CN105151044B - Vehicle assistant drive method and device - Google Patents
Vehicle assistant drive method and device Download PDFInfo
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- CN105151044B CN105151044B CN201510532408.8A CN201510532408A CN105151044B CN 105151044 B CN105151044 B CN 105151044B CN 201510532408 A CN201510532408 A CN 201510532408A CN 105151044 B CN105151044 B CN 105151044B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000004888 barrier function Effects 0.000 claims description 48
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- 238000004088 simulation Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- 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
Abstract
The present invention relates to a kind of vehicle assistant drive method and devices, belong to intelligent vehicle application field.The described method includes: determining the subsequent driving path of vehicle according to the movement of the decision of obstacle information and driver on vehicle current driving path；Judge whether the subsequent driving path of the vehicle is secure path；If the subsequent driving path of vehicle is secure path, the driving status of the vehicle is adjusted according to the movement of the decision of the driver；If the subsequent driving path of vehicle is not secure path, targeted security path is obtained；The driving status of the vehicle is adjusted according to the targeted security path.The present invention solves the problems, such as that vehicle safety is lower, realizes the effect for improving the driving safety of vehicle.Auxiliary of the present invention for vehicle drives.
Description
Technical field
The present invention relates to intelligent vehicle application field, in particular to a kind of vehicle assistant drive method and device.
Background technique
With the development of automotive engineering, vehicle assistant drive technology is used widely in the car.Vehicle assistant drive
Technology is a kind of technology of auxiliary driver progress vehicle drive.
In the related technology, a kind of vehicle assistant drive method is provided, vehicle in the process of moving, can be advanced with real-time detection
Barrier in road, if the time that the vehicle reaches barrier is less than preset time threshold, alternatively, vehicle and barrier away from
From pre-determined distance threshold value is less than, then vehicle gives a warning to driver, controls vehicle by driver and executes corresponding actions.
But driver is in emergency situations, and it is lower to the control accuracy of vehicle, in fact it could happen that manual operation fault,
Therefore, the driving safety of vehicle auxiliary method in the related technology, vehicle is lower.
Summary of the invention
In order to realize the purpose for the driving safety for improving vehicle, the embodiment of the invention provides a kind of vehicle assistant drives
Method and device.The technical solution is as follows:
According to a first aspect of the embodiments of the present invention, a kind of vehicle assistant drive method is provided, comprising:
Determine that the vehicle is subsequent according to the movement of the decision of obstacle information and driver on vehicle current driving path
Driving path；
Judge whether the subsequent driving path of the vehicle is secure path；
If the subsequent driving path of vehicle is secure path, the vehicle is adjusted according to the movement of the decision of the driver
Driving status；
If the subsequent driving path of vehicle is not secure path, targeted security path is obtained；
The driving status of the vehicle is adjusted according to the targeted security path.
Optionally, the acquisition targeted security path, comprising:
Determine that destination path information, the destination path information include: status information and the institute of vehicle described in current time
State obstacle information；
The targeted security path is determined in the path of routing database record being consistent with the destination path information,
The routing database is for recording the corresponding path of different routing informations.
Optionally, described that the mesh is determined in the path of routing database record being consistent with the destination path information
Mark secure path, comprising:
The quantity in the detection path being consistent with the destination path information；
It, will the described and destination path information if the quantity in the path being consistent with the destination path information is 1
The path being consistent is as the targeted security path；
If the quantity in the path being consistent with the destination path information is greater than 1, described will believe with the destination path
Maximum path is determined as the targeted security path at a distance from default reference system in the path of manner of breathing symbol.
Optionally, it is described by described in the destination path information is consistent path with it is maximum at a distance from default reference system
Path be determined as the targeted security path, comprising:
The path of collision accident alternately road will will not be generated in the path being consistent with the destination path information
Diameter；
By the alternative path according to descending sort is carried out at a distance from default reference system, will sort in the alternative path
Most preceding path is determined as the targeted security path；
Alternatively, obtaining the path of highest priority in the alternative path in routing table as the targeted security road
Diameter, the routing table are obtained previously according to each path and the distance-taxis of default reference system, are recorded in the routing table
The priority in path directly proportional at a distance from the path and default reference system.
Optionally, the decision of the obstacle information and driver according on vehicle current driving path, which acts, determines institute
State the subsequent driving path of vehicle, comprising:
Acquire the obstacle information on the current driving path；
Obtain the status information of vehicle described in current time；
Obtain the decision movement of the driver；
It is determined according to the status information of the current time vehicle and decision movement after executing the decision movement
The status information of vehicle；
According to the obstacle information and the status information for executing the vehicle after the decision acts, the vehicle is determined
Subsequent driving path.
