CN106864458B - One kind is automatically around barrier system and method, intelligent automobile - Google Patents
One kind is automatically around barrier system and method, intelligent automobile Download PDFInfo
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- CN106864458B CN106864458B CN201710183810.9A CN201710183810A CN106864458B CN 106864458 B CN106864458 B CN 106864458B CN 201710183810 A CN201710183810 A CN 201710183810A CN 106864458 B CN106864458 B CN 106864458B
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- 230000004888 barrier function Effects 0.000 title claims abstract description 198
- 238000000034 method Methods 0.000 title claims abstract description 34
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- 230000002708 enhancing effect Effects 0.000 claims description 24
- 230000006872 improvement Effects 0.000 claims description 12
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- 238000013178 mathematical model Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W40/06—Road conditions
Abstract
The invention discloses a kind of automatically around barrier system and method, intelligent automobile, belongs to automotive field.Described includes automatically obstacle information acquisition module and automatic Pilot control module around barrier system, the present invention in intelligent automobile front by placing obstacles object information acquisition module, to obtain the obstacle information in the lane of intelligent automobile place and being located within the scope of intelligent automobile front preset, judge whether intelligent automobile can be by passing through beside barrier according to obstacle information by automatic Pilot control module, and when judging that intelligent automobile can not pass through beside barrier, control intelligent automobile above barrier by passing through, and when making intelligent automobile by passing through above barrier, two front-wheels and two rear-wheels of intelligent automobile are respectively positioned on the outside of barrier, to avoid intelligent automobile from jolting in the process of moving because encountering barrier, guarantee the comfort of occupant.
Description
Technical field
The present invention relates to automotive fields, in particular to a kind of automatically around barrier system and method, intelligent automobile.
Background technique
With the development of science and technology with the raising of living standards of the people, automobile has become the mankind and goes on a journey essential friendship
Logical tool, meanwhile, requirement of the people to the comfort in vehicle traveling process is also higher and higher.
Current intelligent automobile focuses on lane holding in the process of moving, when encountering the barriers such as well lid when driving
It is easy to happen and jolts, occupant's comfort is poor.
Summary of the invention
Focus on lane holding in the process of moving to solve intelligent automobile in the prior art, encounters when driving
Be easy to happen and jolt when the barriers such as well lid, the poor problem of occupant's comfort, the embodiment of the invention provides it is a kind of automatically around
Hinder system and method, intelligent automobile.The technical solution is as follows:
In a first aspect, provide it is a kind of automatically around barrier system, the system comprises:
Obstacle information acquisition module, setting is in intelligent automobile front, in lane where obtaining intelligent automobile and position
Obstacle information within the scope of intelligent automobile front preset, the barrier are included in vertically or approximately perpendicular to the intelligence
Width on the lane line direction in lane where automobile is less than the well lid, recessed of the distance between two front-wheels of the intelligent automobile
Hole, mound or sand drift, the obstacle information include position and the geometry of the barrier；
Automatic Pilot control module is connect with the obstacle information acquisition module, is used for according to the obstacle information,
Judge whether the intelligent automobile can be in the lane by passing through beside the barrier；
If judging, the intelligent automobile can pass through beside the barrier in the lane, control the intelligence
Energy automobile can be travelled into the lane by the side of the barrier；
If judging, the intelligent automobile can not pass through beside the barrier in the lane, described in control
Intelligent automobile above the barrier by passing through, and when making the intelligent automobile by passing through above the barrier, the intelligence
Two front-wheels and two rear-wheels of automobile are respectively positioned on the outside of the barrier.
Further, the system also includes:
Lane line information acquisition module is connect with the automatic Pilot control module, for obtaining the intelligent automobile institute
In the location information of two lane lines in lane.
Specifically, the lane line information acquisition module includes:
The front of the intelligent automobile is arranged in first camera, for shooting comprising lane where the intelligent automobile
Two lane lines image；
First image processing unit is connect with first camera, for the image comprising two lane lines
It is handled, obtains the relative position information of the intelligent automobile Yu the lane line.
