CN103679851A - Short-term memory method and system for surrounding environment information of intelligent vehicle - Google Patents
Short-term memory method and system for surrounding environment information of intelligent vehicle Download PDFInfo
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Abstract
The invention provides a method and a system for realizing short-term memory of an intelligent vehicle. The method comprises the following steps: arranging a first data storage area and a second data storage area similar to a dual-blackboard mechanism, recording a road right radar map showing a driving posture and the own state parameters of the vehicle at a current moment in the first data storage area, and recording a road right radar map and the own state parameters of the vehicle at a last moment in the second data storage area in order to read data in a decision period; before decision of a control period, clearing data in the second data storage area, copying data in the first data storage area, continually recording the road right radar map information and the own state parameters of the vehicle at the current moment in the first data storage area, and repeating the steps circularly and repeatedly. Compared with the prior art, the method and the system have the advantages that the short-term memory of the intelligent vehicle is realized by using a dual-data storage area mechanism on the basis of selective memory characteristic of a driver in a cognition process, so that the aim of time synchronization of sensor information is achieved, reading-writing conflicts are avoided, and the requirements of the intelligent vehicle on environmental perception during decision and control are met.
Description
Technical field
The invention belongs to intelligent vehicle technical field, relate in particular to a kind of intelligent vehicle surrounding enviroment information short-term memory method and system.
Background technology
Intelligent driving technology relates to many science such as computer science, communication science, cognitive science, Vehicle Engineering, electric and electronic engineering, Control Science and Engineering, system science and technology, human engineering science, artificial intelligence, and intelligent vehicle is one of important symbol of weighing a national scientific research strength and industrial level.The appearance of automatic driving car, fundamentally changed the vehicle drive mode in traditional " people-Che-Lu " closed-loop system, driver is freed from loaded down with trivial details, rudimentary, lasting for a long time driving-activity, utilize advanced sensor and information technology control Vehicle Driving Cycle, allow operation conventional, lasting, rudimentary in driving-activity, that repeat automatically complete, can greatly improve efficiency and the safety of traffic system, improve the quality of mankind's movable living, there is social application widely and be worth.Meanwhile, the research of intelligent driving technology will greatly strengthen China in the core competitiveness of the aspects such as automobile active safety, to promoting China's automobile electronics and the automobile industry capability of independent innovation, has great strategic importance.
Intelligent vehicle, on the basis of dynamics of vehicle, comprises the parts such as environment sensing and self study, navigation, network communication, intelligent decision, vehicle control, cognitive imitation and calculation.Wherein, intelligent vehicle relies on the various onboard sensors such as camera, radar to realize the perception to surrounding enviroment information.The data volume size of the Physical Mechanism of many onboard sensors of intelligent vehicle, sampling period, installation site, acquisition etc. has difference, that realizes all multisensors synchronous needs to ask for the highest common factor in its sampling period, or add timestamp, cause like this treatment effeciency to reduce, and complicate the issue.
Summary of the invention
The object of this invention is to provide a kind of intelligent vehicle surrounding enviroment information short-term memory method and system, with solve in prior art, realize the synchronous treatment effeciency of a plurality of onboard sensors lower, realize complicated problem.
In order to complete the object of the invention, the invention provides a kind of intelligent vehicle surrounding enviroment information short-term memory method, described method comprises the steps:
In the first data collection cycle, onboard sensor gathers described intelligent vehicle the first surrounding enviroment information; By described the first surrounding enviroment information real-time update gathering in the first right of way radar map;
By the vehicle first oneself state Parameter storage of described the first right of way radar map and Real-time Collection in the first data storage area;
In the second data collection cycle, by the data zero clearing in the second data storage area, the data Replica in described the first data storage area is arrived in described the second data storage area;
Described onboard sensor gathers described intelligent vehicle second week surrounding environment information; By the described second week surrounding environment information real-time update gathering in the first right of way radar map;
By the vehicle second oneself state Parameter storage of described the first right of way radar map and Real-time Collection in the first data storage area.
Preferably, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration.
Preferably, described onboard sensor comprises video camera, radar, GPS equipment.
Preferably, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage.
Preferably, described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area.
