CN103376118A - Curvature-based aided driving method and curvature-based aided driving device - Google Patents
Curvature-based aided driving method and curvature-based aided driving device Download PDFInfo
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- CN103376118A CN103376118A CN2012101299261A CN201210129926A CN103376118A CN 103376118 A CN103376118 A CN 103376118A CN 2012101299261 A CN2012101299261 A CN 2012101299261A CN 201210129926 A CN201210129926 A CN 201210129926A CN 103376118 A CN103376118 A CN 103376118A
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Abstract
The invention provides a curvature-based aided driving method and a curvature-based aided driving device. The method comprises the following steps of: acquiring a curvature value of a shape point pre-arranged on a navigation path; when the curvature value exceeds a preset curvature threshold value, querying to obtain a running speed threshold value corresponding to the acquired curvature value according a corresponding relationship between the running speed threshold value and the curvature value; when a vehicle runs close to the shape point in the navigation path, automatically controlling the turning speed of the vehicle according to the acquired running speed threshold value. When the vehicle runs, a vehicle control system can acquire the curvature value of a corresponding coordinate position from a running route in an electronic map database, and give a corresponding prompt in advance before the vehicle arrives at the position or controls the turning speed of the vehicle and the directions of vehicle lamps when the vehicle is about to pass through the position, so that the driving safety of the vehicle is improved.
Description
Technical field
The present invention relates to auxiliary driving technology field, relate in particular to a kind of method and device of the auxiliary driving based on curvature.
Background technology
Drive the burden of the vehicles such as car, truck, motorbus in order to alleviate the driver, improve security, proposed to be used for the various driving ancillary techniques of driver assistance, and practical these technology.
Yet, in existing auxiliary driving technology not in conjunction with control and the prompting of some automobile navigation function ratio speed when turning.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of method and device of the auxiliary driving based on curvature, improve the security of vehicle drive.
In order to achieve the above object, the invention provides a kind of method of the auxiliary driving based on curvature, described method comprises:
Obtain the curvature value of shape point default on the guidance path;
When described curvature value surpassed default curvature threshold value, according to the corresponding relation of travel speed threshold value and curvature value, inquiry obtained the travel speed threshold value corresponding with the described curvature value that obtains;
When the described shape point in the extremely close described guidance path of Vehicle Driving Cycle, utilize the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
Preferably, described method also comprises:
When the described shape point in the extremely close described guidance path of described Vehicle Driving Cycle, outputting alarm information.
Preferably, described method also comprises:
When the described shape point in the extremely close described guidance path of described Vehicle Driving Cycle, adjust the direction of the car light of described vehicle according to described curvature value.
Preferably, described method also comprises:
The model of fit of trade-off curve match and fitting parameter;
In conjunction with described model of fit and fitting parameter, determine in the electronic map database fitting algorithm of diverse location on the guidance path;
According to quantity and the position of shape point on the guidance path, adopt different fitting algorithms to carry out curve fitting;
On the good curve of match, select the point corresponding with shape point on the former guidance path, and the curvature value of corresponding point on the good curve of digital simulation;
The described curvature value that calculates is kept on the shape point corresponding on the described guidance path.
Preferably, described model of fit is the Bezier model of fit.
Preferably, during described described shape point in the extremely close guidance path of described Vehicle Driving Cycle, the step of utilizing the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle comprises:
Obtain the current location of described vehicle;
When the described shape point of the current location of described vehicle distance reaches default distance threshold value, utilize the automatically turning speed of the described vehicle of control of the described travel speed threshold value obtained.
Preferably, the described travel speed threshold value obtained of described utilization automatically the step of the turning speed of the described vehicle of control be:
Automatically the described vehicle of control is no more than described travel speed threshold value in the highest turning speed of described shape point, and/or
Automatically adjust and keep described vehicle to equal described travel speed threshold value in the turning speed of described shape point.
