CN103376118B - 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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- CN103376118B CN103376118B CN201210129926.1A CN201210129926A CN103376118B CN 103376118 B CN103376118 B CN 103376118B CN 201210129926 A CN201210129926 A CN 201210129926A CN 103376118 B CN103376118 B CN 103376118B
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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, the method for more particularly, to a kind of auxiliary driving based on curvature and dress
Put.
Background technology
Driving the burden of the vehicles such as car, truck, bus in order to mitigate driver, improving safety it is proposed that using
In the various driving ancillary techniques of auxiliary driver, and these technology practical.
However, being not bound with the control of speed when some automobile navigation functions are such as turned in existing auxiliary driving technology
And prompting.
Content of the invention
In order to solve above-mentioned technical problem, the present invention provides a kind of method and device driven based on the auxiliary of curvature, carries
The safety of high vehicle drive.
In order to achieve the above object, the present invention provides a kind of method driven based on the auxiliary of curvature, and methods described includes：
Obtain the curvature value of default shape point on guidance path；
When described curvature value exceedes default curvature threshold value, according to travel speed threshold value pass corresponding with curvature value
System, inquiry obtains and the described curvature value corresponding travel speed threshold value obtaining；
When vehicle travels to described shape point in the described guidance path, using the described travel speed door obtaining
Limit value automatically controls the turning speed of described vehicle.
Preferably, methods described also includes：
When described vehicle travels to described shape point in the described guidance path, outputting alarm information.
Preferably, methods described also includes：
When described vehicle travels to described shape point in the described guidance path, institute is adjusted according to described curvature value
State the direction of the car light of vehicle.
Preferably, methods described also includes：
The model of fit of trade-off curve matching and fitting parameter；
In conjunction with described model of fit and fitting parameter, determine the plan of diverse location on guidance path in electronic map database
Hop algorithm；
Quantity according to shape point on guidance path and position, are carried out curve fitting using different fitting algorithms；
On the good curve of matching, select the point corresponding with shape point on former guidance path, and the good song of digital simulation
The curvature value of corresponding point on line；
Calculated described curvature value is saved on corresponding shape point on described guidance path.
Preferably, described model of fit is Bezier model of fit.
Preferably, described when described vehicle travels to described shape point in the guidance path, using the institute obtaining
The step stating the turning speed that travel speed threshold value automatically controls described vehicle includes：
Obtain the current location of described vehicle；
When the current location of described vehicle reaches default distance threshold value apart from described shape point, using the institute obtaining
State the turning speed that travel speed threshold value automatically controls described vehicle.
Preferably, the step of the described turning speed automatically controlling described vehicle using the described travel speed threshold value obtaining
Suddenly it is：
The highest turning speed automatically controlling described vehicle in described shape point is less than described travel speed threshold value,
And/or
Adjust automatically simultaneously keeps described vehicle to be equal to described travel speed threshold value in the turning speed of described shape point.
The present invention also provides a kind of device driven based on the auxiliary of curvature, and described device includes：
Acquisition module, the curvature value of default shape point on the guidance path current for obtaining vehicle；
Processing module, for when described curvature value exceedes default curvature threshold value, according to curvature value and travel speed
The corresponding relation of threshold value, inquiry obtains and the described curvature value corresponding travel speed threshold value obtaining；
Rate control module, for when described vehicle travels to described shape point in the guidance path, using obtaining
The described travel speed threshold value taking automatically controls the turning speed of described vehicle.
Preferably, described device also includes：
Alarm module, for when described vehicle travels to described shape point in the guidance path, outputting alarm is believed
Breath.
Preferably, described device also includes：
Vehicular light control module, for when described vehicle travels to described shape point in the guidance path, using institute
State the direction that curvature value adjusts the car light of described vehicle.
As shown from the above technical solution, embodiments of the invention have the advantages that：When vehicle travels, vehicle control
The curvature value of corresponding coordinate position is obtained on the route that system processed will be able to be passed through from electronic map database, and should reaching
Before position, provide corresponding prompting or the side to the speed of Ackermann steer angle, car light when this position will be passed through in advance
To being controlled, improve the safety of vehicle drive.
Brief description
Fig. 1 is the method flow diagram driven based on the auxiliary of curvature in embodiments of the invention；
Fig. 2 is the schematic diagram of matched curve in embodiments of the invention；
Fig. 3 is the apparatus structure schematic diagram driven based on the auxiliary of curvature in embodiments of the invention.
