TWI597197B - Compound Automatic Assisted Driving Decision System and Its Method - Google Patents

Description

Composite automatic assisted driving decision system and method thereof

The present invention relates to a technique for automatic assisted driving, and more particularly to a decision system and method for a composite automatic assisted driving that can automatically assist driving according to environmental switching.

The automatic assisted driving system can sense the external environment of the vehicle body by using a sensing device such as a distance or an image, and the processor can determine a control body signal according to the external environment to control the walking state of the vehicle body. Therefore, the automatic assisted driving system can help drive and control the vehicle, thereby improving driving and road safety and reducing the long-term driving workload.

The Highway Safety Authority (NHTSA) under the US Department of Transportation (DOT) clearly classifies vehicle automation into five levels: Level 0, with no electronic aids at all. Level 1 is equipped with one or more specific electronic control functions. Level 2, with more than two automatic control functions. Level 3, the vehicle travels automatically most of the time but needs to be monitored. Level 4, fully automatic driving.

However, most of the existing automatic assisted driving systems only stay at Level 1, using a single automatic assisted driving system to control the body, and only choose to install a vertical control automatic assist system or a lateral control automatic assist system on the vehicle, where the vertical control is automatic. The auxiliary system is used to control the longitudinal acceleration, longitudinal deceleration, vehicle speed, relative vehicle speed, relative acceleration, relative deceleration, and the like. For example, the autonomous emergency braking system (AEB) uses sophisticated sensors and electronic devices to detect whether an object is in front of the vehicle. If the system believes that a collision may occur, the emergency braking will be automatically started. The laterally controlled automatic assist system is used to control the steering wheel angle, heading angle, side slip angle, lateral acceleration, lateral speed, steering wheel angular speed, and the like. The Lane Keeping System (LKS) is a kind of automatic auxiliary system for lateral control. The lane maintenance assisting device senses the lane line by using a Charge-coupled Device (CCD) lens mounted in front of the vehicle. Out of the car offset, when the driver improperly deviates from the lane line, the system will give warning and participate in the steering control to assist the driver to keep driving in the lane.

However, when only one automatic assisted driving system is installed on the vehicle, the automatic assisted driving system will be released as long as the driver intervenes in the steering wheel, throttle or brake, but the future automatic assisted driving system will develop towards Level 3, that is, it will start to develop more. The merger between automatic assisted driving systems, when there are multiple automatic assisted driving systems in a car, the situation is not so simple. When a vehicle has a lateral and longitudinal control automatic assisted driving system, if there is no real conversion mechanism between the lateral and longitudinal automatic assisted driving system, the following dangers may be encountered. When the vehicle is cornering, the lateral control is automatic. When the assisted driving system is activated, the vertical control automatic assisted driving system is activated at the same time, which may cause the vehicle to slip or turn off the lane, causing more serious damage. Therefore, how to make the vertical and laterally controlled automatic assisted driving system coexist, it is very important to define the switching threshold conditions of the two automatic assisted driving systems.

In view of the above, the present invention proposes a composite automatic assisted driving decision system and method thereof to effectively overcome the above problems in view of the above-mentioned shortcomings of the prior art.

The main object of the present invention is to provide a composite automatic assisted driving decision system and method thereof, which can effectively coexist longitudinal control and lateral control automatic assisted driving devices, and can effectively define the threshold of conversion of two different automatic assisted driving devices. The condition is to judge that the vertical control or the lateral control automatic assisting driving device must be turned off according to the state of the vehicle and the environmental state to improve the safety of the automatic driving.

Another object of the present invention is to provide a composite automatic assisted driving decision system and method thereof, which can turn off or turn on automatic assisted driving according to the will of driving to control the driving power of driving vehicles, thereby improving driving safety of driving. Sex.

