CN102951157B - The radius of curvature evaluation method and its device of vehicle - Google Patents
The radius of curvature evaluation method and its device of vehicle Download PDFInfo
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- CN102951157B CN102951157B CN201210306635.5A CN201210306635A CN102951157B CN 102951157 B CN102951157 B CN 102951157B CN 201210306635 A CN201210306635 A CN 201210306635A CN 102951157 B CN102951157 B CN 102951157B
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- 238000011156 evaluation Methods 0.000 title claims abstract description 24
- 230000004044 response Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000003467 diminishing effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention proposes a kind of the radius of curvature evaluation method and its device of vehicle, to yaw velocity using two wave filters of different qualities, the steering angle application weighting value according to driver, and estimates radius of curvature with this.The implementation steps of the radius of curvature evaluation method of vehicle of the invention include：The input of yaw rate, driver's steering angle and speed；When driver's steering angle is not 0, filtering is implemented to the yaw velocity of the vehicle with the first signal processing filter；When driver's steering angle is 0, the yaw rate is implemented with the secondary signal wave filter slower than the first signal processing filter response filter；To the first yaw velocity filtered by first and second signal processing filter and the second yaw velocity application weighting value；Using the final yaw velocity and the radius of curvature of vehicle described in the automobile speedestimate of the application weighted value.
Description
Technical field
The present invention relates to the radius of curvature evaluation method and its device of vehicle, intelligent constant speed cruising system is specially estimated
Target vehicle selectes required travel direction and estimates the method and its device of the radius of curvature of vehicle.
Background technology
The intelligent constant speed cruising system that vehicle is installed is helped as a kind of driver assistance (Driver Assist) system
In the facility for improving driver.
Intelligent constant speed cruising system is that front vehicles are implemented to monitor, and determines distance and relative velocity therewith, make vehicle with
Front vehicles keep the convenient means of certain distance, are not required to manipulate accelerator pedal or kill car pedal.But in traveling bend or drive
The person of sailing needs to estimate the radius of curvature of vehicle when doing steering operation.
No. 10-2006-97798 or korean patent application 10-1999-66446 grade of korean patent application is bent for estimation
The conventional art of rate radius.The conventional art is typically all using the filter process yaw velocity letter that response is single
Number, there is certain limit in the various travel conditions such as reply pavement state, Driver Steering Attention.Therefore when wave filter is designed
Pay attention to, the accuracy of estimation curvature can be improved, otherwise curvature accuracy can be reduced, for intelligent constant speed cruising system mesh
Mark selection, is easily caused the hydraulic performance decline of Systematic selection target.
To solve described problem, one kind is proposed in the prior art, and by steering angle and yaw rate signal, application is estimated simultaneously
The method for calculating radius of curvature or curvature.But the method is that, using mutually different signal, have difference between each estimation result value,
There is discontinuous part and cause to estimate that the accuracy of curvature (or radius of curvature) is low.
The content of the invention
The present invention be directed to what is created under prior art background, can under any situation its object is to provide one kind
Improve the radius of curvature evaluation method and its device of the vehicle of Curvature Estimate accuracy.Another object of the present invention is to, there is provided
A kind of method for not needing lane information to stablize estimation curvature in intelligent constant speed cruising system.
To solve described problem, the technical solution adopted in the present invention is to use two different qualities to yaw velocity
Wave filter, according to driver's steering angle application weighting value, and with this estimate radius of curvature.
The radius of curvature evaluation method of the vehicle that one aspect of the present invention is related to, implementation step includes：Vehicular yaw angle speed
The input of degree, driver's steering angle and speed；When driver's steering angle is not 0, with the first signal processing filter to described
The yaw velocity of vehicle implements filtering；When driver's steering angle is 0, responded with than first signal processing filter
Property slower secondary signal wave filter the yaw rate is implemented to filter；At by first and second signal
Manage first yaw velocity and the second yaw velocity application weighting value of filter filtering；Using the application weighted value most
Whole yaw velocity and the speed, estimate the radius of curvature of the vehicle.