Specific embodiment
In the present embodiment, obtain the curvature value of default shape point on guidance path first；Then when curvature value exceedes
During default curvature threshold value, according to the corresponding relation of travel speed threshold value and curvature value, inquiry obtains and the curvature obtaining
It is worth corresponding travel speed threshold value；When vehicle travels to shape point in the guidance path, using the traveling speed obtaining
Degree threshold value automatically controls the turning speed of described vehicle.
In order to preferably be easy to skilled artisan understands that embodiments of the invention, below to curvature value, travel speed
Threshold value, guidance path, the implication of shape point explain.
Curvature value, for representing the degree of crook of curve, starts to take segmental arc from point M, its a length of Δ S on light slip circle, corresponding
Tangent line corner is Δ α, defines the average curvature on Δ SCurvature at point M is：
Travel speed threshold value, sends from the angle of safety traffic, the peak of setting travel speed, this travel speed door
Limit value is adjustable.
Guidance path, the positional information of the positional information according to the departure place of vehicle for the guider and destination, from electronics
The path for guiding vehicle traveling that in map data base, coupling obtains.
Shape point, is arranged on guidance path, for recording correlation attribute information, for example, records curvature value.
In order that the purpose of the embodiment of the present invention, technical scheme and advantage become more apparent, with reference to embodiment and
Accompanying drawing, is described in detail to the embodiment of the present invention.Here, illustrative examples of the present invention and illustrating for explaining
The present invention, but not as a limitation of the invention.
As shown in figure 1, the method flow diagram driven for the auxiliary based on curvature in embodiments of the invention, concrete steps are such as
Under：
The curvature value of default shape point on step 101, acquisition guidance path；
For example：Obtain the curvature value of default shape point on the guidance path of vehicle first；Then using the shape obtaining
The curvature value of point, calculates the curvature value of default shape point.
Step 102, when curvature value exceedes default curvature threshold value, right according to curvature value and travel speed threshold value
Should be related to, inquiry obtains and the curvature value corresponding travel speed threshold value obtaining；
Step 103, when vehicle travels to shape point in the guidance path, using the travel speed threshold value obtaining
Automatically control the turning speed of vehicle；
For example：Obtain the current location of vehicle first；Then when the current location of vehicle reach apart from described shape point pre-
If distance threshold value when, can be utilized the travel speed threshold value obtaining to automatically control the turning speed of vehicle.
In the present embodiment, the current location of vehicle can be obtained using existing location technology, for example, obtained by GPS technology
The coordinate information of the current location of pick-up.
Of course, it should be understood that not limiting the concrete value of distance threshold value in the present embodiment, can be according to concrete
Situation is adjusted.
In step 103, automatically control the mode of the travel speed of vehicle using the travel speed threshold value obtaining, can adopt
With any one in following two ways：
1) vehicle power control system automatically controls vehicle and is less than travel speed door in the highest turning speed of shape point
Limit value, or
2) vehicle power control system adjust automatically and keep vehicle shape point turning speed be equal to travel speed door
Limit value.
Step 104, when vehicle travels to shape point in the guidance path, outputting alarm information；
It is, when vehicle travels to during near shape point, in order to remind the attention of vehicle driver, exportable alarm letter
Breath, for example this alarming information can be exported by way of voice broadcast.
This warning information may be configured as " turning round in front " it is of course possible to be understood by, and does not limit in the present embodiment
The mode of the output of the particular content of warning information and warning information.
Step 105, when vehicle travels to shape point in the guidance path, adjust the car light of vehicle according to curvature value
Direction.
In the present embodiment, step 103, step 104 and step 105 can carry out it is of course possible to be understood by simultaneously, step
103rd, step 104 and step 105 also can be carried out successively.
In the prior art, the guidance path in electronic map database is unsmooth, and is not to comply fully with reality
Road is administrative, therefore in the present embodiment, can in advance the guidance path in electronic map database be carried out curve fitting, with more
Plus meet the shape of real road, for example can be in the following way：
1st, select model of fit and select fitting parameter；
2nd, combine model of fit and fitting parameter, determine the matching of diverse location on guidance path in electronic map database
Algorithm；
3rd, the quantity according to shape point on guidance path and position, is carried out curve fitting using different fitting algorithms；
4th, on the good curve of matching, select the point corresponding with shape point on former guidance path, and digital simulation is good
The curvature value of corresponding point on curve；
5th, calculated curvature value is saved on corresponding shape point on guidance path.