In order to achieve the above object, the present invention provides a composite automatic assisted driving decision system, which is disposed on a vehicle for automatically assisting vehicle driving, and the composite automatic assisted driving decision system includes a longitudinal control automatic assisted driving. The device is configured to control the moving speed of the vehicle; the one side controls the automatic assisting driving device to control the rotation angle of the vehicle; and the sensing device senses the state of the vehicle to generate a sensing signal, wherein the sensing signal includes a a distance signal, a speed signal, a rotation angle signal and a deceleration signal; a controller electrically connecting the vertical control automatic assist driving device, the lateral control automatic assist driving device and the sensing device, and the controller can receive the sensing signal And calculating a collision time according to the distance signal and the speed signal in the sensing signal, providing the controller to determine that the collision time is less than a preset collision time, and when the deceleration signal is greater than a predetermined deceleration, the controller generates a side control Stop signal to laterally control the automatic assisted driving device to stop controlling the turn of the vehicle Angle; At the same time the controller further determines a rotation angle signal may be greater than a predetermined angle, stop generating a velocity signal, so that the longitudinal driving assistance control means stops automatic control of the moving speed of the vehicle.

The longitudinally controlled automatic assisting driving device is an autonomous emergency braking system (AEB) or an adaptive cruise control (ACC). The lateral control automatic assisting driving device is a Lane Keeping System (LKS) or a Lane Following Control (LFC).

The sensing device further includes a speed sensor, a corner sensor and a distance measuring sensor, wherein the speed sensor senses the speed of the vehicle to generate a speed signal and a deceleration signal to provide the controller The corner sensor is used to sense the turning angle of the vehicle to generate a rotation angle signal to the controller; the distance measuring sensor is used to sense the distance of the obstacle in front to generate a distance signal to the controller to provide control The device calculates the collision time with the vehicle in front based on the distance signal and the speed signal.

In addition, the present invention also provides a composite automatic assisted driving decision system method. First, the step (S10) is to start a vertical control automatic assist driving device and a side control automatic assisting device. Driving the vehicle to automatically assist in driving a vehicle; then proceeding to step (S12) to sense the state of the vehicle to generate a sensing signal, wherein the sensing signal includes a distance signal, a speed signal, a rotation angle signal, and a deceleration signal. The distance signal and the speed sensing signal can calculate a collision time; finally, the step (S14) is performed to determine whether to turn off the decision of the vertical control automatic assisting driving device or the lateral control automatic assisting driving device, and the step (S15) further includes the step ( S140) determining whether the collision time is less than the preset collision time, if not, returning to step (S12), and if so, determining whether the deceleration signal is greater than a predetermined deceleration, if a turn stop signal is generated to the lateral control automatic assisting driving device And causing the lateral control automatic assisting driving device to stop controlling the rotation angle of the vehicle. If not, the deceleration signal is less than the predetermined deceleration, then returning to the step (S12); while entering the step (S15), the step is also simultaneously entered. (S148) determining whether the rotation angle signal is greater than a predetermined angle, and if so, generating a speed stop signal to enable vertical control Automatic driving assistance control means stops the movement speed of the vehicle, if not, returns to step (S12).

The purpose, technical content, features and effects achieved by the present invention will be more readily understood by the detailed description of the embodiments.

1‧‧‧Combined automatic assisted driving decision system

10‧‧‧Longitudinal control automatic assisted driving device

12‧‧‧ lateral control automatic assisted driving device

14‧‧‧Sensing device

142‧‧‧Speed sensor

144‧‧‧ Corner Sensor

146‧‧‧Ranging sensor

16‧‧‧ Controller

18‧‧‧ Warning device

20‧‧‧Operator interface

The first figure is a block diagram of the system of the present invention.

The second figure is a schematic flow chart of the present invention.

The third and fourth figures are schematic diagrams of the conversion of the longitudinally controlled automatic assisted driving device and the laterally controlled automatic assisted driving device of the present invention.

Please refer to the first figure, which is a composite automatic assisted driving decision system 1 installed on a vehicle to automatically assist the vehicle driving, wherein the composite automatic assisted driving decision system 1 includes a controller 16 The electrical connection is a longitudinally controlled automatic assisted driving device 10, a laterally controlled automatic assisted driving device 12, a sensing device 14, an alerting device 18, and an operating interface 20. its The medium longitudinal control automatic assisting driving device 10 is used for controlling the moving speed of the vehicle, and the vertical control automatic assisting driving device 10 can be an autonomous emergency braking system (AEB) or an adaptive distance control cruise system ( Adaptive Cruise Control (ACC) and other longitudinally controlled automatic assisted driving devices to control longitudinal acceleration, longitudinal deceleration, vehicle speed, relative vehicle speed, relative acceleration, relative deceleration, etc.; lateral control automatic assisted driving device 12 is used To control the rotation angle of the vehicle, the lateral control automatic assisting driving device 12 may be a Lane Keeping System (LKS) or a Lane Automatic Control (LFC) or the like. Control the steering wheel angle, heading angle, side slip angle, lateral acceleration, lateral speed, steering wheel angular speed, etc. of the vehicle.

