CN104656651A - Apparatus And Method For Controlling Automatic Driving Of Vehicle Based On Sensor Fusion - Google Patents
Apparatus And Method For Controlling Automatic Driving Of Vehicle Based On Sensor Fusion Download PDFInfo
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- CN104656651A CN104656651A CN201410328120.4A CN201410328120A CN104656651A CN 104656651 A CN104656651 A CN 104656651A CN 201410328120 A CN201410328120 A CN 201410328120A CN 104656651 A CN104656651 A CN 104656651A
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- 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
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/009—Priority selection
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
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Abstract
An apparatus and a method for controlling the automatic driving of a vehicle based on sensor fusion, provided by the present invention are characterized by fusing the information obtained from the sensors arranged in the vehicle, grasping the location of the vehicle and location of another one vehicle, thereby controlling the automatic driving. An automatic driving control device according to the present invention comprises an automatic driving determining part for determining whether the automatic driving the vehicle can be controlled; a self-vehicle location generating part for generating the location information of the vehicle if the automatic driving the vehicle is determined to be able to be controlled; a target location generating part for generating the location information of the target by combining the target information obtained from the sensors arranged in the vehicle; and an automatic driving control part for controlling the automatic driving the vehicle based on the location information of the vehicle and the location information of the target.
Description
Technical field
The present invention relates to the device and method of the automatic ride control of vehicle, relate to the information merging and obtain from the various sensors being arranged on vehicle in more detail, control the device and method of automatic running.
Background technology
In general, driver assistance device provides as adaptive learning algorithms (ACC; AdaptiveCruise Control) to longitudinal direction control rate, or as deviation warning system (LDWS; Lane Departure Warning system) or track maintenance backup system (LKAS; Lane KeepingAssist system) the function of transverse direction being assisted to driving., all there is the restriction condition needing driver's moment to get involved in this driver assistance device.
In the research of unmanned automatic running vehicle, there is the systematic research about controlling the unmanned automatic running in vertical/horizontal direction, but carry out at the environment limited very much, and there is the problem that can not ensure reliability at real road.Such as, due to the inactive shadow region of GPS or construction ground etc., in the situation that vehicle boarded map datum is different from actual environment, be difficult to carry out unmanned automatic running.
No. 2013-0072709th, KR published patent describes, and merges the information obtained from the sensor being arranged on vehicle, controls the system of the automatic running of vehicle.But its system utilizes camera sensing device and ultrasonic sensor, therefore can only control stop and can not solve the problem.
Summary of the invention
(problem that will solve)
The present invention proposes to solve the problem, automatic ride control device and method based on merging sensor is proposed, merge the information obtained from the various sensors being arranged on vehicle, grasp the position of vehicle and the position of another vehicle, control automatic running based on this.
But object of the present invention is not restricted in the above-mentioned item referred to, not refer to or another object clearly can be understood from following record by technician.
(means of dealing with problems)
The present invention proposes to reach above-mentioned purpose, and the feature based on the automatic ride control device merging sensor of proposition is, comprising: automatic running judging part, can its judgement control the automatic running of vehicle; Vehicle position generating unit, may control the automatic running of described vehicle if judge, then it generates the positional information of described vehicle; Target location generating unit, it combines the target information obtained from each sensor being arranged on described vehicle, generates the positional information of target; And automatic ride control portion, based on the positional information of the positional information of described vehicle and described target, control the automatic running of described vehicle.
Be preferably, described automatic running judging part, comprising: GPS information judging part, and can its judgement obtain the GPS information of described vehicle; DR-GPS information judging part, can not obtain described GPS information if judge, then can its judgement obtain pose information and the velocity information of described vehicle; And can judging part be controlled, described pose information and described velocity information can not be obtained if judge, then its judgement can not control the automatic running of described vehicle, may obtain described GPS information if judge and maybe may obtain described pose information and described velocity information, then its judgement may control the automatic running of described vehicle.