Here by setting, the weighted value can becoming greatly with the steering angle of the driver and diminishing, and described first
It is the Kalman filter with different update gain (K) with secondary signal treatment wave filter, the secondary signal treatment filtering
More new gain of the more new gain of device less than first signal processing filter.
The radius of curvature estimation device of the vehicle that another aspect of the present invention is related to is, used as the horizontal stroke by CAN reception vehicles
Pivot angle speed, the steering angle of driver and speed and estimate the device of vehicle radius of curvature, including：First signal transacting is filtered
Device, when having driver to turn to input, implements to filter to the yaw velocity；Secondary signal processes wave filter, does not have driver
When turning to input, the yaw velocity is implemented to filter, response is slower compared with first signal processing filter；Plus
Weights sum calculating part, by first and second signal processing filter, to the first yaw velocity and the second yaw angle
Speed applications weighted value；The radius of curvature estimation device of vehicle, using what is determined by the weighted value sum calculating part
The curvature radius calculation portion of final yaw velocity and radius of curvature described in the automobile speedestimate.
Present invention has the advantage that：
Accuracy according to present invention estimation radius of curvature can improve 11% to 16%, radius of curvature than existing method
Upwards, the target selection performance of intelligent constant speed cruising system also gets a promotion estimated performance therewith.
Brief description of the drawings
Fig. 1 is according to the radius of curvature evaluation method block figure of the vehicle of the embodiment of the present invention；
Fig. 2 be change with driver's steering angle in radius of curvature evaluation method according to the vehicle of the embodiment of the present invention plus
Weights chart；
Fig. 3 is according to the linearisation (linearization) of the radius of curvature evaluation method of the vehicle of the embodiment of the present invention
Diagram；
Fig. 4 is the radius of curvature evaluation method to the vehicle according to the embodiment of the present invention using real road running data
Estimated value and the chart that is compared of actual value using GPS device.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.This hair
The bright middle term for using only is used to illustrate embodiment, is not to limit the invention.Singulative in this specification,
On the premise of there is no special suggestion in sentence, also comprising plural form." including (comprises) " for being used in specification or
" including (comprising) " be not excluded for beyond involved component, step, action and/or element it is more than one its
The presence of its component, step, action and/or element or supplement
The radius of curvature evaluation method according to the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Fig. 1 is according to the radius of curvature evaluation method block figure of the vehicle of the embodiment of the present invention.As shown in figure 1, according to this hair
It is estimation radius of curvature, using yaw velocity (γ), speed (Vs) in the radius of curvature evaluation method of the vehicle of bright embodiment
And the steering angle (δ) of driver.
Yaw velocity is according to circumstances to use to be filtered by two mutually different wave filters of response i.e. signal transacting
Device (#1) 110 and the yaw velocity of the filtering of signal processing filter (#2) 120.Since on real road, yaw velocity
Signal is very sensitive to travel conditions (pavement state and roughness, driver's steering operation etc.).That is, there is driver to turn to
During input, using response faster wave filter (signal processing filter #1) 110 treatment yaw rate signal and make its right
Curve circuit iso-curvature sensitive.When conversely turning to input without driver, using by the slower wave filter of response (letter
Number treatment wave filter #2) the more blunt signal of external environment condition such as 120 treatment road pavements estimates radius of curvature.
The wave filter used in radius of curvature evaluation method according to the vehicle of the embodiment of the present invention is with equation below (1)
Based on Kalman filter.Herein, determined using the probability nature of yaw rate signal and yaw rate signal
Determine estimated value, response more new gain (K) value that wave filter 110 has faster is larger, and the slow wave filter 120 of response has
Relatively small more new gain (K).
Z (k) represents the yaw rate signal (measured value) from vehicle CAN herein,Represent yaw velocity
Estimated value.