Specifically, the obstacle information acquisition module includes:
Second camera is arranged in the intelligent automobile front, for shooting the image comprising the barrier；
Second image processing unit connect with the second camera and the first image processing unit respectively, is used for
The image of the barrier is handled, and in conjunction with the relative position information of the intelligent automobile and the lane line, is obtained
The relative position information of the geometry information of the barrier and the barrier and the intelligent automobile and the lane line.
Specifically, first camera and the second camera are arranged at the front windshield of the intelligent automobile
On.
Second aspect, the embodiment of the invention provides a kind of automatically around barrier method, be applied to it is described automatically around barrier system,
It is characterized in that, which comprises
Obstacle information where obtaining intelligent automobile in lane and within the scope of intelligent automobile front preset, the barrier
Hindering object includes that the width on vertical or lane line direction approximately perpendicular to lane where the intelligent automobile is less than the intelligence
Well lid, pit, mound or the sand drift of the distance between two front-wheels of energy automobile, the obstacle information includes the barrier
Position and geometry；
According to the obstacle information, judge whether the intelligent automobile can be in the lane by the side of the barrier
While passing through；
If judging, the intelligent automobile can pass through beside the barrier in the lane, control the intelligence
Energy automobile can be travelled into the lane by the side of the barrier；
If judging, the intelligent automobile can not pass through beside the barrier in the lane, described in control
Intelligent automobile above the barrier by passing through, and when making the intelligent automobile by passing through above the barrier, the intelligence
Two front-wheels and two rear-wheels of automobile are respectively positioned on the outside of the barrier.
Specifically, described according to the obstacle information, judge whether the intelligent automobile can be in the lane by institute
It states and passes through beside barrier, comprising:
Obtain the relative position information of the barrier Yu the lane line；
Believe according to the relative position information of the barrier and the lane line, and in conjunction with the geometry of the barrier
Breath, before the distance between edge of the barrier to two lane lines in the lane is with two of the intelligent automobile
The size of the distance between wheel, if the distance between at least one lane line in the edge of the barrier to the lane is greater than
The distance between two front-wheels of the intelligent automobile then judge that the intelligent automobile can be in the lane from the obstacle
Pass through beside object, if the edge of the barrier is respectively less than the intelligence to the distance between two lane lines in the lane
The distance between two front-wheels of automobile then judge that the intelligent automobile can not be in the lane from the side of the barrier
While passing through.
Further, the method also includes:
Different enhancing signal algorithms is set for different Driving Scenes, according to the reality in the intelligent automobile driving procedure
Border parameter calculates enhancing signal, and calculates the absolute value of the difference of each enhancing signal and targets improvement signal, believes according to enhancing
Number optimize driving strategy with the direction that the absolute value of the difference of targets improvement signal reduces
The third aspect, provides a kind of intelligent automobile, and the intelligent automobile includes described automatically around barrier system.
Technical solution provided in an embodiment of the present invention has the benefit that
The present invention in intelligent automobile front by placing obstacles object information acquisition module, to obtain lane where intelligent automobile
Obstacle information within the scope of interior and position intelligent automobile front preset, by automatic Pilot control module according to obstacle information
Judge whether intelligent automobile can be by passing through beside barrier, and is judging that intelligent automobile can not pass through beside barrier
When, when controlling intelligent automobile by passing through above barrier, and making intelligent automobile by passing through above barrier, two of intelligent automobile
Front-wheel and two rear-wheels are respectively positioned on the outside of barrier, so that intelligent automobile be avoided to occur in the process of moving because encountering barrier
It jolts, guarantees the comfort of occupant.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the automatic structural block diagram around barrier system that one embodiment of the invention provides；
Fig. 2 is the status diagram when intelligent automobile that further embodiment of this invention provides meets barrier；
Fig. 3 is the intelligent automobile of further embodiment of this invention offer around status diagram when hindering；
Fig. 4 is the automatic flow chart around barrier method that further embodiment of this invention provides.