Be preferably, described vehicle position generating unit utilizes the GPS information of described vehicle, generates the positional information of described vehicle, or profit its pose information with described vehicle and velocity information, generates the positional information of described vehicle.
Be preferably, described target location generating unit with to there is the information of described target, the information to road, the information to described target velocity, information, the information to described aimed acceleration and the information to described desired deceleration to the distance to described target is described target information, wherein combines the position that at least two information determine described target.
Be preferably, described automatic ride control device also comprises priority determination section, and in each time set in advance, it judges whether to operate each sensor being arranged on described vehicle, determines the priority of the sensor of marshalling.
Be preferably, described automatic ride control device is embodied as HMI (Human Machine Interface, man-machine interface) form.
In addition, can the feature based on the automatic ride control method merging sensor that the present invention proposes be, comprising: judge the step that control the automatic running of vehicle; The automatic running of described vehicle may be controlled if judge, then generate the step of the positional information of described vehicle; In conjunction with the target information obtained from each sensor being arranged on described vehicle, generate the step of the positional information of target; And based on the positional information of the positional information of described vehicle and described target, control the step of the automatic running of described vehicle.
Be preferably, the step of the automatic running of described vehicle can be controlled, comprising: the step judging to obtain the GPS information of described vehicle; Described GPS information can not be obtained if judge, then judge to obtain the pose information of described vehicle and the step of velocity information; And if judgement can not obtain described pose information and described velocity information, then judge the automatic running that can not control described vehicle, described GPS information may be obtained if judge, or judge to obtain described pose information and described velocity information, then may control the step of the automatic running of described vehicle.
Be preferably, generate the step of the positional information of described vehicle, utilize the GPS information of described vehicle to generate the positional information of described vehicle, or utilize the pose information of described vehicle and velocity information to generate the positional information of described vehicle.Generate the step of the positional information of described target, with to there is the information of described target, the information to road, the information to described target velocity, to the information of the distance to described target, to the information of described aimed acceleration and be described target information to described desired deceleration information, wherein combining the position that at least two information determine described target.
Be preferably, can before judging to control the step of the automatic running of described vehicle, being also included in each time set in advance judges whether to operate each sensor being arranged on described vehicle, and determines the step of the priority of the sensor of marshalling.
(effect of invention)
The information obtained from the various sensors being arranged on vehicle is merged in the present invention, and the position of grasping vehicle and another vehicle controls automatic running based on this, and then can obtain following effect.
The first, even if do not receive GPS information, the automatic running of vehicle may be controlled based on fusion V2X and sensor.
The second, even if condition of road surface or travel conditions sharply change or often change, control automatic running that also may be stable.
Accompanying drawing explanation
Fig. 1 is the concept map of the HMI system of automatic running vehicle according to an embodiment of the invention.
Fig. 2 is the HMI system that diagram utilizes Fig. 1, the process flow diagram of the target location method for expressing of induction.
Fig. 3 is the HMI system utilizing Fig. 1, the process flow diagram of diagram position-detection information disposal route.
Fig. 4 is the HMI system utilizing Fig. 1, the process flow diagram of diagram sensor information disposal route.
Fig. 5 is the HMI system utilizing Fig. 1, the process flow diagram of diagram automatic running condition processing method.
Fig. 6 is the HMI system utilizing Fig. 1, the process flow diagram of diagram vehicle running state disposal route.
Fig. 7 is the HMI system utilizing Fig. 1, the process flow diagram of the overall control method of diagram vehicle automatic running.
Fig. 8 is according to the preferred embodiment of the present invention, and diagram is schematically based on the block diagram of the automatic ride control device of fusion sensor.
Fig. 9 is the block diagram of the automatic running judging part of the automatic ride control device specifically illustrating pie graph 8.
Embodiment
Below, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.First, add in reference marks in the inscape of each drawing, although do not illustrate on other drawings identical inscape, should notice and make it have identical symbol as far as possible.In addition, in following explanation the present invention, judge make the unclear situation of main points of the present invention to relevant known formation or illustrating of function, by description is omitted.In addition, the preferred embodiments of the present invention will be described following, but technological thought of the present invention is not now due to this, certainly can carry out various enforcement according to technician's distortion.