Then the weighted value that application changes with driver's steering angle, weighted value is the size according to driver's steering angle 0
Determined between~1.As shown in Fig. 2 charts, the value of driver's weighted value is determined.Can now be obtained from vehicle sensors and driven
The steering angle of the person of sailing, weighted value is determined using the absolute value of steering angle.Then application is obtained in weighted value sum calculation procedure 130
The yaw rate signal of weighted value, exactly determines that reflection degree adds by the output valve of mutually different wave filter according to weighted value
To obtain.In the decision process of the described weighted value changed with driver's steering angle, weighted value is made with driving by setting
The steering angle of person increases and diminishes, and final yaw velocity can be by { (1- weighted values) × yaw velocity 1+ (weighted value)
× yaw velocity 2 } (yaw velocity 1 is the yaw velocity using the response treatment of wave filter 120 faster, yaw angle
Speed 2 is the yaw velocity using the slower treatment of wave filter 110 of response) mode represents, its determining method such as formula
(2)。
In formula:W=f (δ)
The yaw rate signal and speed Calculation of curvature radius 140 of application weighting value can be utilized below.That is, it is bent
Rate radius is determined according to below equation (3).
Fig. 3 is according to the linearisation (linearization) of the radius of curvature evaluation method of the vehicle of the embodiment of the present invention
Diagram.As shown in figure 3, to yaw velocity, using response, signal processing filter 310 and response are slower faster respectively
Signal processing filter 320, the weighted value W changed using the steering angle with driver calculates application weighting value sum 330
Final curvature, and then estimate with final curvature and the radius of curvature 340 with traveling velocity variations.
Fig. 4 is the radius of curvature evaluation method to the vehicle according to the embodiment of the present invention using real road running data
Comparison chart between estimated value and the actual value for utilizing GPS device.Curvature value to being calculated using gps signal is considered as actual value
(reference), solid line represents the measured value (actual value) using precision GPS, and dotted line is represented using according to the embodiment of the present invention
Vehicle radius of curvature evaluation method estimated value.As shown in figure 4, using the curvature half of the vehicle according to the embodiment of the present invention
The estimated value of footpath evaluation method closely actual value.
Table 1 below and table 2 are to travel script #1 and #2 to representing the long-time of different travel conditions respectively, respectively use list
One wave filter, and such as according to the embodiment of the present invention vehicle radius of curvature evaluation method by two wave filters of different qualities
According to the results contrast that driver's steering angle application weighting value is used.
Table 1
Table 2
As shown in Table 1 and Table 2, the sheet for two wave filters of different qualities being used according to driver's steering angle application weighting
The result of method is less than with the error of actual curvature value and uses the result of single characteristic wave filter in inventive embodiments.That is,
Long-time traveling script #1 (table 1), the average RMS error of #2 (table 2) and the worst error for representing various travel conditions are small.
As described above, using the radius of curvature evaluation method of the vehicle according to the embodiment of the present invention, radius of curvature estimation
The degree of accuracy can be than existing method lifting 11~26%, and radius of curvature estimated performance is upward, the object of intelligent constant speed cruising system
Selection performance also gets a promotion therewith.
Above example and particular terms are merely illustrative of the technical solution of the present invention, rather than its limitations；Although reference
Previous embodiment has been described in detail to the present invention, it will be understood by those within the art that, it still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent to which part technical characteristic；And these
Modification is replaced, and does not make the scope of technical scheme described in the essence disengaging various embodiments of the present invention of appropriate technical solution.
Claims (6)
1. the radius of curvature evaluation method of a kind of vehicle, it is characterised in that it is comprised the following steps：
The input of yaw rate, driver's steering angle and speed；
When driver's steering angle is not 0, filter is implemented to the yaw velocity of the vehicle with the first signal processing filter
Ripple；
When driver's steering angle is 0, filtered with the secondary signal slower than the first signal processing filter response
Device is implemented to filter to the yaw rate；
Should to the first yaw velocity filtered by first and second signal processing filter and the second yaw velocity
Use weighted value；
Using the final yaw velocity and the radius of curvature of vehicle described in the automobile speedestimate of the application weighted value.
2. the radius of curvature evaluation method of vehicle according to claim 1, it is characterised in that
By setting, the weighted value becoming greatly with the steering angle of the driver and diminishing.
3. the radius of curvature evaluation method of vehicle according to claim 1, it is characterised in that
First and second signal processing filter is the Kalman filter with different update gain, the secondary signal
Process the more new gain of the more new gain less than first signal processing filter of wave filter.