The sensing device 14 is configured to sense at least one sensing signal, wherein the sensing signal includes a speed signal, a deceleration signal, a rotation angle signal, and a distance signal, and the sensing device 14 includes a sense of speed. The detector 142, a corner sensor 144, and a ranging sensor 146 are electrically connected to the controller 16, wherein the speed sensor 142 is configured to sense the speed of the vehicle to generate a speed signal and a deceleration signal. The corner sensor sense 144 is used to sense the angle of the steering wheel of the vehicle to generate a rotation angle signal; the distance sensor 146 can emit a signal such as a radar to sense the distance from the obstacle in front to generate a distance signal.

However, the controller 16 receives the sensing signal of the sensing device 14 and calculates a collision time according to the distance signal generated by the ranging sensor 146 in the sensing device 14 and the speed signal generated by the speed sensor 142. The controller 16 can determine whether the collision time is less than a predetermined collision time, and the controller 16 determines whether the deceleration signal generated by the speed sensor 142 is greater than a predetermined deceleration, when the collision time is less than the preset collision time, and When the deceleration signal is greater than the predetermined deceleration, the controller 16 generates a turn stop signal to the lateral control automatic assisting driving device 12 to stop controlling the rotation angle of the vehicle; and the controller 16 determines that the collision time is less than the preset collision time. , a reminder signal is generated to the warning device 18 to remind the driver to pay attention, and the controller 16 can be less than an early warning collision time. When the time is hit, a turn stop warning signal is generated to the warning device 18 to remind the driving side to control the automatic assisting driving device 12 to be turned off, and the driving must be kept in mind.

In addition, the controller 16 can simultaneously determine whether the rotation angle signal is greater than a preset angle. When the rotation angle signal is greater than the preset angle, the controller 16 generates a speed stop signal to the longitudinal control automatic assist driving device 10, so that The longitudinal control automatic assisting driving device 10 stops controlling the moving speed of the vehicle, and when the controller 16 generates the speed stop signal, a speed stop warning signal is simultaneously generated to the warning device 18 to remind the driving longitudinal control that the automatic assist driving device 10 is turned off.

The operation interface 20 provides an input-release automatic control signal to the controller 16, and stops the longitudinal control automatic assisted driving device 10 or the lateral control automatic assisted driving device 12, so as to facilitate the driver to intervene at any time, release the automatic assisted driving, and retrieve the driving vehicle. Self-dominance, when the automatic assisted driving device fails, can be manually driven as a safety mechanism.

After the system architecture of the present invention is described, the system flowchart of the present invention will be described next. Referring to the first and second figures, as shown in the figure, first, the process proceeds to step S10 to open the vertical control automatic assisting driving device 10 and the lateral direction. Controlling the automatic assisting driving device 12 to automatically assist driving a vehicle; then proceeding to step S12, sensing the state of the vehicle and the external environment through the sensing device 14 to generate at least one sensing signal, wherein the sensing signal includes a speed signal, rotation The angle signal, the distance signal, and the deceleration signal, the controller 14 calculates the collision time by the distance signal and the speed signal, and then proceeds to step S14 to determine whether to turn off the vertical control automatic assisting driving device 10 or the lateral control automatic assisting driving device 12 Judge. First, the step S15 is to determine whether the collision time is less than a predetermined collision time, and the deceleration signal is greater than a predetermined deceleration. Referring to step S140 and referring to the third figure, the controller 16 determines whether the collision time is less than the preset collision time. In this embodiment, the preset collision time is 2 to 1.8 seconds, and the preferred embodiment is 1.8 seconds, but it is not limited to this value. If the controller 16 determines that the collision time is less than the preset collision time, Going back to step S12, if the collision time is less than the preset collision time, the process proceeds to step S142, and the controller 16 generates a reminder signal to the warning device 18 to issue a warning reminder. Driving attention, and proceeding to step S143, the controller 16 then determines whether the collision time is less than the early warning collision time. In this embodiment, the early warning collision time is 1.2 to 1 second, and the preferred embodiment is 1 second. If not, the process returns to step S12. Then, proceeding to step S144, a turn stop warning signal is generated to the warning device 18, prompting the driving side to control the automatic assisting driving device 12 to be turned off; then proceeding to step S145, the controller 16 determines whether the deceleration signal is greater than the predetermined deceleration, In this embodiment, the predetermined deceleration system is 2 to 4 meters/second. In this embodiment, the example is 3 meters/second, but the value is not limited thereto. If the deceleration signal is greater than the predetermined deceleration, the process proceeds to step S146. The controller 16 generates a turn stop signal to the side control automatic assisting driving device 12. If not, if the deceleration signal is less than the predetermined deceleration, the process returns to step S12.