Based on automatic running system to the analysis of each sensor and fusion process, namely provide information accurately to present travel conditions to driver, and expect the security strengthening automatic running system.It is considered herein that in automatic running way, vehicle cannot receive the situation of DR (Dead-Reckoning reckoning) and GPS information urgent need driver traveling, information of vehicles is informed effectively to the method for driver be HMI (Human Machine Interface man-machine interface) system, so propose the HMI system based on the automatic running merging V2V (such as Vehicle to Vehicle, vehicle and vehicle) and sensor.
Recently, in order to provide the touch screen of the vehicle application program service be connected with epochal character trend smart mobile phone or in order to the research of the connectedness with personal IT machine nature interlock, as the senior import and export technology identifying vehicle attitude and 3D figure, the research HMI technology highly enlivened for display in the research of automatic HMI theme of unmanned automobile in future, vehicle and the research etc. that controls the following directive property Integration Design scheme of equipping.
According to this trend, the present invention proposes the HMI system in order to unmanned automobile.Unmanned automobile, namely automatic running automobile is the mode of the control vehicle automatic running not having driver.To this vehicle, the effect of HMI is very important, and vehicle cannot receive DR and GPS information and is badly in need of the situation that driver exercises in automatic running way, information of vehicles can be informed effectively to be HMI system to driver, therefore propose following based on the HMI system merging V2X and sensor automatic running.
Nearest automobile, surmounts the wagon control function of the intrinsic movement of automobile and stopping, diversely providing electronic communications equipment and by the safety of various sensor, facilitating functions and information entertainment function.Navigate with instrument panel, AV/, the method for information display of aircondition and various convenience system, with optimized design and arrangements etc. such as position, operating means and switches, by the display key element of function various in vehicle together with the optimized design of controlling element, provide useful and convenient to user.
Therefore, as mentioned above, need carefully to represent information of vehicles further than restriction item.Based on the existing system automatic running system not having to generalize, to the analysis of each sensor and merge into process, namely provide correct information to present travel conditions to driver, and expect the security strengthening automatic running system.
Existing vehicle does not have state and the driving information of the accurate present vehicle of expression.If bring to a halt according to the leading vehicle of the detailed expression of the present invention, produce, traveling event and the vehicle present status of preceding object thing etc., then can expect to prevent car accident.
Fig. 1 is the concept map of the HMI system of automatic running vehicle according to an embodiment of the invention.
Recently, the active exploitation carrying out information entertainment.In order to effectively be provided in the function that vehicle will use and the information that should provide to driver safety, need the exploitation to vehicle HMI UI/UX.Therefore will introduce HMI system, it effectively represents each sensing data of the automatic running vehicle inside of automatic running system.
Module Info (module information) is as follows.
(1) DR and DGPS device: the device transmitting the transmission of location information such as the position of present driving vehicle, speed, acceleration, course heading.
(2) laser sensor: the sensor of transmission objectives information (target: the object that pedestrian, box etc. sense at vehicle-surroundings).
(3) radar sensor: the sensor of transmission objectives information (distance, lateral distance, relative velocity, relative acceleration etc.) and road information (radius-of-curvature, road lateral distance etc.).
(4) camera, the sensor of transmission objectives information (distance, relative velocity etc.) and road information (track distance, sideways inclined, radius-of-curvature etc.).
(5) V2V sensor: the sensor of the information (braking state, transverse direction acceleration, longitudinal direction acceleration, vehicle size, speed etc.) of transmission relative vehicle.
(6) integrating controller: based on each sensor information control vehicle, and merge sensor information in HMI system by present automatic running state transfer in the device of CAN data.
The relevant specification that communicates between integrating controller with HMI system is as follows.