Wherein:
1 obstacle information acquisition module, 11 second cameras, 12 second image processing units；
2 automatic Pilot control modules；
3 lane line information acquisition modules, 31 first cameras, 32 first image processing units；
10 intelligent automobiles,
20 barriers,
30 lane lines,
40 lane centers.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
As shown in Figure 1, the embodiment of the invention provides a kind of automatically around barrier system, the system comprises:
Obstacle information acquisition module 1 is arranged in 10 front of intelligent automobile, for obtaining in 10 place lane of intelligent automobile
And it is located at 20 information of barrier within the scope of 10 front preset of intelligent automobile, the barrier 20 is included in perpendicular to the intelligence
Width on 30 direction of lane line in 10 place lane of automobile is less than the distance between two front-wheels of the intelligent automobile 10
Well lid, pit, mound or sand drift, 20 information of barrier include position and the geometry of the barrier 20；
Automatic Pilot control module 2 is connect with the obstacle information acquisition module 1, for according to the barrier 20
Information, judges whether the intelligent automobile 10 can be passed through in the lane by the side of the barrier 20；
If judging, the intelligent automobile 10 can pass through in the lane from the side of the barrier 20, control institute
Stating intelligent automobile 10 can be travelled into the lane by the side of the barrier 20；
If judging, the intelligent automobile 10 can not pass through in the lane from the side of the barrier 20, control
The intelligent automobile 10 makes the intelligent automobile 10 by passing through above the barrier 20 by passing through above the barrier 20
When, two front-wheels and two rear-wheels of the intelligent automobile 10 are respectively positioned on 20 outside of barrier.
In embodiments of the present invention, it is not detected on 10 place lane of intelligent automobile in advance in obstacle information acquisition module 1
If automatic Pilot control module 2 controls intelligent automobile 10 there are when the barriers 20 such as well lid, pit, mound or sand drift in range
It is travelled along lane center 40, when obstacle information acquisition module 1 detects the preset range on 10 place lane of intelligent automobile
When inside there is barrier 20, automatic Pilot control module 2 judges whether intelligent automobile 10 can be from obstacle according to 20 information of barrier
Pass through beside object 20, the driving strategy of cut-through object 20 is then determined according to specific judging result.As shown in Fig. 2, when automatic
When Driving control module 2 judges that intelligent automobile 10 can pass through beside barrier 20, then intelligent automobile 10 is controlled into lane
It can be travelled by the side of intelligent automobile 10, as shown in figure 3, when automatic Pilot control module 2 judges that intelligent automobile 10 cannot
When enough passing through beside barrier 20, then intelligent automobile 10 is controlled by passing through above barrier 20, and make intelligent automobile 10 logical
When crossing 20 top of barrier, two front-wheel and two rear-wheels are respectively positioned on except barrier 20.
Wherein, it will be understood by those skilled in the art that when barrier 20 is mound or sand drift, the highest of mound or sand drift
Height is lower than the height on 10 chassis of intelligent automobile.
The present invention in 10 front of intelligent automobile by placing obstacles object information acquisition module 1, to obtain 10 institute of intelligent automobile
20 information of barrier in lane and within the scope of 10 front preset of position intelligent automobile, passes through automatic Pilot control module 2
Judge whether intelligent automobile 10 can be passed through by the side of barrier 20 according to 20 information of barrier, and is judging that intelligent automobile 10 cannot
When enough passing through from the side of barrier 20, intelligent automobile 10 is controlled by passing through above barrier 20, and make intelligent automobile 10 by hindering
Hinder above object 20 by when, two front-wheels and two rear-wheels of intelligent automobile 10 are respectively positioned on the outside of barrier 20, to avoid intelligence
Energy automobile 10 jolts because encountering barrier 20 in the process of moving, guarantees the comfort of occupant.