Next, in step S148, referring to step S148, and referring to the fourth figure, the controller 16 determines whether the rotation angle signal is greater than a predetermined angle, and the preset angle range is about 15 to 20 degrees. The preset angle in this embodiment is set to 15 degrees, but not limited to this value. If the determination in step S148 is YES, the rotation angle signal is greater than a predetermined angle, the process proceeds to step S149, and the controller 16 generates a speed stop signal to the longitudinal control automatic assist driving device 10 to make the portrait Controlling the automatic assisting driving device 10 to stop controlling the moving speed of the vehicle, and the controller 16 generates a speed stop warning signal to the warning device 18 to issue an alert reminder driving the vertical control automatic assisting driving device 10 to close; if not, the turning angle signal is less than one When the angle is set, the process returns to step S12, and the state of the vehicle is sensed again.

After receiving the alert signal, the speed stop warning signal and the turn stop warning signal sent by the warning device 18, an automatic control signal can be input from the operation interface 20 for generating a speed stop signal or a turn stop signal, and stopping the vertical control automatically. The assisting driving device 10 or the laterally controlling the automatic assisting driving device 12 releases the self-dominance right of automatically assisting the driving and holding back driving as a safety mechanism. Of course, at any other time, the automatic control signal can be released by inputting the automatic control signal on the operation interface 20, so that the automatic assisted driving can be released, so that the driving can be retrieved at any time.

In summary, the present invention can effectively coexist the longitudinal control and the lateral control automatic assisted driving device, and can effectively define the threshold conditions for the conversion of two different automatic assisted driving devices, according to The vehicle state and the environmental state release the vertical control or the lateral control automatic assisted driving device to improve the safety of the automatic driving. Moreover, the present invention can automatically turn off or turn on the automatic assisted driving according to the will of the driving. When the driving thinks that the automatic assisted driving is judged to be wrong, and the automatic assisted driving may cause danger, the mastery of driving back can be grasped, and the driving safety can be greatly improved.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Therefore, any changes or modifications of the features and spirits of the present invention should be included in the scope of the present invention.

1‧‧‧Combined automatic assisted driving decision system

10‧‧‧Longitudinal control automatic assisted driving device

12‧‧‧ lateral control automatic assisted driving device

14‧‧‧Sensing device

142‧‧‧Speed sensor

144‧‧‧ Corner Sensor

146‧‧‧Ranging sensor

16‧‧‧ Controller

18‧‧‧ Warning device

20‧‧‧Operator interface

Claims (11)