-high-speed CAN 500kbps
-camera/laser/radar/V2X sensor CAN database
-integrating controller-HMI system CAN database
Event in-traveling: be defined as CAN id0x333
HMI system data is as follows
-represent the target location responded to: according to the target location of induction, at the signal of HMI transmission 0 or 1, and then with the region of red display induction.
-position-detection information: the performance showing DR and GPS with %, merges two measured values and represents performance with %.
-sensor information: 1. whether basis operates the signal of laser/radar/camera/V2X sensor transmissions 0 or 1, and then represents the Pass/Fail of sensor with green/red.
2. the induction targets performance of evaluation sensor, with the priority of Text Shape Representation sensor.
3. the performance merging sensor represents with %.
-automatic running state: the event produced when controlling automatic running in integrating controller, according to the signal whether producing this event transmission 0 or 1, represents with green when it occurs.
-vehicle running state: based on vehicle Chassis (cabinet)-CAN, to scheme the information of vehicles occurred in the Shape Representation automatic running of (Graph), numerical value (Value).
Form as Fig. 1 proposes automatic running vehicle HMI system.
The present invention will propose HMI system, and it effectively indicates the data of each sensor of the automatic running vehicle inside of automatic running system.The detailed concept of automatic running HMI system is as follows.
(1) driving system ON
Utilize ON/OFF button, if automatic running system ON, can receive that DR and gps data judge after automatic running, if may automatic running, pushes away down operation bar downwards and starts automatic running.
System button and integrating controller interlock.
(2) position-detection information 130
Receive that can judge the DR of automatic running and gps data, with its performance of the Shape Representation of %, and represent at HMI based on its data fusion position-detection information.
(3) target location 110 of induction is represented
At the object matching of each sensor sensing in target location, if induction targets, transmit the signal of 1, and then be red by the region representation of induction targets, there is no the signal of the area transmissions 0 of induction.
The region of induction is distinguished as follows.
-Oncoming Left (left side comes head-on): in the target that the direction that the left side of automatic running vehicle is contrary is close.
-Oncoming (close from front): in the target that the direction that automatic running vehicle front is contrary is close.
-Oncoming Right (right side comes head-on): the target that direction contrary on the right side of automatic running vehicle is close.
-Ahead Left (left front): the target being positioned at automatic running vehicle forward part left direction.
-Ahead (dead ahead): the target being positioned at automatic running vehicle forward part frontal.
-Ahead Right (right front): the target being positioned at automatic running vehicle forward part right direction.
-Behind Left (left back): the target being positioned at automatic running vehicle rear section left direction.
-Behind (rear): the target being positioned at automatic running vehicle rear section frontal.
-Behind Right (right back): the target being positioned at automatic running vehicle rear section right direction.
(4) sensor information 120
According to whether operating laser/radar/camera/V2X sensor, the signal with 0 or 1 represents the state of sensor.If sensor carries out normal running, the signal 1 is with the state of green display sensor, if sensor does not carry out normal running, the signal 0 represents the state of sensor with redness.
Evaluation sensor induction targets performance, determines that the priority of sensor is with Text Shape Representation.
The performance merging sensor represents sensor fusion value with %.
(5) automatic running state 140
Time in automatic running, according to the situation producing this event in front event after the integrating controller of vehicle controls vehicle, represent with signal 1 and green, in the situation not having to occur, with signal 0 and black representing at HMI and then note.
-follow the trail of route: along the basic status of the automatic running of route.
-hide traveling: owing to there is the event of preceding object thing etc., automatic running vehicle carries out the state hiding traveling.
-brake hard: owing to there is the event of preceding object thing etc., automatic running vehicle carries out the state of brake hard.
-there is breast board: the state occurring breast board based on V2I communication induction in front.
-pass through breast board: based on the state of V2I communication induction by breast board.
-there is barrier: the state that barrier occurs in automatic running front with sensor sensing.
-pass through crossroad: based on V2V communication, judge in crossroad region with or without vehicle and by the state after crossroad.