As shown in Figure 1, in embodiments of the present invention, this is automatically around barrier system further include:
Lane line information acquisition module 3 is connect, for obtaining the intelligent automobile with the automatic Pilot control module 2
The location information of two lane lines 30 at 10 places lane.
In embodiments of the present invention, two lanes in 10 place lane of intelligent automobile are obtained by 30 acquisition module of lane line
The location information of line 30, when obstacle information acquisition module 1 detects in 10 place lane of intelligent automobile and is located at intelligent automobile
There are when barrier 20 within the scope of 10 front presets, automatic Pilot control module 2 according to the location informations of two lane lines 30 with
10 information of intelligent automobile judge intelligent automobile 10 whether can where it in lane by passing through beside barrier 20, and work as barrier
Information acquisition module 1, which is not detected in 10 place lane of intelligent automobile and is located in the preset range in 10 front of intelligent automobile, to be existed
When barrier 20, automatic Pilot control module 2 is controlled in 10 driving process of intelligent automobile with the central axes of intelligent automobile 10 and two
Lane line 30 is equidistantly principle.To carry out guaranteeing the comfort of occupant around barrier on the basis of lane is kept.
As shown in Figure 1, in embodiments of the present invention, the lane line information acquisition module 3 includes:
The front of the intelligent automobile 10 is arranged in first camera 31, includes 10 institute of intelligent automobile for shooting
In the image of two lane lines 30 in lane；
First image processing unit 32 is connect with first camera 31, for including two lane lines 30
Image handled, obtain the relative position information of the intelligent automobile 10 with the lane line 30.
In embodiments of the present invention, the front of intelligent automobile 10 is arranged in the first camera 31, to 10 front of intelligent automobile
Region shot, the picture that the first image processing unit 32 takes according to the first camera 31 utilizes image enhancement skill
Art enhances lane edge, and extracts lane line 30 using adaptive two-tone images algorithm, then according to 30 feature extraction vehicle of lane line
30 inside edge of diatom, then fitted by HOUGH transformation until line, it is finally obtained using 30 tracking technique of lane line stable
Lane line 30 calculates intelligent automobile according to the camera parameter of installation site and camera of the camera on intelligent automobile 10
10 at a distance from two lane lines 30 in lane, obtain the relative position information of intelligent automobile 10 Yu lane line 30.
As shown in Figure 1, in embodiments of the present invention, the obstacle information acquisition module 1 includes:
Second camera 11 is arranged in 10 front of intelligent automobile, for shooting the image comprising the barrier 20；
Second image processing unit 12 connects with the second camera 11 and the first image processing unit 32 respectively
It connects, for handling the image comprising the barrier 20, and in conjunction with the intelligent automobile 10 and the lane line 30
Relative position information obtains geometry information and the barrier 20 and the intelligent automobile 10 and the institute of the barrier 20
State the relative position information of lane line 30.
In embodiments of the present invention, the front of intelligent automobile 10 is arranged in second camera 11, for captured in real-time intelligence
Picture within the scope of 10 front preset of automobile, the picture that the second image processing unit 12 takes according to second camera 11 are right
Picture is handled, and identifies the barrier 20 in frame out, and according to setting position of the camera on intelligent automobile 10 and take the photograph
As the camera parameter of head calculates the geometry of barrier 20, and the relative position of intelligent automobile 10 and lane line 30 is combined,
The relative position of barrier 20 Yu 30 three of intelligent automobile 10 and lane line is obtained, in order to the progress of automatic Pilot control module 2
It analyzes and determines.
Wherein, the method for 12 cognitive disorders object 20 of the second image processing unit can be with are as follows: acquires a large amount of barriers 20 in advance
Picture, formed sample database, in sample database sample carry out analytical integration, obtain that all kinds of barriers can be described
20 mathematical model.In the presence of having the picture for meeting a certain mathematical model in the picture that second camera 11 is shot, Ji Ketong
Cross the information that the second image processing unit 12 knows the barrier 20.