The present invention also provides a kind of device of the auxiliary driving based on curvature, and described device comprises:
Acquisition module is for the curvature value that obtains shape point default on the current guidance path of vehicle;
Processing module is used for when described curvature value surpasses default curvature threshold value, and according to the corresponding relation of curvature value and travel speed threshold value, inquiry obtains the travel speed threshold value corresponding with the described curvature value that obtains;
Rate control module, be used for when described Vehicle Driving Cycle near the described shape point of guidance path the time, utilize the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
Preferably, described device also comprises:
Alarm module is used for when described Vehicle Driving Cycle during to the described shape point of close guidance path outputting alarm information.
Preferably, described device also comprises:
The car light control module is used for utilizing described curvature value to adjust the direction of the car light of described vehicle when described Vehicle Driving Cycle during to the described shape point of close guidance path.
As shown from the above technical solution, embodiments of the invention have following beneficial effect: when Vehicle Driving Cycle, the route that vehicle control system can will pass through from electronic map database obtains the curvature value of corresponding coordinate position, and before arriving this position, provide in advance corresponding prompting or in the time will passing through this position, the speed of Ackermann steer angle, the direction of car light are controlled the security of raising vehicle drive.
Description of drawings
Fig. 1 is based on the method flow diagram of the auxiliary driving of curvature in the embodiments of the invention;
Fig. 2 is the synoptic diagram of matched curve in the embodiments of the invention;
Fig. 3 is based on the apparatus structure synoptic diagram of the auxiliary driving of curvature in the embodiments of the invention.
Embodiment
In the present embodiment, at first obtain the curvature value of shape point default on the guidance path; Then when curvature value surpassed default curvature threshold value, according to the corresponding relation of travel speed threshold value and curvature value, inquiry obtained the travel speed threshold value corresponding with the curvature value that obtains; When the shape point in the extremely close guidance path of Vehicle Driving Cycle, utilize the travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
Understand embodiments of the invention in order to be convenient to better those skilled in the art, the below makes an explanation to the implication of curvature value, travel speed threshold value, guidance path, shape point.
Curvature value for the degree of crook of expression curve, begins to get segmental arc from putting M on smooth arc, it is long to be Δ S, and corresponding tangent line corner is Δ α, defines the mean curvature on the Δ S
The curvature at some M place is:
The travel speed threshold value is sent from the angle of safety traffic, and the mxm. of travel speed is set, and this travel speed threshold value is adjustable.
Guidance path, guider mate the path that guided vehicle travels that is used for that obtains according to the positional information of the departure place of vehicle and the positional information of destination from electronic map database.
Shape point is arranged on the guidance path, is used for the record correlation attribute information, for example records curvature value.
For the purpose, technical scheme and the advantage that make the embodiment of the invention is clearer, below in conjunction with embodiment and accompanying drawing, the embodiment of the invention is done in further detail explanation.At this, illustrative examples of the present invention and explanation are used for explanation the present invention, but not as a limitation of the invention.
As shown in Figure 1, in the embodiments of the invention based on the method flow diagram of the auxiliary driving of curvature, concrete steps are as follows:
For example: the curvature value that at first obtains shape point default on the guidance path of vehicle; Then utilize the curvature value of the shape point that obtains, calculate the curvature value of default shape point.
For example: the current location of at first obtaining vehicle; Then when the described shape point of the current location of vehicle distance reaches default distance threshold value, can utilize the travel speed threshold value of obtaining automatically to control the turning speed of vehicle.
In the present embodiment, can adopt existing location technology to obtain the current location of vehicle, for example obtain the coordinate information of the current location of vehicle by the GPS technology.
What certainly can understand is, does not limit in the present embodiment the concrete value of distance threshold value, can adjust as the case may be.
In step 103, utilize the travel speed threshold value of obtaining automatically to control the mode of the travel speed of vehicle, can adopt in the following dual mode any one:
1) vehicle power control system is automatically controlled vehicle and is no more than the travel speed threshold value in the highest turning speed of shape point, perhaps
2) vehicle power control system is automatically adjusted and is kept vehicle to equal the travel speed threshold value in the turning speed of shape point.
Namely, when Vehicle Driving Cycle to when the shape point, in order to remind vehicle driver's attention, exportable warning information, for example this alarming information can be exported by the mode of voice broadcast.
This warning information can be set to " turning round in the place ahead ", and what certainly can understand is, does not limit in the present embodiment the mode of the output of the particular content of warning information and warning information.