(6) vehicle running state 150
Situation in automatic running, based on Chassis-CAN data representation vehicle traveling information in vehicle.If a kind of situation is described, then longitudinal direction speed and transverse direction speed represent with schematic diagram, and then the carrying out of easily grasping present transport condition represents.Further, additional also can increase another driving information except Chassis-CAN data, such as, represent DGPS Age Time, and then easily can grasp whether receive gps data.DGPS Age Time is the time finally receiving gps data, and means that the time extends gradually and more do not receive data.
Fig. 2 is the HMI system that diagram utilizes Fig. 1, the process flow diagram of the target location method for expressing of induction.HMI system such as can determine the position of target by this method.
First, if start automatic running S210, then utilize laser sensor, radar sensor, camera sensing device, V2X sensor to obtain information S220 to target, S230, S240, S250.Afterwards, in vehicle integrating controller by obtain according to laser sensor, radar sensor, camera sensing device, V2X sensor to based on the information of target, extract the position S260 of object judgement target.Afterwards, it carries out fitting through HMI with HMI CAN and represents S270.
Fig. 3 is the HMI system utilizing Fig. 1, the process flow diagram of diagram position-detection information disposal route.HMI system can determine the position of such as vehicle by this method.
First, DR system and gps system S310, S320 is driven in order.Rear vehicle in integrating controller merge the positional information of the vehicle obtained by DR system, with the positional information S330 of the vehicle obtained by gps system.Afterwards, judge location Fusion Strain S340, measure present location performance S350.
On the other hand, if drive DR system, in vehicle, integrating controller measures the performance S360 of DR system.In addition, in vehicle, integrating controller measures the performance S370 of gps system.
If measure the performance etc. of present location performance, DR system performance, gps system, then it carries out fitting through HMI with HMI CAN data and represents S380.
Fig. 4 is the HMI system utilizing Fig. 1, the process flow diagram of diagram sensor information disposal route.
First, if start automatic running S410, then utilize laser sensor, radar sensor, camera sensing device, V2X sensor to collect external information S420, S430, S440, S450.Afterwards, in vehicle, whether integrating controller is to collect according to based on the external information of laser sensor, radar sensor, camera sensing device, V2X sensor etc., and the preferred sequence S460 of discriminating sensor, merges the information S470 collected.Afterwards, carry out fitting through HMI with HMI CAN data and represent S480.
Fig. 5 is the HMI system utilizing Fig. 1, the process flow diagram of diagram automatic running condition processing method.
First, if start automatic running S510, then respond to the event S520 in automatic running.Event, as not having known information in the prior art, is equivalent to the traffic hazard on road, falling rocks etc.Integrating controller, controls vehicle S530 based on event, by event can data to vehicle inside and outside transmission S540.Afterwards, it carries out fitting through HMI with HMI CAN data and represents S550.
Fig. 6 is the HMI system utilizing Fig. 1, the process flow diagram of diagram vehicle running state disposal route.
If start automatic running S610, then obtain Chassis-CAN data S620.Read the vehicle traveling information S630 such as steering angle afterwards, it is carried out fitting through HMI with HMI CAN information and represents S640.
Fig. 7 is the HMI system utilizing Fig. 1, the process flow diagram of the overall control method of diagram vehicle automatic running.
If automatic running system is started S705, then to integrating controller transmission DR information and GPS information S710.Integrating controller, whether to receive based on DR information and GPS information, can judgement automatic running S715.May automatic running S720 if judge, then start automatic running S725, can not automatic running if judge, then restart from S705 step after the ticket reserving time.
Integrating controller, measures location state, location merges performance, DR performance, GPS performance etc., by data transfer in HMI system S730.In addition, integrating controller measures laser sensor state, and analyzes the information of the target obtained according to laser sensor, and its result is transmitted in HMI system S735.In addition, the state of integrating controller instrumentation radar sensor, analyzes the information of the target obtained according to radar sensor, its result is transmitted in HMI system S740.In addition, integrating controller measures the state of V2X sensor, analyzes the target information obtained according to V2X sensor, its result is transmitted in HMI system S745.In addition, integrating controller generates Chassis-CAN information and event-CAN information in automatic running, and its result is transmitted in HMI system S750.