As shown in Fig. 2, also can be found in Fig. 3, in embodiments of the present invention, the first camera 31 and second camera 11 are distinguished
It is arranged on the front windshield of intelligent automobile 10, coverage is wider.
Embodiment two
As shown in figure 3, the embodiment of the invention provides a kind of automatically around barrier method, this method comprises:
In step 201, the obstacle where obtaining intelligent automobile in lane and within the scope of intelligent automobile front preset
Object information, the barrier include the width on vertical or lane line direction approximately perpendicular to lane where the intelligent automobile
Degree is less than the well lid, pit, mound or sand drift of the distance between two front-wheels of the intelligent automobile, the obstacle information packet
Include position and the geometry of the barrier.
In embodiments of the present invention, obstacle information passes through the obstacle information acquisition module that intelligent automobile front is arranged in
Acquisition, when intelligent vehicle running is to from 100 meters of barrier or so, the information acquisition module that can break the barriers acquires barrier
Information.
In step 202, according to the obstacle information, judge whether the intelligent automobile can be in the lane by institute
It states and passes through beside barrier；
If judging, the intelligent automobile can pass through beside the barrier in the lane, enter step
203, if judging, the intelligent automobile can not pass through beside the barrier in the lane, enter step 204.
In step 203, controlling the intelligent automobile can be travelled into the lane by the side of the barrier.
In embodiments of the present invention, when the automatic Pilot control module of intelligent automobile judges that intelligent automobile can be in the vehicle
When passing through in road from the side of barrier, automatic Pilot control module controls intelligent automobile run-off-road center line, can be intelligent
Virtual lane, the virtual lane is arranged in the lane line for the side that automobile can break the barriers in lane and the edge of barrier
Centerline parallel in lane center, automatic Pilot control module controls intelligent automobile along the center line row in the virtual lane
It sails.
In step 204, the intelligent automobile is controlled by passing through above the barrier, and makes the intelligent automobile by institute
It states when passing through above barrier, two front-wheels and two rear-wheels of the intelligent automobile are respectively positioned on the outside of the barrier.
In embodiments of the present invention, since barrier described in the embodiment of the present invention is vertically or approximately perpendicular to lane
Width on line direction is less than the distance between two front-wheels of intelligent automobile, then when the automatic Pilot control module of intelligent automobile
Judge intelligent automobile cannot in the lane by beside barrier by when, intelligent automobile automatic Pilot control module control
Intelligent automobile above barrier by passing through, at this point it is possible to virtual lane is arranged in center line of the barrier along lane center direction,
Center line of the automatic Pilot control module control intelligent automobile of intelligent automobile along the virtual lane travels, so that intelligent automobile exists
When above breaking the barriers, two front-wheels and two rear-wheels of intelligent automobile are respectively positioned on the outside of barrier, even if also intelligent automobile
It is crossed by aerial above barrier.
Wherein, described according to the obstacle information, judge whether the intelligent automobile can be in the lane by described
Pass through beside barrier, comprising:
Obtain the relative position information of the barrier Yu the lane line；
Believe according to the relative position information of the barrier and the lane line, and in conjunction with the geometry of the barrier
Breath, before the distance between edge of the barrier to two lane lines in the lane is with two of the intelligent automobile
The size of the distance between wheel, if the distance between at least one lane line in the edge of the barrier to the lane is greater than
The distance between two front-wheels of the intelligent automobile then judge that the intelligent automobile can be in the lane from the obstacle
Pass through beside object, if the edge of the barrier is respectively less than the intelligence to the distance between two lane lines in the lane
The distance between two front-wheels of automobile then judge that the intelligent automobile can not be in the lane from the side of the barrier
While passing through.