Preferably, described system comprises: onboard sensor, the first right of way radar map unit, the second right of way radar map unit, the first vehicle oneself state parameter storage unit, the second vehicle oneself state parameter storage unit, the first data storage area, the second data storage area, described onboard sensor for being captured in the first data collection cycle in the first data collection cycle, and onboard sensor gathers described intelligent vehicle the first surrounding enviroment information; Also for gathering described intelligent vehicle second week surrounding environment information;
Described the first radar map unit shows described the first surrounding enviroment information gathering for real-time update in the first data collection cycle;
Described the second radar map unit shows the described second week surrounding environment information gathering for real-time update in the second data collection cycle;
Described the first vehicle oneself state parameter storage unit is for being stored in vehicle the first oneself state parameter obtaining in the first data collection cycle;
Described the second vehicle oneself state parameter storage unit is for being stored in vehicle the second oneself state parameter obtaining in the second data collection cycle;
Described the first data storage area is used for storing described the first right of way radar map and described vehicle the first oneself state parameter;
Described the second data storage area is used for storing described the second right of way radar map and described vehicle the second oneself state parameter.
Preferably, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration.
Preferably, described onboard sensor comprises video camera, radar, GPS equipment.
Preferably, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage.
Preferably, described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area.
Beneficial effect of the present invention is, compared with prior art, the Double Data memory block mechanism of short-term memory is carried out in utilization of the present invention to surrounding enviroment information, fully use for reference the selective attention feature of mankind's Drivers ' Cognition Behavior, the time synchronization problem of not only having avoided sensor information, also avoided read/write conflict, met intelligent vehicle and carry out decision-making, control the requirement to environmental information perception.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is left blackboard short-term memory schematic diagram of the present invention;
Fig. 4 is right blackboard short-term memory schematic diagram of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be understood to specific embodiment described herein only in order to explain the present invention, be not limited to protection scope of the present invention.
Mankind driver, in cognitive process, has the feature of selective attention: to the driving-activity having become history, the time is more remote, forgets more; Current driving situation be next step basis that will control the driving situation of realization, thereby driver is placed on notice on the short-term memory of current driving situation.Meanwhile, to forgeing of the driving situation of passing by, just can guarantee selective attention.The extended residual of driving situation, is embodied among the driving experience and behavior with statistical property.The present invention uses for reference the selective attention feature in mankind's Drivers ' Cognition Behavior, propose to adopt two blackboard mechanism to realize the short-term memory of intelligent vehicle to surrounding enviroment information, time synchronization problem when efficiently solving all multi-sensor informations and merging, provides reliable basis for intelligent vehicle carries out intelligent decision.
Blackboard is installed for teachers' instruction teaching in the classroom of school, blackboard is generally divided into left and right (or upper and lower) two parts, and left and right blackboard can push-and-pull.In office coaching, when teacher needs writing on the blackboard, general first writing at left blackboard; Left blackboard is become right blackboard by push-and-pull to right side after writing completely, and meanwhile, right blackboard is become left blackboard by push-and-pull to left side, continues for teacher's writing on the blackboard.
In practical application, the surrounding enviroment information that all kinds of onboard sensor perception obtain is stored in right of way radar map, and part vehicle oneself state parameter is obtained by sensors such as GPS, and other parameters obtain by automobile bus.
With left and right blackboard, represent respectively current time t and upper right of way radar map and the vehicle oneself state parameter of a t-1 constantly, as shown in Figure 3, Figure 4.
Left blackboard: deliver to the data in right of way radar map for recording various kinds of sensors, and comprise the current driving condition parameter of intelligent vehicle, as place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc.Whom who comes write, and writes at any time, and information covering new on same grid is old, and sensor is each other without synchronously.
Right blackboard: record a upper moment intelligent vehicle various kinds of sensors and deliver to data and the vehicle driving state parameter in right of way radar map, as place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc., for the read data in this decision-making period, within this decision-making period, do not consider new sensing data.
Left and right blackboard differs a control cycle.
Left and right blackboard push-and-pull: be responsible for the push-and-pull of left and right blackboard by decision-making device.Before each decision-making, once, right blackboard zero clearing is left blackboard to push-and-pull blackboard; Left blackboard becomes right blackboard, and the situation on it is for the formation of decision parameters.If push-and-pull moment has sensor to send data, can lose.
Data message in the blackboard of left and right, available array structure with it correspondence is stored.
The present invention adopts the technical scheme that is similar to above-mentioned two blackboard mechanism to realize the short-term memory of intelligent vehicle to surrounding enviroment.Particularly, as shown in Figure 1, the invention provides a kind of intelligent vehicle surrounding enviroment information short-term memory method, described method comprises the steps:
Above-mentioned steps moves in circles, and intelligent vehicle has been realized the decision process in a plurality of cycles according to said method, thereby has realized automatic Pilot.