On the other hand, integrating controller is based on the analysis result obtained in S735 step, S740 step and S745 step, and the priority of discriminating sensor data, the result after being merged is transmitted in HMI system S755.
Finally, it, based on the data received, is carried out coupling S760 with HMI data by HMI system.
Based on the automatic running HMI system merging V2X described above and sensor, analysis and the fusion process of each sensor is passed through based on automatic running system, there is provided correct information to present travel conditions to driver, expect the security strengthening automatic running system.Automatic running automobile is, does not have the mode of the control vehicle automatic running of driver.It is considered herein that the important role to this vehicle HMI, in automatic running way, vehicle cannot receive the situation that DR and GPS information are badly in need of driver, vehicle info can be informed effectively to be HMI system to driver.
Above, based on the HMI system illustrated referring to figs. 1 through Fig. 7, be described with the automatic ride control device of a morphotic sensor based on fusion.
Fig. 8 is according to the preferred embodiment of the present invention, and diagram is schematically based on the block diagram of the automatic ride control device of fusion sensor.
According to Fig. 8, automatic ride control device 800 comprises automatic running judging part 810, vehicle position generating unit 820, target location generating unit 830, automatic ride control portion 840, power supply unit 860 and master control part 870.Realize with HMI (HumanMachine Interface) form at the present embodiment automatic ride control device 800.
Power supply unit 860, it performs to the function of each formation supply power supply forming automatic ride control device 800.Master control part 870, it performs the function of the integrated operation controlling each inscape forming automatic ride control device 800.Automatic ride control device 800, it can possess the main ECU in vehicle, does not therefore have power supply unit 860 at the present embodiment also harmless with master control part 870.
Automatic running judging part 810, can it perform the function judging control the automatic running of vehicle.Fig. 9 is the block diagram of the automatic running judging part of the automatic ride control device specifically illustrating pie graph 8.
According to Fig. 9, can automatic running judging part 810 can comprise GPS information judging part 811, DR-GPS information judging part 812 and control judging part 813.
GPS information judging part 811, can its execution obtain the function of the GPS information of vehicle.
DR-GPS information judging part 812, can not obtain GPS information if judge, then can its execution obtain the pose information of vehicle and the function of velocity information.
Judging part 813 can be controlled, pose information and velocity information can not be obtained if judge, then its judgement can not control the automatic running of vehicle, may obtain GPS information maybe may obtain pose information and velocity information if judge, then it performs the function judging vehicle possibility automatic running.
GPS information, it obtains by the GPS sensor being arranged on vehicle.Details by can try to achieve the gyro sensor that is arranged on vehicle or dot spacing (Pitch), driftage (yaw), roll (roll) value 3 axle inclination sensors obtain.
DR (Dead Reckoning, reckoning)-GPS technology refers to, gyro sensor, 3 axle inclination sensors, vehicle speed sensor etc. also can be utilized automatically to confirm the technology of position in the state not receiving gps satellite.
Again be described with reference to Fig. 8.
Vehicle position generating unit 820, may control the automatic running of vehicle if judge, then it performs the function generating vehicle position information.
Vehicle position generating unit 820, it utilizes the GPS information of vehicle to generate the positional information of vehicle, or it utilizes the pose information of vehicle and velocity information can generate the positional information of vehicle.
Target location generating unit 830, it combines the target information obtained from each sensor being arranged on vehicle, performs the function of the positional information generating target.
Target location generating unit 830, its with to exist the information of target, the information to road, the information to target velocity, the information to the distance to target, the information to aimed acceleration and to the information of desired deceleration for target information, wherein combine the position that at least two information can determine target.
