehicle marked as the first driving authority stops running in the safe intersection range, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and the vehicle marked as the second driving authority is marked as the first driving authority at the moment;
when the vehicle marked as the first driving authority leaves the safety intersection range, the vehicle staying in the safety intersection range is marked as the first driving authority, the vehicle can continue to travel, if the vehicle does not travel within a limited time, the driving authority transfer unit transfers the first driving authority to the vehicle marked as the second driving authority, and at the moment, the vehicle marked as the second driving authority is marked as the first driving authority.
7. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 6, wherein only the vehicle marked as the first driving authority can accept manual operation of a driver.
8. The vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation according to claim 7, wherein the driving control subsystem comprises a driving direction unit and a route instruction unit;
the driving direction unit is used for generating the driving direction instruction according to the vehicle navigation route;
the route instruction unit is used for generating a driving route instruction according to the road surface condition data and the driving authority, and the driving route instruction is used for avoiding obstacles on the own vehicle navigation route, controlling the own vehicle to run in the safe intersection range and maintaining the correct route of the own vehicle on the own vehicle navigation route.
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| CN202310330629.1A CN116373904A (en) | 2022-03-07 | 2022-03-07 | Vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation |
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| CN117496762B (en) * | 2023-12-29 | 2024-05-10 | 苏州观瑞汽车技术有限公司 | Real-time lane selection method and system suitable for multi-dimensional collaborative awareness environment |
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