As shown from the above technical solution, technical scheme has the advantages that：When vehicle travels, vehicle
The curvature value of corresponding coordinate position is obtained on the route that control system will be able to be passed through from electronic map database, and reaches
Before this position, be given in advance corresponding prompting or will through this position when to the speed of Ackermann steer angle, car light
Direction is controlled, and improves the safety of vehicle drive.
The method based on the auxiliary of curvature driven in the present embodiment, concrete steps are discussed in detail with reference to following steps
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 studying to road model, determine fitting parameter.
Step 203, determine fitting algorithm；
In conjunction with model of fit and parameter, determine the fitting algorithm of diverse location on road Link.
Step 204, selection road Link；
According to product design, select corresponding road Link.
Step 205, curve matching；
Quantity according to road Link sampled point and position, are carried out curve fitting using different fitting algorithms.
Step 206, the corresponding point of selection sampled point；
On the good curve of matching, select the point corresponding with original path Link up-sampling point.
The curve simulating not necessarily is completely superposed with actual broken line, may deviation, therefore correspond to shape
Coordinate points in matched curve for the shape point are：Do vertical line from shape point to curve, intersection point coordinate points are the correspondence of true form point
Point.Take this curvature on curve, the curvature as true form point and curvature.
As shown in Fig. 2 P1 is starting point, P8 is terminal, and for beginning and end, matched curve 21 and actual Link22 are one
Cause.P ' 2 is to correspond to P2 point on actual Link on fitted area curve.
Step 207, the curvature of calculating corresponding point；
Curvature value in corresponding point on the good curve of digital simulation.
Step 208, storage curvature data are on road；
Curvature value in each corresponding point is stored on corresponding sampled point, is stored in the lump in map datum.
When step 209, use, connect map datum and power control system；
Step 210, the curvature value obtaining in advance on travel route on map, are reminded to vehicle and are controlled.
Navigation map is arranged in the navigator on automobile, and when starting the vehicle, the alignment system on automobile can be to vehicle
Position positioned, and and map match.In running car, the control system of automobile will be able to be passed through from navigation map
Route in obtain the curvature value of corresponding coordinate position, and before reaching this position, be given in advance corresponding prompting or
When this position, the speed when speed of vehicle, turning will be controlled, specific control mode is as follows：
Control the turning speed of vehicle according to curvature value, for example：According to the curvature value on each shape point on guidance path,
The larger position of curvature calculates safe speed according to curvature value, contrasts vehicle current driving speed, if vehicle is current
Travel speed is faster than safe speed, and vehicle can alert driver by vehicle control system or control vehicle to travel speed in advance
Degree.
Bend warning is carried out according to curvature value, for example：According to the curvature value on each shape point on guidance path, in curvature
Value is larger, when exceeding curvature threshold value, proposes to be similar to the warning in " front have turn round " to driver in advance.
Control the direction of the car light of vehicle according to curvature value, for example：According to Vehicle Speed and current vehicle position
With the curvature value on each shape point in travel direction on map, when vehicle drives to correspondence position, the direction of adjustment car light.
As shown in figure 3, the apparatus structure schematic diagram driven for the auxiliary based on curvature in embodiments of the invention, this device
Including：
Acquisition module, the curvature value of default shape point on the guidance path current for obtaining vehicle；
Processing module, for when described curvature value exceedes default curvature threshold value, according to curvature value and travel speed
The corresponding relation of threshold value, inquiry obtains and the described curvature value corresponding travel speed threshold value obtaining；
Rate control module, for when described vehicle travels to described shape point in the guidance path, using obtaining
The described travel speed threshold value taking automatically controls the turning speed of described vehicle.
In another embodiment of the invention, described device also includes：
Alarm module, for when described vehicle travels to described shape point in the guidance path, outputting alarm is believed
Breath.
In another embodiment of the invention, described device also includes：
Vehicular light control module, for when described vehicle travels to described shape point in the guidance path, using institute
State the direction that curvature value adjusts the car light of described vehicle.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of method driven based on the auxiliary of curvature is it is characterised in that methods described includes：
Obtain the curvature value of default shape point on guidance path；
When described curvature value exceedes default curvature threshold value, according to the corresponding relation of travel speed threshold value and curvature value,
Inquiry obtains and the described curvature value corresponding travel speed threshold value obtaining；
When vehicle travels to described shape point in the described guidance path, using the described travel speed threshold value obtaining
Automatically control the turning speed of described vehicle；
Methods described also includes：
The model of fit of trade-off curve matching and fitting parameter；
In conjunction with described model of fit and fitting parameter, determine that the matching of diverse location on guidance path in electronic map database is calculated
Method；
Quantity according to shape point on guidance path and position, are carried out curve fitting using different fitting algorithms；
On the good curve of matching, select the point corresponding with shape point on former guidance path, and on the good curve of digital simulation
The curvature value of corresponding point；
Calculated described curvature value is saved on corresponding shape point on described guidance path.