To the information that there is target, it can utilize laser sensor to try to achieve.Information to road, the information to target velocity, information etc. to the distance to target, it can utilize radar sensor or camera sensing device to try to achieve.Preferably, the target for front or rear position uses camera sensing device, and be positioned at the situation of the target of side, it can utilize radar sensor to try to achieve.The information etc. of the information to the acceleration of target, the retarded velocity to target, it can utilize V2V (Vehicle to Vehicle) sensor to try to achieve.
Automatic ride control portion 840, it performs the function controlling vehicle automatic running based on the positional information of the positional information of vehicle and target.
On the other hand, automatic ride control device 800 also can comprise priority determination section 850.
Priority determination section 850, judges whether to operate each sensor being arranged on vehicle in each time set in advance, and performs the function of the priority of the sensor determining marshalling.
At the present embodiment, the volume such as GPS sensor, gyro sensor, 3 axle inclination sensors generating vehicle positional information is one group.In addition, generate laser sensor, radar sensor, the camera sensing device of the positional information of target, V2V sensor also can be compiled is one group.
Below, be described to the method for operating of automatic ride control device 800.
First, the automatic running that can control vehicle is judged.
Automatic ride control device 800, can judgement obtain the GPS information of vehicle, GPS information can not be obtained if judge, then judge pose information and the velocity information that can obtain vehicle, pose information and velocity information can not be obtained if judge, then judge the automatic running that can not control vehicle, may obtain if judge information and the velocity information that GPS information maybe may obtain posture, then judge the automatic running that may control vehicle.
Afterwards, the automatic running of vehicle may be controlled if judge, then generate the positional information of vehicle, then combine the target information obtained from each sensor being arranged on vehicle, generate the positional information of target.
Afterwards, based on the positional information of the positional information of vehicle and target, control the automatic running of vehicle.
On the other hand, automatic ride control device 800 judges whether to operate each sensor being arranged on vehicle in each time set in advance, and determines the priority compiling the sensor being.Determine the step of the priority of the sensor of marshalling, should perform in each time set in advance, therefore when perform also harmless, just in order to improve the efficiency controlling automatic running, being preferably it and performing before the step of automatic running that can control vehicle.
Operate this invention describes all inscapes being formed in embodiments of the invention described above to combine or be combined into one, but the present invention must be not restricted to this embodiment, as long as namely within the scope of object of the present invention, also its all inscape optionally can be operated in conjunction with more than one.In addition, its all inscape can be embodied as an independently hardware respectively, but by each inscape its part or all optionally combine, to realize as the computer program with the program module performing part or all function in one or more hardware combinations.The recording medium (Computer Readable Media) that computer program identical therewith is in addition kept at as readable in computers such as USB storage, CD dish, flash memories can read according to computer and carry out, and then can realize embodiments of the invention.As the recording medium of computer program, magnetic recording medium, optical record medium, carrier medium etc. can be comprised.
In addition, comprise technical or scientific term as long as no definition different in the detailed description, have and understand the identical meaning with technician's generality according to the technical field belonging to the present invention with usual knowledge.As the term of use the term defined in advance, should be interpreted as consistent with the meaning on correlation technique article, and clearly define as long as no in the present invention, shall not be construed as the meaning of desirability or excessive formality.
Above explanation is only that technological thought of the present invention has been carried out exemplary explanation, and the technician in the technical field belonging to the present invention with usual knowledge is being no more than in internal characteristic range of the present invention and can carrying out various amendment, change and replacement.Therefore, not to limit technological thought of the present invention in embodiment disclosed by the invention and accompanying drawing, but in order to technological thought of the present invention is described, technological thought of the present invention can not be limited according to this embodiment and accompanying drawing.Scope should be explained according to following request scope, should be interpreted as being included in interest field of the present invention with all technological thoughts in its equivalents.
Claims (10)
1., based on the automatic ride control device merging sensor, it is characterized in that, comprising:
Automatic running judging part, can its judgement control the automatic running of vehicle;
Vehicle position generating unit, may control the automatic running of described vehicle if judge, then it generates the positional information of described vehicle;
Target location generating unit, it combines the target information obtained from each sensor being arranged on described vehicle, generates the positional information of target; And
Automatic ride control portion, it, based on the positional information of the positional information of described vehicle and described target, controls the automatic running of described vehicle.