The first data storage area is equivalent to above-mentioned left blackboard, for recording various kinds of sensors, deliver to the data in right of way radar map, also comprise the current oneself state parameter of intelligent vehicle, as place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc.The data that receiving sensor gathers in real time, whom who comes write, and writes at any time, new old data of data cover in same data, various kinds of sensors is each other without synchronously.
The second data storage area is equivalent to above-mentioned right blackboard, record a upper moment intelligent vehicle various kinds of sensors and deliver to data and the vehicle oneself state parameter in right of way radar map, as place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc., for the read data in this decision-making period, what intelligent vehicle carried out Driving Decision-making use is the data in the second data storage area, does not consider new sensing data within this decision-making period.
Intelligent vehicle be take control cycle and is carried out decision-making as frequency, can be Ams, carrying out decision-making also needs to have decision-making period, can be Bms, and (A-B+1) ms that the first above-mentioned data collection cycle is actually a control cycle from this control cycle starts (A-B) ms to this control cycle; From this control cycle (A-B+1) ms, by the data zero clearing in the second data storage area, the data Replica in described the first data storage area is arrived in described the second data storage area; Above-mentioned the second data collection cycle starts to (A-B) ms of next control cycle of this control cycle from (A-B+1) ms of this control cycle.The data of the data of the first data storage area and the second data storage area differ a control cycle.After start each decision-making period, the second data storage area zero clearing, the first data storage area data copy the second data storage area to, now the situation on the second data storage area is for the formation of intelligent vehicle decision parameters, in data zero clearing, copy interval, if there is sensor to send data, can lose.
Preferably, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc.
Preferably, described onboard sensor comprises video camera, radar, GPS equipment etc.
Preferably, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage.
Preferably, described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area.
As shown in Figure 2, correspondingly, the invention provides a kind of intelligent vehicle surrounding enviroment information short-term memory system, described system comprises: onboard sensor, the first right of way radar map unit, the second right of way radar map unit, the first vehicle oneself state parameter storage unit, the second vehicle oneself state parameter storage unit, the first data storage area, the second data storage area
Described onboard sensor for being captured in the first data collection cycle in the first data collection cycle, and onboard sensor gathers described intelligent vehicle the first surrounding enviroment information; Also for gathering described intelligent vehicle second week surrounding environment information;
Described the first radar map unit shows described the first surrounding enviroment information gathering for real-time update in the first data collection cycle;
Described the second radar map unit shows the described second week surrounding environment information gathering for real-time update in the second data collection cycle;
Described the first vehicle oneself state parameter storage unit is for being stored in vehicle the first oneself state parameter collecting in the first data collection cycle;
Described the second vehicle oneself state parameter storage unit is for being stored in vehicle the second oneself state parameter collecting in the second data collection cycle;
Described the first data storage area is used for storing described the first right of way radar map and described vehicle the first oneself state parameter;
Described the second data storage area is used for storing described the second right of way radar map and described vehicle the second oneself state parameter.
Preferably, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration etc.
Preferably, described onboard sensor comprises video camera, radar, GPS equipment etc.
Preferably, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage.
Preferably, described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area.
Below in conjunction with preferred embodiment, describe the specific embodiment of the present invention in detail.
In intelligent vehicle pilothouse, a PIKE100C video camera has been installed in dead ahead, and for detection of identification lane line, its recognition cycle is that the length of 25-40ms(recognition cycle can change with environmental baselines such as illumination); A LUX4 laser radar has been installed by front bumper central authorities, and in order to obstacle distance and the relative velocity in 110Du visual angle, the place ahead, 3.2 degree elevation coverages to be provided, its recognition cycle is 80ms; A SICK291 laser radar has also been installed by front bumper central authorities, obstacle distance and relative velocity in order to providing in the 40m of the place ahead, within the scope of 180 degree, and its recognition cycle is 80ms; In the middle of roof, GPS equipment has been installed, in order to car speed and positional information to be provided, its treatment cycle is 50ms.Visible, identification, the treatment cycle of each onboard sensor are not quite similar.
In prior art, if will realize the synchronous of the sensor, realize technical sophistication, effect is poor; Utilize method provided by the invention, effectively solved this problem.