2. method according to claim 1 is it is characterised in that methods described also includes：
When described vehicle travels to described shape point in the described guidance path, outputting alarm information.
3. method according to claim 1 and 2 is it is characterised in that methods described also includes：
When described vehicle travels to described shape point in the described guidance path, described car is adjusted according to described curvature value
Car light direction.
4. method according to claim 1 is it is characterised in that described model of fit is Bezier model of fit.
5. method according to claim 1 is it is characterised in that described travel in the guidance path when described vehicle
The step bag of the turning speed of described vehicle during described shape point, is automatically controlled using the described travel speed threshold value obtaining
Include：
Obtain the current location of described vehicle；
When the current location of described vehicle reaches default distance threshold value apart from described shape point, using the described row obtaining
Sail the turning speed that speed threshold value automatically controls described vehicle.
6. method according to claim 5 is it is characterised in that the described described travel speed threshold value using acquisition is automatic
The step controlling the turning speed of described vehicle is：
The highest turning speed automatically controlling described vehicle in described shape point is less than described travel speed threshold value, or
Adjust automatically simultaneously keeps described vehicle to be equal to described travel speed threshold value in the turning speed of described shape point.
7. a kind of device driven based on the auxiliary of curvature is it is characterised in that described device includes：
Acquisition module, the curvature value of default shape point on the guidance path current for obtaining vehicle；
Processing module, for when described curvature value exceedes default curvature threshold value, according to curvature value and travel speed thresholding
The corresponding relation of value, inquiry obtains and the described curvature value corresponding travel speed threshold value obtaining；
Rate control module, for when described vehicle travels to described shape point in the guidance path, using obtain
Described travel speed threshold value automatically controls the turning speed of described vehicle；
Described device also includes：It is configured to model of fit and the fitting parameter of trade-off curve matching；In conjunction with described model of fit
And fitting parameter, determine the fitting algorithm of diverse location on guidance path in electronic map database；According to shape on guidance path
The quantity of shape point and position, are carried out curve fitting using different fitting algorithms；On the good curve of matching, select and former navigation
The curvature value of corresponding point on the corresponding point of shape point, and the good curve of digital simulation on path；Will be calculated described
Curvature value is saved in the module on corresponding shape point on described guidance path.
8. device according to claim 7 is it is characterised in that described device also includes：
Alarm module, for when described vehicle travels to described shape point in the guidance path, outputting alarm information.
9. the device according to claim 7 or 8 is it is characterised in that described device also includes：
Vehicular light control module, for when described vehicle travels to described shape point in the guidance path, using described song
Rate value adjusts the direction of the car light of described vehicle.
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| US10310512B2 (en) | 2016-10-08 | 2019-06-04 | Zhejiang Guozi Robot Technology Co., Ltd. | Path planning method for mobile robots |
| CN108286979B (en) * | 2017-01-09 | 2021-07-20 | 北京四维图新科技股份有限公司 | Method and device for acquiring high-precision navigation path data, navigation system and driving system |
| JP6235748B1 (en) * | 2017-06-22 | 2017-11-22 | 株式会社ショーワ | Route generating device, vehicle, and vehicle system |
| CN108297876B (en) * | 2017-08-22 | 2019-09-17 | 腾讯科技（深圳）有限公司 | Travel speed control method, device, computer equipment and storage medium |
| WO2019104581A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Track generating method and apparatus, and unmanned ground vehicle |
| CN110109449B (en) * | 2019-03-20 | 2022-10-18 | 文远知行有限公司 | Speed planning method, speed planning device, computer equipment and storage medium |
| CN110696914A (en) * | 2019-10-31 | 2020-01-17 | 一汽解放汽车有限公司 | Vehicle control method, device, vehicle and storage medium |
| CN114089742B (en) * | 2021-10-25 | 2023-09-26 | 广东嘉腾机器人自动化有限公司 | AGV running speed control method, device and medium based on path curvature |
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