According to a second aspect of the embodiments of the present invention, a kind of vehicle assistant drive device is provided, comprising:
Determination unit is determined for being acted according to the decision of obstacle information and driver on vehicle current driving path
The subsequent driving path of vehicle；
Judging unit, for judging whether the subsequent driving path of the vehicle is secure path；
The first adjustment unit, for when the subsequent driving path of the vehicle is secure path, according to the driver's
Decision movement adjusts the driving status of the vehicle；
Acquiring unit, for obtaining targeted security path when the subsequent driving path of the vehicle is not secure path；
Second adjustment unit, for adjusting the driving status of the vehicle according to the targeted security path.
Optionally, the acquiring unit, comprising:
Information determines subelement, and for determining destination path information, the destination path information includes: described in current time
The status information of vehicle and the obstacle information；
Path obtains subelement, for true in the path being consistent with the destination path information that routing database records
The fixed targeted security path, the routing database is for recording the corresponding path of different routing informations.
Optionally, described second subelement is obtained, comprising:
Detection sub-unit, for detecting the quantity in the path being consistent with the destination path information；
First determine subelement, for the quantity in the path being consistent with the destination path information be 1 when, by institute
The path being consistent with the destination path information is stated as the targeted security path；
Second determines subelement, will when being greater than 1 for the quantity in the path being consistent with the destination path information
It is described to be determined as the target with maximum path at a distance from default reference system in the path that the destination path information is consistent
Secure path.
Optionally, it described second determines subelement, is used for:
The path of collision accident alternately road will will not be generated in the path being consistent with the destination path information
Diameter；
By the alternative path according to descending sort is carried out at a distance from default reference system, will sort in the alternative path
Most preceding path is determined as the targeted security path；
Alternatively, obtaining the path of highest priority in the alternative path in routing table as the targeted security road
Diameter, the routing table are obtained previously according to each path and the distance-taxis of default reference system, are recorded in the routing table
The priority in path directly proportional at a distance from the path and default reference system.
Optionally, the determination unit, is used for:
Acquire the obstacle information on the current driving path；
Obtain the status information of vehicle described in current time；
Obtain the decision movement of the driver；
It is determined according to the status information of the current time vehicle and decision movement after executing the decision movement
The status information of vehicle；
According to the obstacle information and the status information for executing the vehicle after the decision acts, the vehicle is determined
Subsequent driving path.
The technical solution that the embodiment of the present invention provides can include the following benefits:
In conclusion vehicle assistant drive method and device provided in an embodiment of the present invention, vehicle can be according to vehicles
Subsequent driving path whether be secure path judging result, it is determined whether continue to drive by driver, to guarantee vehicle always
It is travelled on secure path, manual operation is avoided to make mistakes, improve the driving safety of vehicle.
It should be understood that the above general description and the following detailed description are merely exemplary, this can not be limited
Invention.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the signal of implementation environment involved in a kind of vehicle assistant drive method for showing according to embodiments of the present invention
Figure.
Fig. 2 is that the embodiment of the present invention provides a kind of flow diagram of vehicle assistant drive method.
Fig. 3-1 is that the embodiment of the present invention provides a kind of flow diagram of vehicle assistant drive method.
Fig. 3-2 is that the embodiment of the present invention provides a kind of virtual animation schematic diagram.
Fig. 3-3 is that the embodiment of the present invention provides a kind of obstacle information according on vehicle current driving path and driver
The subsequent driving path of decision action simulation vehicle method schematic diagram.
Fig. 3-4 is that the embodiment of the present invention provides a kind of path being consistent with destination path information in routing database record
The method schematic diagram in middle determining targeted security path.
Fig. 3-5 be the embodiment of the present invention provide it is a kind of by the path being consistent with destination path information with default reference system
It is determined as the method schematic diagram in targeted security path apart from maximum path.
Fig. 3-6 is a kind of schematic diagram of vehicle assistant drive result provided in an embodiment of the present invention.
Fig. 4-1 is a kind of structural schematic diagram of vehicle assistant drive device provided in an embodiment of the present invention.
Fig. 4-2 is a kind of structural schematic diagram of acquiring unit provided in an embodiment of the present invention.
Fig. 4-3 is the provided in an embodiment of the present invention a kind of second structural schematic diagram for obtaining subelement.
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Referring to Figure 1, it illustrates implement ring involved in the vehicle assistant drive method provided in the embodiment of the present invention
The schematic diagram in border.The implementation environment may include: vehicle 110 and at least one barrier 120.
Processing unit has can be set in vehicle 110, for carrying out data calculating and management, is additionally provided with detection unit, uses
Environment around detection vehicle 110 such as detects barrier 120, and the detection unit can (such as millimetre-wave radar senses for radar
Device, laser radar sensor) and visual sensor (such as video camera).
Barrier 120 can be dynamic barrier, such as automobile, pedestrian, or static-obstacle thing, as road lattice gear,
Wall etc..
The embodiment of the present invention provides a kind of flow diagram of vehicle assistant drive method, as shown in Fig. 2, can be applied to
Vehicle 110 as shown in Figure 1, the vehicle assistant drive method include:
Step 201 acts determining vehicle according to the decision of obstacle information and driver on vehicle current driving path
Subsequent driving path.