In the present embodiment, step 103, step 104 and step 105 can be carried out simultaneously, and what certainly can understand is that step 103, step 104 and step 105 also can be carried out successively.
In the prior art, guidance path in the electronic map database is unsmooth, and be not that complete realistic road is administrative, therefore in the present embodiment, can carry out curve fitting to the guidance path in the electronic map database in advance, with the shape of more realistic road, for example can be in the following way:
1, selects model of fit and selection fitting parameter;
2, in conjunction with model of fit and fitting parameter, determine in the electronic map database fitting algorithm of diverse location on the guidance path;
3, according to quantity and the position of shape point on the guidance path, adopt different fitting algorithms to carry out curve fitting;
4, on the good curve of match, select the point corresponding with shape point on the former guidance path, and the curvature value of corresponding point on the good curve of digital simulation;
5, the curvature value that calculates is kept on the shape point corresponding on the guidance path.
As shown from the above technical solution, technical scheme of the present invention has following beneficial effect: when Vehicle Driving Cycle, the route that vehicle control system can will pass through from electronic map database obtains the curvature value of corresponding coordinate position, and before arriving this position, provide in advance corresponding prompting or in the time will passing through this position, the speed of Ackermann steer angle, the direction of car light are controlled the security of raising vehicle drive.
Introduce in detail the method based on the auxiliary driving of curvature in the present embodiment below in conjunction with following steps, concrete steps are as follows:
Step 201, determine model of fit;
According to road Link and practical application, select Bezier as model of fit.
Step 202, determine fitting parameter;
By to road model research, determine fitting parameter.
Step 203, determine fitting algorithm;
In conjunction with model of fit and parameter, determine the fitting algorithm of the upper diverse location of road Link.
Step 204, selection road Link;
According to product design, select corresponding road Link.
Step 205, curve;
According to quantity and the position of road Link sampled point, adopt different fitting algorithms to carry out curve fitting.
The corresponding point of step 206, selection sampled point;
On the good curve of match, select the point corresponding with original path Link up-sampling point.
The curve that simulates might not overlap fully with the broken line of reality, and the coordinate points of to some extent deviation, so correspondingly-shaped point in matched curve is: do vertical line from shape point to curve, the intersection point coordinate points is the corresponding point of true form point.Get this curvature on curve, as curvature and the curvature of true form point.
As shown in Figure 2, P1 is starting point, and P8 is terminal point, and for starting point and terminal point, matched curve 21 is consistent with actual Link22.P ' the 2nd, goes up the P2 point corresponding to actual Link on the fitted area curve.
The curvature of step 207, calculating corresponding point;
Curvature value on the good curve of digital simulation on the corresponding point.
Step 208, storage curvature data are on road;
Curvature value on each corresponding point is stored on the corresponding sampled point, is stored in the map datum in the lump.
When step 209, use, connect map datum and power control system;
Step 210, obtain the curvature value on the travel route on the map in advance, vehicle is reminded and controlled.
Navigation map is installed in the navigating instrument on the automobile, and when starting vehicle, the positioning system on the automobile can position the position of vehicle, and and map match.When running car, obtain the curvature value of corresponding coordinate position in the route that the control system of automobile can will be passed through from navigation map, and before arriving this position, provide in advance corresponding prompting or will be when this position the speed of vehicle, speed when turning be being controlled, concrete control mode is as follows:
Turning speed according to curvature value control vehicle, for example: according to the curvature value on each shape point on the guidance path, on the larger position of curvature, calculate safe speed according to curvature value, contrast vehicle current driving speed, if vehicle current driving speed is faster than safe speed, vehicle can be warned the driver or control in advance Vehicle Speed by vehicle control system.
Carry out bend warning according to curvature value, for example: larger at curvature value according to the curvature value on each shape point on the guidance path, when surpassing the curvature threshold value, the warning in similar " the place ahead have turn round " is proposed in advance to the driver.
According to the direction of the car light of curvature value control vehicle, for example: according to the curvature value on each shape point on the travel direction on Vehicle Speed and vehicle current location and the map, when Vehicle Driving Cycle during to correspondence position, adjust the direction of car light.