A composite automatic assisted driving decision system is provided on a vehicle to automatically assist the vehicle to drive. The composite automatic assisted driving decision system comprises: a longitudinally controlled automatic assisted driving device for controlling the moving speed of the vehicle; The lateral control automatically assists the driving device to control the rotation angle of the vehicle; a sensing device senses the state of the vehicle and the environment to generate at least one sensing signal, the sensing signal includes a speed signal, a distance signal, and a a rotation angle signal and a deceleration signal; and a controller electrically connected to the longitudinal control automatic assist driving device, the lateral control automatic assist driving device and the sensing device, the controller receiving the sensing signal, and according to the The distance signal calculates a collision time with the speed signal, and the controller determines that the collision time is less than a preset collision time, and when the deceleration signal is greater than a predetermined deceleration, the controller generates a turn stop signal to the side. Controlling the automatic assisted driving device to stop controlling the rotation angle of the vehicle, the control The controller further determines that the rotation angle signal is greater than a predetermined angle, and generates a speed stop signal, so that the longitudinal control automatic assisting driving device stops controlling the moving speed of the vehicle; wherein the controller determines that the collision time is less than the preset During the collision time, a reminder signal is generated; when the controller senses that the collision time is less than an early warning collision time, a turn stop warning signal is generated to remind the lateral control automatic assisted driving device to be turned off; the controller When the speed stop signal is generated, a speed stop warning signal is simultaneously generated to remind the vertical control automatic assisted driving device to be turned off. The composite automatic assisted driving decision system according to claim 1, wherein the longitudinally controlled automatic assisting driving device is an autonomous emergency braking system (AEB) or an adaptive distance control cruise system (Adaptive Cruise) Control, ACC). The composite automatic assisted driving decision system according to claim 1, wherein the laterally controlled automatic assisting driving device is a Lane Keeping System (LKS) or a Lane Following Control (LFC). . The composite automatic assisted driving decision system of claim 1, wherein the sensing device further comprises: a speed sensor that senses the speed of the vehicle to generate the speed signal and the deceleration signal to the controller a corner sensor sensing the turning angle of the vehicle to generate the rotation angle signal to the controller; and a ranging sensor sensing the distance of the obstacle in front to generate a distance signal to the controller. The composite automatic assisted driving decision system of claim 1 further includes a warning device electrically connected to the controller, receiving the reminder signal, the turn stop warning signal, and the speed stop warning signal, and according to the reminder The signal, the turn stop warning signal, and the speed stop warning signal are issued corresponding warnings. The decision system of the composite automatic assisted driving according to claim 1 further includes an operation interface electrically connected to the controller, wherein the operation interface can provide an input and an automatic control signal to provide the controller to generate a speed stop signal or The turn stop signal stops the longitudinal control automatic assisted driving device or the lateral control automatic assisted driving device. A composite automatic assisted driving decision method comprises the steps of: (S10) turning on a longitudinal control automatic assisted driving device and laterally controlling the automatic assisted driving device to automatically assist driving a vehicle; (S12) sensing the vehicle and the environment State to generate at least one sense signal, the sense The test signal includes a speed signal, a distance signal, a rotation angle signal and a deceleration signal, wherein the collision signal can be calculated from the speed signal and the speed signal; and (S14) whether the vertical control automatic assistance driving device is turned off Or the lateral control of the automatic assisting driving device decision: (S15) determining whether the collision time is less than a predetermined collision time, and the deceleration signal is greater than a predetermined deceleration, the step further comprising: (S140) determining the collision time Whether it is less than the preset collision time: if not, returning to step (S12); and if so, generating a reminder signal, and proceeding to step (S143); (S143) determining whether the collision time is less than an early warning collision time: Going back to step (S12); and if the collision time is less than the early warning collision time, generating a turn stop warning signal, reminding the lateral control automatic assisting driving device to be closed, and proceeding to step (S145); (S145) Determining whether the deceleration signal is greater than a predetermined deceleration: if yes, generating a turn stop signal to the lateral control automatic assisted driving And causing the lateral control automatic assisting driving device to stop controlling the rotation angle of the vehicle; and if not, returning to the step (S12); (S148) determining whether the rotation angle signal is greater than a predetermined angle: if yes, generating a speed stop Signaling to the longitudinally controlled automatic assisting driving device to cause the longitudinally controlled automatic assisting driving device to stop controlling the moving speed of the vehicle; and If not, return to step (S12). The method for determining a composite automatic assisted driving according to claim 8, wherein the automatic longitudinal control assisting driving device is an autonomous emergency braking system (AEB) or an adaptive distance control cruise system (Adaptive Cruise) Control, ACC). The method for determining a composite automatic assisted driving according to claim 8, wherein the automatic lateral control assisting driving device is a Lane Keeping System (LKS) or a Lane Following Control (LFC) ). The method for determining a composite automatic assisted driving according to claim 7, wherein in the step (S148), at the same time as the step of generating the speed stop signal, a speed stop warning signal is generated to remind the vertical control to automatically assist The steering device is turned off. The method for determining a composite automatic assisted driving according to claim 7, wherein after the alert signal is generated in the step (S15), an automatic control signal can be input to provide the speed stop signal or the turn stop signal. The longitudinal control automatic assisted driving device or the laterally controlled automatic assisted driving device is stopped.