Step 202 judges whether the subsequent driving path of vehicle is secure path.
If the subsequent driving path of step 203, vehicle is secure path, the row of adjustment vehicle is acted according to the decision of driver
Sail state.
If the subsequent driving path of step 204, vehicle is not secure path, targeted security path is obtained.
Step 205, the driving status that vehicle is adjusted according to targeted security path.
In conclusion vehicle assistant drive method provided in an embodiment of the present invention, vehicle can be according to vehicle subsequent rows
Sail path whether be secure path judging result, it is determined whether continue to drive by driver, to guarantee vehicle always in safety
It is travelled on path, manual operation is avoided to make mistakes, improve the driving safety of vehicle.
Optionally, the acquisition targeted security path, comprising:
Determine that destination path information, destination path information include: the status information and obstacle information of current time vehicle；
Targeted security path, path data are determined in the path of routing database record being consistent with destination path information
Library is for recording the corresponding path of different routing informations.
Optionally, targeted security road should be determined in the path being consistent with destination path information that routing database records
Diameter, comprising:
Detect the quantity in the path being consistent with destination path information；
If the quantity in the path being consistent with destination path information is 1, using the path being consistent with destination path information as mesh
Mark secure path；
If the quantity in the path being consistent with destination path information be greater than 1, by the path being consistent with destination path information with
The maximum path of distance of default reference system is determined as targeted security path.
Optionally, this will be determined in the path that destination path information is consistent with path maximum at a distance from default reference system
For targeted security path, comprising:
The path of collision accident alternately path will will not be generated in the path being consistent with destination path information；
By alternative path according to descending sort is carried out at a distance from default reference system, by most preceding road of sorting in alternative path
Diameter is determined as targeted security path；
Alternatively, obtaining the path of highest priority in alternative path in routing table as targeted security path, the path
Table is obtained previously according to each path and the distance-taxis of default reference system, the priority in the path recorded in the routing table
It directlys proportional at a distance from path and default reference system.
Optionally, which includes: Obstacle Position, the obstacle information further include: barrier translational speed,
At least one of barrier translational acceleration, barrier moving direction；The status information of vehicle includes: the position of vehicle, should
The status information of vehicle further include: at least one of vehicle movement speed, vehicle translational acceleration, vehicle moving direction.
Optionally, which, which acts, determines vehicle
Subsequent driving path, comprising:
Acquire the obstacle information on current driving path；
Obtain the status information of current time vehicle；
Obtain the decision movement of driver；
The state letter of the vehicle after executing decision movement is determined according to the status information of current time vehicle and decision movement
Breath；
According to the status information of the vehicle after obstacle information and execution decision movement, the subsequent driving path of vehicle is determined.
In conclusion vehicle assistant drive method provided in an embodiment of the present invention, vehicle can be according to vehicle subsequent rows
Sail path whether be secure path judging result, it is determined whether continue to drive by driver, to guarantee vehicle always in safety
It is travelled on path, manual operation is avoided to make mistakes, improve the driving safety of vehicle.
A kind of flow diagram of vehicle assistant drive method of the embodiment of the present invention, as shown in figure 3-1, can be applied to as
Vehicle 110 in implementation environment shown in FIG. 1, comprising:
Step 301 establishes routing database.
In the embodiment of the present invention, routing database is for recording the corresponding path of different routing informations.Wherein routing information
It include: the status information of obstacle information and vehicle, which may include: Obstacle Position, can also include: barrier
Hinder at least one of object movement speed, barrier translational acceleration, barrier moving direction；The status information of the vehicle can be with
Include: the position of vehicle, can also include: vehicle movement speed, vehicle translational acceleration, at least one in vehicle moving direction
Kind.In practical application, which can also include other parameters, and the embodiment of the present invention is not construed as limiting this.
It is possible, firstly, to using two-dimensional graphics software, such as automatic computing engine Computer Aided Design (English: Auto Computer
Aided Design；Referred to as: Auto CAD), the physical model and ambient condition model of vehicle are established, wherein the physics mould of vehicle
Type is established according to the status information of vehicle, exemplary, and the status information of vehicle may include the structural information of vehicle, such as long
Degree, width, height also may include the position of vehicle, vehicle movement speed, vehicle translational acceleration, vehicle moving direction etc.
Etc. other informations, when establishing model, the parameter for including in the status information of vehicle can be more as far as possible, can be effectively ensured in this way
Modeling accuracy, and these parameters can be variable, input these parameters to the physical model of vehicle, output parameter can be pre-
The driving path of measuring car；Ambient condition model is established according to obstacle information, exemplary, and obstacle information may include
The structural information of barrier also may include Obstacle Position, barrier translational speed, barrier such as length, width, height
Translational acceleration, barrier moving direction etc., when establishing model, the parameter for including in obstacle information can be more as far as possible,
Modeling accuracy can be effectively ensured in this way, and these parameters can be variable, to these parameters of ambient condition mode input,
Output parameter can predict the movement routine of barrier, it should be noted that due to being handled in practical application in vehicle obstacle-avoidance
When, it is not necessary that know the precision architecture of barrier, it is only necessary to obtain the profile information of the barrier, therefore, barrier is usual
It is abstracted into a simple stereochemical structure, such as a cube, length width, highly can be fixed, can subtract in this way
Calculation amount when modeling less.