4. a kind of radius of curvature of vehicle estimates device, used as the steering of yaw velocity, driver by CAN reception vehicles
Angle and speed and estimate the device of vehicle radius of curvature, it is characterised in that including：
First signal processing filter, when having driver to turn to input, implements to filter to the yaw velocity；
Secondary signal processes wave filter, when not having driver to turn to input, the yaw velocity is implemented to filter, with described the
One signal processing filter is slower compared to response；
Weighted value sum calculating part, by first and second signal processing filter, to the first yaw velocity and second
Yaw velocity application weighting value；
Curvature radius calculation portion, using the final yaw velocity and the speed that are determined by the weighted value sum calculating part
Estimate the radius of curvature.
5. the radius of curvature of vehicle according to claim 4 estimates device, it is characterised in that by setting, described second
The weighted value of yaw velocity becoming greatly with the steering angle of the driver and diminishing.
6. the radius of curvature of vehicle according to claim 4 estimates device, it is characterised in that first and second signal
Wave filter is less than institute as the wave filter with mutually different more new gain, the more new gain of the secondary signal treatment wave filter
State the more new gain of the first signal processing filter.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0084592 | 2011-08-24 | ||
| KR1020110084592A KR101789073B1 (en) | 2011-08-24 | 2011-08-24 | Method and apparatus for estimating radius of curvature of vehicle |
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| Publication Number | Publication Date |
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| CN102951157A CN102951157A (en) | 2013-03-06 |
| CN102951157B true CN102951157B (en) | 2017-06-16 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101697645B1 (en) | 2014-10-06 | 2017-01-18 | 현대모비스 주식회사 | System and Method for Complex Navigation using Dead Reckoning and GPS |
| KR102277479B1 (en) * | 2015-02-25 | 2021-07-14 | 현대모비스 주식회사 | Apparatus and method for estimating radius of curvature in vehicle |
| JP6428671B2 (en) * | 2016-02-17 | 2018-11-28 | 株式会社デンソー | Estimator |
| KR102375149B1 (en) * | 2017-10-18 | 2022-03-16 | 현대자동차주식회사 | Apparatus and method for estimating redius of curvature of vehicle |
| KR102069451B1 (en) | 2018-11-19 | 2020-02-11 | (주)컨트롤웍스 | Method and Apparatus for Estimating Radius of curvature of vehicle |
| KR102589935B1 (en) * | 2019-04-18 | 2023-10-18 | 현대모비스 주식회사 | Apparatus and method for monitoring camera signals |
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| WO2010073300A1 (en) * | 2008-12-26 | 2010-07-01 | トヨタ自動車株式会社 | Travel route estimation device and travel route estimation method used in the device |
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| JP3427815B2 (en) * | 2000-03-30 | 2003-07-22 | 株式会社デンソー | Method and apparatus for selecting preceding vehicle, recording medium |
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| JP3975922B2 (en) | 2003-01-17 | 2007-09-12 | トヨタ自動車株式会社 | Curve radius estimation device |
| WO2005062984A2 (en) | 2003-12-24 | 2005-07-14 | Automotive Systems Laboratory, Inc. | Road curvature estimation system |
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2011
- 2011-08-24 KR KR1020110084592A patent/KR101789073B1/en active IP Right Grant
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Patent Citations (4)
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| GB1105201A (en) * | 1965-03-31 | 1968-03-06 | Bendix Corp | Monitoring and testing system for a fail operative control system of an aircraft |
| CN1668938A (en) * | 2002-07-15 | 2005-09-14 | 汽车系统实验室公司 | Road curvature estimation and automotive target state estimation system |
| KR20080032268A (en) * | 2006-10-09 | 2008-04-15 | 삼성전자주식회사 | Connecting terminal retracting/extending apparatus for external type apparatus |
| WO2010073300A1 (en) * | 2008-12-26 | 2010-07-01 | トヨタ自動車株式会社 | Travel route estimation device and travel route estimation method used in the device |
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| CN102951157A (en) | 2013-03-06 |
| KR20130021985A (en) | 2013-03-06 |
| KR101789073B1 (en) | 2017-10-23 |
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