As shown in Figure 3, in the embodiments of the invention based on the apparatus structure synoptic diagram of the auxiliary driving of curvature, this device comprises:
Acquisition module is for the curvature value that obtains shape point default on the current guidance path of vehicle;
Processing module is used for when described curvature value surpasses default curvature threshold value, and according to the corresponding relation of curvature value and travel speed threshold value, inquiry obtains the travel speed threshold value corresponding with the described curvature value that obtains;
Rate control module, be used for when described Vehicle Driving Cycle near the described shape point of guidance path the time, utilize the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
In another embodiment of the present invention, described device also comprises:
Alarm module is used for when described Vehicle Driving Cycle during to the described shape point of close guidance path outputting alarm information.
In another embodiment of the present invention, described device also comprises:
The car light control module is used for utilizing described curvature value to adjust the direction of the car light of described vehicle when described Vehicle Driving Cycle during to the described shape point of close guidance path.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the method based on the auxiliary driving of curvature is characterized in that, described method comprises:
Obtain the curvature value of shape point default on the guidance path;
When described curvature value surpassed default curvature threshold value, according to the corresponding relation of travel speed threshold value and curvature value, inquiry obtained the travel speed threshold value corresponding with the described curvature value that obtains;
When the described shape point in the extremely close described guidance path of Vehicle Driving Cycle, utilize the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
2. method according to claim 1 is characterized in that, described method also comprises:
When the described shape point in the extremely close described guidance path of described Vehicle Driving Cycle, outputting alarm information.
3. method according to claim 1 and 2 is characterized in that, described method also comprises:
When the described shape point in the extremely close described guidance path of described Vehicle Driving Cycle, adjust the direction of the car light of described vehicle according to described curvature value.
4. method according to claim 1 is characterized in that, described method also comprises:
The model of fit of trade-off curve match and fitting parameter;
In conjunction with described model of fit and fitting parameter, determine in the electronic map database fitting algorithm of diverse location on the guidance path;
According to quantity and the position of shape point on the guidance path, adopt different fitting algorithms to carry out curve fitting;
On the good curve of match, select the point corresponding with shape point on the former guidance path, and the curvature value of corresponding point on the good curve of digital simulation;
The described curvature value that calculates is kept on the shape point corresponding on the described guidance path.
5. method according to claim 4 is characterized in that, described model of fit is the Bezier model of fit.
6. method according to claim 1 is characterized in that, during described described shape point in the extremely close guidance path of described Vehicle Driving Cycle, the step of utilizing the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle comprises:
Obtain the current location of described vehicle;
When the described shape point of the current location of described vehicle distance reaches default distance threshold value, utilize the automatically turning speed of the described vehicle of control of the described travel speed threshold value obtained.
7. method according to claim 6 is characterized in that, the described travel speed threshold value that described utilization is obtained the automatically step of the turning speed of the described vehicle of control is:
Automatically the described vehicle of control is no more than described travel speed threshold value in the highest turning speed of described shape point, and/or
Automatically adjust and keep described vehicle to equal described travel speed threshold value in the turning speed of described shape point.
8. the device based on the auxiliary driving of curvature is characterized in that, described device comprises:
Acquisition module is for the curvature value that obtains shape point default on the current guidance path of vehicle;
Processing module is used for when described curvature value surpasses default curvature threshold value, and according to the corresponding relation of curvature value and travel speed threshold value, inquiry obtains the travel speed threshold value corresponding with the described curvature value that obtains;
Rate control module, be used for when described Vehicle Driving Cycle near the described shape point of guidance path the time, utilize the described travel speed threshold value of obtaining automatically to control the turning speed of described vehicle.
9. device according to claim 8 is characterized in that, described device also comprises:
Alarm module is used for when described Vehicle Driving Cycle during to the described shape point of close guidance path outputting alarm information.
10. according to claim 8 or 9 described devices, it is characterized in that described device also comprises:
The car light control module is used for utilizing described curvature value to adjust the direction of the car light of described vehicle when described Vehicle Driving Cycle during to the described shape point of close guidance path.
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| CN114089742A (en) * | 2021-10-25 | 2022-02-25 | 广东嘉腾机器人自动化有限公司 | AGV traveling speed control method and device based on path curvature and medium |
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