2. the automatic ride control device based on merging sensor according to claim 1, is characterized in that,
Described automatic running judging part, comprising:
GPS information judging part, can its judgement obtain the GPS information of described vehicle;
DR-GPS information judging part, can not obtain described GPS information if judge, then can its judgement obtain pose information and the velocity information of described vehicle; And
Judging part can be controlled, described pose information and described velocity information can not be obtained if judge, then its judgement can not control the automatic running of described vehicle, may obtain described GPS information if judge and maybe may obtain described pose information and described velocity information, then its judgement may control the automatic running of described vehicle.
3. the automatic ride control device based on merging sensor according to claim 1, is characterized in that,
Described vehicle position generating unit, it utilizes the GPS information of described vehicle to generate the positional information of described vehicle, or it utilizes the pose information of described vehicle and velocity information to generate the positional information of described vehicle.
4. the automatic ride control device based on merging sensor according to claim 1, is characterized in that,
Described target location generating unit, its with to there is the information of described target, the information to road, the information to described target velocity, information, the information to described aimed acceleration and the information to described desired deceleration to the distance to described target is described target information, wherein combines the position that at least two information determine described target.
5. the automatic ride control device based on merging sensor according to claim 1, is characterized in that, also comprise:
Priority determination section, it judges whether to operate each sensor being arranged on described vehicle in each time set in advance, determine the priority of the sensor of marshalling.
6. the automatic ride control device based on merging sensor according to claim 1, is characterized in that,
Described automatic ride control device is embodied as HMI (Human Machine Interface, man-machine interface) form.
7., based on the automatic ride control method merging sensor, it is characterized in that, comprising:
Can judgement control the step of the automatic running of vehicle;
The automatic running of described vehicle may be controlled if judge, then generate the step of the positional information of described vehicle;
In conjunction with the target information obtained from each sensor being arranged on described vehicle, generate the step of the positional information of target; And
Based on the positional information of the positional information of described vehicle and described target, control the step of the automatic running of described vehicle.
8. the automatic ride control method based on merging sensor according to claim 7, is characterized in that,
The step of the automatic running of described vehicle can be controlled, comprising:
Can judgement obtain the step of the GPS information of described vehicle;
Described GPS information can not be obtained if judge, then judge to obtain the pose information of described vehicle and the step of velocity information; And
Described pose information and described velocity information can not be obtained if judge, then judge the automatic running that can not control described vehicle, described GPS information may be obtained if judge, or judge to obtain described pose information and described velocity information, then judge the step that may control the automatic running of described vehicle.
9. the automatic ride control method based on merging sensor according to claim 7, is characterized in that,
Generate the step of the positional information of described vehicle, utilize the GPS information of described vehicle to generate the positional information of described vehicle, or utilize the pose information of described vehicle and velocity information to generate the positional information of described vehicle,
Generate the step of the positional information of described target, with to there is the information of described target, the information to road, the information to described target velocity, to the information of the distance to described target, to the information of described aimed acceleration and be described target information to described desired deceleration information, wherein combining the position that at least two information determine described target.
10. the automatic ride control method based on merging sensor according to claim 7, is characterized in that, also comprise:
Judge whether to operate each sensor being arranged on described vehicle in each time set in advance, and determine the step of the priority of the sensor of marshalling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| KR1020130142214A KR20150058889A (en) | 2013-11-21 | 2013-11-21 | Apparatus and method for controlling automatic driving of vehicle based on sensor fusion |
| KR10-2013-0142214 | 2013-11-21 |
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| CN104656651A true CN104656651A (en) | 2015-05-27 |
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| CN201410328120.4A Pending CN104656651A (en) | 2013-11-21 | 2014-07-10 | Apparatus And Method For Controlling Automatic Driving Of Vehicle Based On Sensor Fusion |
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