The control cycle of vehicle is 100ms, and be 20ms decision-making period, and data collection cycle is 100ms.The first data storage area real data formation time is the front 80ms in tail 20ms in previous control cycle 100ms and this control cycle, delivers to the data in right of way radar map, and comprise the current oneself state parameter of intelligent vehicle for recording various kinds of sensors; Data and the vehicle oneself state parameter in right of way radar map delivered in the second data storage area record upper constantly intelligent vehicle various kinds of sensors, for the read data in this decision-making period, for intelligent decision provides basis and foundation.Before 81ms(decision-making in this control cycle starts) rise, fast by the data zero clearing in the second data storage area, the data Replica in described the first data storage area is arrived in described the second data storage area;
The above, be only preferred embodiment of the present invention, not structure of the present invention done to any pro forma restriction.Any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all still belong in the scope of technical scheme of the present invention.Those of ordinary skill, under the premise without departing from the principles of the invention, can also make some improvements and modifications, and these improvements and modifications also should be considered as protection scope of the present invention.The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles 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. an intelligent vehicle surrounding enviroment information short-term memory method, is characterized in that, described method comprises the steps:
In the first data collection cycle, onboard sensor gathers described intelligent vehicle the first surrounding enviroment information; By described the first surrounding enviroment information real-time update gathering in the first right of way radar map;
By the vehicle first oneself state Parameter storage of described the first right of way radar map and Real-time Collection in the first data storage area;
In the second data collection cycle, by the data zero clearing in the second data storage area, the data Replica in described the first data storage area is arrived in described the second data storage area;
Described onboard sensor gathers described intelligent vehicle second week surrounding environment information; By the described second week surrounding environment information real-time update gathering in the first right of way radar map;
By the vehicle second oneself state Parameter storage of described the first right of way radar map and Real-time Collection in the first data storage area.
2. intelligent vehicle surrounding enviroment information short-term memory method according to claim 1, it is characterized in that, the data real-time storage of recording in described the first right of way radar map is in described the first data storage area, and the information between described onboard sensor, perception being obtained stores in described the first right of way radar map without synchronously.
3. according to the intelligent vehicle surrounding enviroment information short-term memory method described in claim 1 or 2, it is characterized in that, data zero clearing in described the second data storage area, copy data moment in described the first data storage area constantly, can not data writing in described the first data storage area, the information dropout that now sensor senses obtains.
4. intelligent vehicle surrounding enviroment information short-term memory method according to claim 3, it is characterized in that, in the first data storage area, the formation time of data is in previous control cycle, to carry out carrying out the time sum before decision-making in time of decision-making and this control cycle.
5. intelligent vehicle surrounding enviroment information short-term memory method according to claim 4, it is characterized in that, described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area, read data during for decision-making is not considered sensor senses information new in the first data storage area within decision-making period.
6. intelligent vehicle surrounding enviroment information short-term memory method according to claim 5, it is characterized in that, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration, described onboard sensor comprises video camera, radar, GPS equipment.
7. intelligent vehicle surrounding enviroment information short-term memory method according to claim 6, is characterized in that, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage.
8. an intelligent vehicle surrounding enviroment information short-term memory system, it is characterized in that, described system comprises: onboard sensor, the first right of way radar map unit, the second right of way radar map unit, the first vehicle oneself state parameter storage unit, the second vehicle oneself state parameter storage unit, the first data storage area, the second data storage area
Described onboard sensor for being captured in the first data collection cycle in the first data collection cycle, and onboard sensor gathers described intelligent vehicle the first surrounding enviroment information; Also for gathering described intelligent vehicle second week surrounding environment information;
Described the first radar map unit shows described the first surrounding enviroment information gathering for real-time update in the first data collection cycle;
Described the second radar map unit shows the described second week surrounding environment information gathering for real-time update in the second data collection cycle;
Described the first vehicle oneself state parameter storage unit is for being stored in vehicle the first oneself state parameter collecting in the first data collection cycle;
Described the second vehicle oneself state parameter storage unit is for being stored in vehicle the second oneself state parameter collecting in the second data collection cycle;
Described the first data storage area is used for storing described the first right of way radar map and described vehicle the first oneself state parameter;
Described the second data storage area is used for storing described the second right of way radar map and described vehicle the second oneself state parameter.
9. intelligent vehicle surrounding enviroment information short-term memory system according to Claim 8, it is characterized in that, described vehicle the first oneself state parameter and described vehicle the second oneself state parameter, include: place street lane position, driving model, the speed of a motor vehicle, acceleration, direction, angular velocity, angular acceleration, described onboard sensor comprises video camera, radar, GPS equipment.
10. the intelligent vehicle surrounding enviroment information short-term memory system described in any one according to Claim 8 or 9, it is characterized in that, described surrounding enviroment information and vehicle oneself state parameter information adopt structure of arrays storage, and described the second data storage area can not carry out except arriving other write operation in described the second data storage area by the data zero clearing in the second data storage area with by the data Replica in described the first data storage area.
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