It is then possible to the physical model of established vehicle and ambient condition model be imported into three-dimensional drawing software, such as
3ds Max, middle design model material carry out virtual animation simulation, and material can be simple as far as possible, to reduce animation calculation amount,
In, the virtual animation simulated is designed according to automobile dynamics equation, these virtual animations can intuitively reflect vehicle
Driving path and barrier movement routine.In this process, input multiple groups obstacle information and vehicle can be passed through
Status information, to obtain corresponding multiple virtual animations.In practical application, start bit that vehicle is simulated in each virtual animation
It sets and drives to final position interval preset duration, which can be 1s (second), 2s or 3s etc., which gets over
Short, simulation precision is higher, it also requires guaranteeing the practicability of the virtual animation simulated, therefore, which can basis
The factors such as model, the external environment of vehicle are adjusted, exemplary, and as shown in figure 3-2, Fig. 3-2 is that the embodiment of the present invention provides
A kind of virtual animation schematic diagram, it is assumed that default reference system is (preset travel direction preset travel direction w of virtual road
Need to meet local laws and regulations), the status information of vehicle 310 is length=o1 (cm), width=p1 (cm), height=q1
(cm), the position of vehicle is (x1, y1), and vehicle movement speed v1, vehicle translational acceleration be a1, vehicle moving direction and pre-
If the angle of driving direction w is t1=5 °；The status information of barrier 320 be length=o2 (cm), width=p2 (cm), height
=q2 (cm), the position of barrier are (x2, y2), and barrier translational speed v2, barrier translational acceleration be a2, barrier
The angle of moving direction and preset travel direction w are t2=15 °, wherein assuming that object is in preset travel direction w in Fig. 3-2
The angle on right side is positive, and the angle on the left of the w of preset travel direction is negative, finally, preset duration in the virtual animation simulated
The path of interior vehicle 310 is X1, and the path of barrier 320 is Y1, it can be seen that vehicle 310 and barrier in the preset duration
Hinder the path of object 320 uncrossed, illustrates that the two is not collided in preset duration, i.e., will not generate collision accident, simulate
The path X1 of vehicle 310 is secure path.
The driving path of multiple groups vehicle and the movement routine of barrier can be simulated by three-dimensional drawing software, obtain difference
The path of vehicle under scene, analog result can indicate with table, as shown in table 1, it is assumed that table 1 is an exemplary analog result.
It illustrates the planning driving paths of vehicle generated under the status information of the obstacle information of different vehicle and vehicle, and indicating should
Whether planning driving path is safe.For example, the status information of vehicle includes: length=o3 (cm), width=p3 (cm), height=q3
(cm), the position of vehicle is (x3, y3), and vehicle movement speed v3, vehicle translational acceleration be a3, vehicle moving direction and pre-
If the angle of driving direction w is t3=-5 °；Obstacle information includes: length=o4 (cm), width=p4 (cm), height=q4
(cm), the position of barrier is (x4, y4), and barrier translational speed v4, barrier translational acceleration are a4, barrier is mobile
The angle of direction and preset travel direction w are t4=15 °.Correspondingly, the driving path of vehicle be F (o3, p3, q3, x3, y3,
A3, t3), driving path safety.
It should be noted that the driving path of above-mentioned vehicle can be indicated by function F, can also be remembered with other forms
Record, such as some path parameters, this is not limited by the present invention, also, in practical application, after the completion of virtual animation simulation, also
It can recorde the movement routine of barrier, table 1 only schematically illustrates in the embodiment of the present invention.
Table 1
Finally, designed virtual animation is imported into Virtual Reality Modeling Language (English: Virtual Reality
Modeling Language；Referred to as: VRML) in module, generating computer can be performed language, and can be held according to these computers
Row language determines each virtual corresponding path of animation.Wherein it is possible to the importing of virtual animation is carried out one by one, it can also be simultaneously
The importing of one group of virtual animation is carried out, this is not limited by the present invention.
In practical application, directly virtual animation can be imported into VRML module, then obtained by analysis such as 1 institute of table
The analog result shown, the analog result as shown in Table 1 that can also directly obtain the post analysis of virtual animation simulation imports should
VRML module, for VRML module by virtual animation or analog result, generating computer can be performed language, and can according to these computers
It executes language and determines each virtual corresponding path of animation, ultimately generate routing database, which has recorded difference
The corresponding path of routing information.On the one hand, which can recorde the corresponding all possible paths of different routing informations,
And it is possible to which all possible paths are divided into secure path group and non-security group of paths, wherein recorded in the secure path group
The path of collision accident will not be generated, non-security group of paths record can generate the path of collision accident.On the other hand, path data
Library can also only record the corresponding secure path of different routing informations.
It should be noted that in the embodiment of the present invention in routing database vehicle structural information, such as length, width, height
Degree, can be dynamic parameter, still, since the routing database is input in vehicle 110, as such, it can be that just for vehicle
Therefore 110 routing database can only store the structural information that vehicle configuration information is vehicle 110 in the routing database
Corresponding path, therefore, the structural information of vehicle in the routing database can be fixed ginseng such as length, width, height
Number is the structural information of vehicle 110.
Step 302 acts determining vehicle according to the decision of obstacle information and driver on vehicle current driving path
Subsequent driving path.
In vehicle travel process, driver can be manipulated vehicle, detection unit (such as visual sensor, radar)
The ambient enviroment of vehicle can be detected in real time.If there is preset emergency event, then auxiliary mode of driving is opened, then the vehicle
According to the decision of obstacle information and driver on vehicle current driving path act determine the subsequent driving path of vehicle.
In the embodiment of the present invention, preset emergency event can there are many, such as detect barrier, and the barrier and vehicle
Distance within the scope of pre-determined distance, in this case, there are the danger of strikes obstacles for vehicle；For another example, it is travelling on the way
Preset induction duration when, be not detected driver decision movement, in this case, driver is likely to occur body not
It is suitable, it can not operating and controlling vehicle.The embodiment of the present invention only schematically illustrates, other emergency events being contemplated that can also be covered
In protection scope of the present invention.
The first can in realization mode, can according on vehicle current driving path obstacle information and driver
The subsequent driving path of decision action simulation vehicle.
Optionally, dynamic according to the decision of obstacle information and driver on vehicle current driving path as shown in Fig. 3-3
The method for making the subsequent driving path of simulating vehicle may include:
Obstacle information in step 3021, acquisition current driving path.
Vehicle can acquire the obstacle information on current driving path by detection unit, and detailed process can refer to
The relevant technologies.
Step 3022, the status information for obtaining current time vehicle.
Step 3023, the decision movement for obtaining driver.
In the embodiment of the present invention, the decision movement of driver can be showed by preset drive parameter, the drive parameter
It may include: wheel steering, accelerator open degree, brake execution data etc., the embodiment of the present invention is not construed as limiting this.
Step 3024 acts the vehicle determined after executing decision movement according to the status information and decision of current time vehicle
Status information.
It should be noted that the status information for executing the vehicle after decision movement can be according to the shape of current time vehicle
State information and decision movement are calculated, and can also be acted according to the status information and decision of current time vehicle and pass through animation mould
Quasi- to obtain, the embodiment of the present invention is not construed as limiting this.
Step 3025, according to obstacle information and execute the decision movement after vehicle status information, after determining vehicle
Continuous driving path.
It should be noted that determining vehicle according to the status information of the vehicle after obstacle information and execution decision movement
The method of subsequent driving path can there are many, the embodiment of the present invention is by taking following two as an example:
Can be in realization mode at the first, vehicle according to obstacle information and can execute the vehicle after decision movement
Status information, the subsequent driving path of simulating vehicle, vehicle can be according to the objects for the vehicle for first passing through the foundation of two-dimensional graphics software in advance
Model and ambient condition model are managed, the subsequent driving path of vehicle is simulated using the three-dimensional drawing software of operation in the car, it should
Simulation process can repeat no more this with reference to the simulation process in step 302, the embodiment of the present invention.
In second of achievable mode, vehicle can be according to the vehicle after obstacle information and execution decision movement
The routing information to be checked of status information composition, query path database, the determining and path to be checked in the path data road
The path that information is consistent, using the path as subsequent driving path.The routing database is corresponding for recording different routing informations
Path, can be the routing information library established in step 302.Further, if do not inquired in routing database
The path being consistent with routing information to be checked, vehicle can realize mode according to the first, the subsequent driving path of simulating vehicle,
This is not limited by the present invention.
It should be noted that in the embodiment of the present invention, subsequent driving path is often referred to away from current time preset duration
Subsequent driving path, the preset duration can be 1s, 2s or 3s etc., and the preset duration is shorter, and precision of prediction is higher, but also needs
Guarantee the practicability of subsequent driving path predicted, therefore, which can model, external environment according to vehicle
Etc. factors be adjusted.Assuming that current time is 9:00, preset duration 3s, then the driving path of the vehicle simulated be 9:00 extremely
The driving path of 9:03.
Step 303 judges whether the subsequent driving path of vehicle is secure path.If the subsequent driving path of vehicle is safe road
Diameter executes step 304.If the subsequent driving path of vehicle is not secure path, step 305 is executed.
Vehicle can simulate whether the subsequent driving path of vehicle is secure path by three-dimensional drawing software, can also look into
Routing information library is ask, to determine whether the subsequent driving path of vehicle is secure path, detailed step can refer to above-mentioned steps
301, on the one hand, the routing information library can recorde the corresponding all possible paths of different routing informations, and it is possible to by the institute
It is possible that path is divided into secure path group and non-security group of paths, wherein record will not generate collision thing in the secure path group
The path of part, non-security group of paths record can generate the path of collision accident, if query path information bank determines the subsequent rows
Path is sailed in secure path group, it is determined that the subsequent driving path is secure path, is somebody's turn to do if query path information bank determines
Subsequent driving path is in non-security group of paths, it is determined that the subsequent driving path is not secure path；On the other hand, the path
Database can also only record the corresponding secure path of different routing informations, if it is subsequent to inquire this in routing information library
Driving path, it is determined that the subsequent driving path is secure path, if cannot inquire the subsequent traveling in routing information library
Path, it is determined that the subsequent driving path is not secure path.
Step 304, the driving status that adjustment vehicle is acted according to the decision of driver.Execute step 302.
If the subsequent driving path of vehicle is secure path, illustrate driver decision movement be it is reliable, can be according to driving
The driving status of the decision movement adjustment vehicle for the person of sailing, such as corresponding drive parameter is acted according to decision and adjusts corresponding drive
Component, such as adjustment direction disk turns to, adjustment accelerator open degree, adjustment brake execution data.
Step 305 determines destination path information, the destination path information include: current time vehicle status information and
Obstacle information.Execute step 306.
In the embodiment of the present invention, the status information of current time vehicle refers to the decision movement for being not carried out driver
The status information of vehicle.
Step 306 determines targeted security path in the path of routing database record being consistent with destination path information.
Execute step 307.
Optionally, as shown in Figure 3-4, mesh is determined in the path of routing database record being consistent with destination path information
Mark secure path can specifically include:
The quantity in the path that step 3061, detection are consistent with destination path information.
Since in practical application, the parameter in the destination path information of acquisition is adopted when may be without generating routing database
Routing information is more, therefore there may be a plurality of paths being consistent with destination path information for routing database.Therefore, it is necessary to right
The quantity in the path being consistent with destination path information is counted, to determine subsequent processes.
If step 3062, the quantity in the path being consistent with destination path information are 1, the road being consistent with destination path information
Diameter is as targeted security path.
If step 3063, the quantity in the path being consistent with destination path information are greater than 1, by what is be consistent with destination path information
Maximum path is determined as targeted security path at a distance from default reference system in path.
Optionally, as in Figure 3-5, by the path that destination path information is consistent with it is maximum at a distance from default reference system
Path be determined as the method in targeted security path, may include:
Step 3063a, the path of collision accident will not will be generated alternately in the path being consistent with destination path information
Path.Execute step 3063b or 3063c.
Step 3063b, alternative path will be arranged according to descending sort is carried out at a distance from default reference system in alternative path
The most preceding path of sequence is determined as targeted security path.
In the embodiment of the present invention, which can be any side edge and the barrier of the road of vehicle current driving
At least one of.For example, when default reference system is the left margin of road, by alternative path according to the left margin with road away from
From progress descending sort；When default reference system is the barrier of road, alternative path is dropped according at a distance from barrier
Sequence sequence can press alternative path when any side edge for the road that default reference system is vehicle current driving and barrier
According at a distance from any side edge of road, alternative path according to barrier it is distance weighted it is average after carry out descending sort, this
Invention only schematically illustrates this, and any deformation being contemplated that can be included within the scope of protection of the present invention.
It is exemplary, it is assumed that by alternative path according at a distance from default reference system carry out descending sort obtain as shown in table 2
Sequencing table, wherein the path that ID of trace route path is 001 is 5m at a distance from default reference system, is sorted from large to small according to distance
Afterwards, the sequence in sequencing table is near preceding, i.e., the maximum at a distance from default reference system, can be 001 by ID of trace route path therefore
Path is determined as targeted security path.
Table 2
Step 3063c, the path of highest priority in alternative path is obtained in routing table as targeted security path.
It can be with pre-recorded multiple routing tables, the corresponding one group of routing information of each routing table, the path in routing database
Table, which can be, to be obtained previously according to the distance-taxis of each path and default reference system, the path recorded in the routing table it is excellent
First grade is directlyed proportional at a distance from path and default reference system, using the available target of destination path information query path database
The corresponding routing table of routing information.The corresponding routing table of destination path information can be as shown in table 2, and inquiring the table can be by table
Before sorting most in 2, i.e., the path of highest priority is as targeted security path.
Step 307, the driving status that vehicle is adjusted according to targeted security path.Execute step 302.
After secure path has been determined, the traveling shape of vehicle can be adjusted according to the corresponding drive parameter of the secure path
State, the drive parameter may include: that wheel steering, accelerator open degree, brake execute data etc., the embodiment of the present invention to this not
It limits.
As determined in Fig. 3-6 in step 302, the subsequent driving path of vehicle 110 is X2, and the path of barrier 120
For Y2, the path of vehicle 110 and barrier 120 in preset duration is obtained in step 302 judgement and is intersected, collision accident occurs, after
Continuous driving path X2 is not secure path, is path X3 according to the targeted security path that step 305 determines, then in step 307
According to the driving status of path X3 adjustment vehicle, the driving safety of vehicle ensure that.
In conclusion vehicle assistant drive method provided in an embodiment of the present invention, vehicle can be according to vehicle subsequent rows
Sail path whether be secure path judging result, it is determined whether continue to drive by driver, to guarantee vehicle always in safety
It is travelled on path, manual operation is avoided to make mistakes, improve the driving safety of vehicle.
The embodiment of the present invention provides a kind of vehicle assistant drive device 40, as shown in Fig. 4-1, comprising:
Determination unit 401, for being acted according to the decision of obstacle information and driver on vehicle current driving path
Determine the subsequent driving path of vehicle；
Judging unit 402, for judging whether the subsequent driving path of vehicle is secure path；
The first adjustment unit 403, for being moved according to the decision of driver when the subsequent driving path of vehicle is secure path
Adjust the driving status of vehicle；
Acquiring unit 404, for obtaining targeted security path when the subsequent driving path of vehicle is not secure path；
Second adjustment unit 405, for adjusting the driving status of vehicle according to targeted security path.
In conclusion vehicle assistant drive device provided in an embodiment of the present invention, the first adjustment unit and second adjustment list
Member can according to the subsequent driving path of the vehicle that determination unit is simulated whether be secure path judging result, it is determined whether by
Driver continues to drive, and to guarantee that vehicle travels on secure path always, avoids manual operation from making mistakes, improves the row of vehicle
Sail safety.
Further, as shown in the Fig. 4-2, the acquiring unit 404, comprising:
Information determines subelement 4041, for determining that destination path information, destination path information include: current time vehicle
Status information and obstacle information；
Path obtains subelement 4042, for true in the path being consistent with destination path information that routing database records
Set the goal secure path, and routing database is for recording the corresponding path of different routing informations.
Wherein, as shown in Fig. 4-3, the second acquisition subelement 4042, comprising:
Detection sub-unit 40421, for detecting the quantity in the path being consistent with destination path information；
First determine subelement 40422, for the quantity in the path being consistent with destination path information be 1 when, will be with mesh
The path that mark routing information is consistent is as targeted security path；
Second determines subelement 40423, will be with when being greater than 1 for the quantity in the path being consistent with destination path information
Maximum path is determined as targeted security path at a distance from default reference system in the path that destination path information is consistent.
Wherein, the second determining subelement 40423, is used for:
The path of collision accident alternately path will will not be generated in the path being consistent with destination path information；
By alternative path according to descending sort is carried out at a distance from default reference system, by most preceding road of sorting in alternative path
Diameter is determined as targeted security path；
Alternatively, obtaining the path of highest priority in alternative path in routing table as targeted security path, the path
Table is obtained previously according to each path and the distance-taxis of default reference system, the priority in the path recorded in the routing table
It directlys proportional at a distance from path and default reference system.
It should be noted that the obstacle information includes: Obstacle Position, the obstacle information further include: barrier moves
At least one of dynamic speed, barrier translational acceleration, barrier moving direction；
The status information of vehicle includes: the position of vehicle, the status information of the vehicle further include: vehicle movement speed, vehicle
At least one of translational acceleration, vehicle moving direction.
Optionally, determination unit 401 are used for:
Acquire the obstacle information on current driving path；
Obtain the status information of current time vehicle；
Obtain the decision movement of driver；
The state letter of the vehicle after executing decision movement is determined according to the status information of current time vehicle and decision movement
Breath；
According to the status information of the vehicle after obstacle information and execution decision movement, the subsequent driving path of vehicle is determined.
In conclusion vehicle assistant drive device provided in an embodiment of the present invention, the first adjustment unit and second adjustment list
Member can according to the subsequent driving path of the vehicle that determination unit is simulated whether be secure path judging result, it is determined whether by
Driver continues to drive, and to guarantee that vehicle travels on secure path always, avoids manual operation from making mistakes, improves the row of vehicle
Sail safety.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (6)
1. a kind of vehicle assistant drive method characterized by comprising
The subsequent traveling of vehicle is determined according to the movement of the decision of obstacle information and driver on vehicle current driving path
Path；
Judge whether the subsequent driving path of the vehicle is secure path；
If the subsequent driving path of vehicle is secure path, the row of the vehicle is adjusted according to the movement of the decision of the driver
Sail state；
If the subsequent driving path of vehicle is not secure path, targeted security path is obtained；
The driving status of the vehicle is adjusted according to the targeted security path；
The acquisition targeted security path, comprising:
Determine destination path information, the destination path information include: vehicle described in current time status information and the barrier
Hinder object information；
The targeted security path is determined in the path of routing database record being consistent with the destination path information, it is described
Routing database is for recording the corresponding path of different routing informations；
It is described that the targeted security path is determined in the path of routing database record being consistent with the destination path information,
Include:
The quantity in the detection path being consistent with the destination path information；
If the quantity in the path being consistent with the destination path information is 1, it is consistent described with the destination path information
Path as the targeted security path；
It, will be described with the destination path information phase if the quantity in the path being consistent with the destination path information is greater than 1
Maximum path is determined as the targeted security path at a distance from default reference system in the path of symbol；The default reference system is
Any side edge of the road of the vehicle current driving.
2. the method according to claim 1, wherein described by the road being consistent with the destination path information
Maximum path is determined as the targeted security path at a distance from default reference system in diameter, comprising:
The path of collision accident alternately path will will not be generated in the path being consistent with the destination path information；
By the alternative path according to the progress descending sort at a distance from default reference system, before sorting most in the alternative path
Path be determined as the targeted security path；
Alternatively, obtaining the path of highest priority in the alternative path in routing table as the targeted security path, institute
Stating routing table is obtained previously according to each path and the distance-taxis of default reference system, the path recorded in the routing table
Priority directly proportional at a distance from the path and default reference system.
3. method according to any one of claims 1 to 2, which is characterized in that described according on vehicle current driving path
The movement of the decision of obstacle information and driver determines the subsequent driving path of vehicle, comprising:
Acquire the obstacle information on the current driving path；
Obtain the status information of vehicle described in current time；
Obtain the decision movement of the driver；
The vehicle after executing the decision movement is determined according to the status information of the current time vehicle and decision movement
Status information；
According to the obstacle information and the status information for executing the vehicle after the decision acts, after determining the vehicle
Continuous driving path.
4. a kind of vehicle assistant drive device characterized by comprising
Determination unit, for according to the movement determination of the decision of obstacle information and driver on vehicle current driving path
The subsequent driving path of vehicle；
Judging unit, for judging whether the subsequent driving path of the vehicle is secure path；
The first adjustment unit, for when the subsequent driving path of the vehicle is secure path, according to the decision of the driver
Movement adjusts the driving status of the vehicle；
Acquiring unit, for obtaining targeted security path when the subsequent driving path of the vehicle is not secure path；
Second adjustment unit, for adjusting the driving status of the vehicle according to the targeted security path；
The acquiring unit, comprising:
Information determines subelement, for determining that destination path information, the destination path information include: vehicle described in current time
Status information and the obstacle information；
Path obtains subelement, for determining institute in the path being consistent with the destination path information that routing database records
State targeted security path, the routing database is for recording the corresponding path of different routing informations；
The path obtains subelement, comprising:
Detection sub-unit, for detecting the quantity in the path being consistent with the destination path information；
First determines subelement, when for the quantity in the path being consistent with the destination path information being 1, will it is described and
The path that the destination path information is consistent is as the targeted security path；
Second determines subelement, will be described when being greater than 1 for the quantity in the path being consistent with the destination path information
It is determined as the targeted security with maximum path at a distance from default reference system with the path that the destination path information is consistent
Path；The default reference system is any side edge of the road of the vehicle current driving.
5. device according to claim 4, which is characterized in that described second determines subelement, is used for:
The path of collision accident alternately path will will not be generated in the path being consistent with the destination path information；
By the alternative path according to the progress descending sort at a distance from default reference system, before sorting most in the alternative path
Path be determined as the targeted security path；
Alternatively, obtaining the path of highest priority in the alternative path in routing table as the targeted security path, institute
Stating routing table is obtained previously according to each path and the distance-taxis of default reference system, the path recorded in the routing table
Priority directly proportional at a distance from the path and default reference system.
6. according to any device of claim 4 to 5, which is characterized in that the determination unit is used for:
Acquire the obstacle information on the current driving path；
Obtain the status information of vehicle described in current time；
Obtain the decision movement of the driver；
The vehicle after executing the decision movement is determined according to the status information of the current time vehicle and decision movement
Status information；
According to the obstacle information and the status information for executing the vehicle after the decision acts, after determining the vehicle
Continuous driving path.
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| JP6558239B2 (en) * | 2015-12-22 | 2019-08-14 | アイシン・エィ・ダブリュ株式会社 | Automatic driving support system, automatic driving support method, and computer program |
| CN105930625B (en) * | 2016-06-13 | 2018-12-14 | 天津工业大学 | Q study combines the design method of the intelligent driving behaviour decision making system of neural network |
| JP6558393B2 (en) * | 2017-04-06 | 2019-08-14 | トヨタ自動車株式会社 | Course setting device and course setting method |
| US10710592B2 (en) * | 2017-04-07 | 2020-07-14 | Tusimple, Inc. | System and method for path planning of autonomous vehicles based on gradient |
| CN109685273A (en) * | 2018-12-25 | 2019-04-26 | 江苏满运软件科技有限公司 | Brake failure method for early warning, device, electronic equipment, the storage medium of vehicle |
| CN110716560B (en) * | 2019-11-22 | 2021-02-19 | 广西科技师范学院 | Mobile robot path analysis planning method |
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