In embodiments of the present invention, it in order to keep intelligent automobile to travel in a lane always, therefore need to break the barriers
Judge whether intelligent automobile can be in lane by passing through beside barrier, when barrier with the relative position information of lane line
When the distance of one side edge to lane line is greater than two front-wheels or the distance between two rear-wheels of intelligent automobile, then it can determine whether intelligence
Energy automobile can be by passing through, when the distance of either side edge to the lane line of barrier is respectively less than intelligent automobile beside barrier
When the distance between two front-wheels or two rear-wheels, then it can determine whether that intelligent automobile cannot have beside barrier and pass through.
The present invention in intelligent automobile front by placing obstacles object information acquisition module, to obtain lane where intelligent automobile
Obstacle information within the scope of interior and position intelligent automobile front preset, by automatic Pilot control module according to obstacle information
Judge whether intelligent automobile can be in the lane by passing through beside barrier, and is judging that intelligent automobile can not be described
When passing through in lane from the side of barrier, control intelligent automobile makes intelligent automobile by barrier by passing through above barrier
When top passes through, two front-wheels and two rear-wheels of intelligent automobile are respectively positioned on the outside of barrier, so that intelligent automobile be avoided to be expert at
It jolts during sailing because encountering barrier, guarantees the comfort of occupant.
In embodiments of the present invention, to enable intelligent automobile to drive safely, the method also includes:
Different enhancing signal algorithms is set for different Driving Scenes, according to the reality in the intelligent automobile driving procedure
Border parameter calculates enhancing signal, and calculates the absolute value of the difference of each enhancing signal and targets improvement signal, believes according to enhancing
Number direction reduced with the absolute value of the difference of targets improvement signal optimization driving strategy is such as:
Referring to Fig. 1, the front in lane where the obstacle information acquisition module of intelligent automobile does not collect intelligent automobile
There are when barrier in preset range, enhancing signal can be calculated according to following formula (1):
Wherein, r is enhancing signal, d1It is intelligent automobile at a distance from a lane line, d2For intelligent automobile and another vehicle
The distance of diatom.
Wherein, the numerical value of targets improvement signal is that the numerical value of 0, r more levels off to 0, during showing intelligent vehicle running
Central axes are closer to lane center, driving strategy when system records r in driving procedure closest to 0, later without around
The driving strategy is advanced optimized in the Driving Scene of barrier, with the driving strategy optimized；
It referring to Fig. 3, is illustrated by well lid of barrier, when judging that intelligent automobile cannot pass through beside the well lid, controls
When intelligent automobile is passed through by the top of well lid, enhancing signal can be calculated according to following formula (2):
Wherein, r is enhancing signal, d1It is intelligent automobile at a distance from a lane line, d2For intelligent automobile and another vehicle
The distance of diatom, θ are the angle of intelligent automobile direction of advance and well lid orientation.
In formula (2), the lane during intelligent vehicle running is kept and imparts different weights respectively around barrier,
When encountering barrier during intelligent vehicle running, to keep the stationarity during intelligent vehicle running, around the specific gravity of barrier
The specific gravity kept greater than lane.Wherein, the numerical value of targets improvement signal is 0, by formula (2) it is found that θ value is smaller and intelligent automobile
The displacement of run-off-road center line is smaller, and the numerical value of targets improvement signal r in 0, system record driving procedure most connects
Driving strategy when being bordering on 0, advanced optimizes the driving strategy in the Driving Scene later around barrier, optimal to obtain
The driving strategy of change.
Embodiment three
Referring to figs. 2 and 3, the embodiment of the invention provides a kind of intelligent automobile, in the intelligent automobile Application Example one
Described is automatic around barrier system.
The present invention in intelligent automobile front by placing obstacles object information acquisition module, to obtain lane where intelligent automobile
Obstacle information within the scope of interior and position intelligent automobile front preset, by automatic Pilot control module according to obstacle information
Judge whether intelligent automobile can be by passing through beside barrier, and is judging that intelligent automobile can not pass through beside barrier
When, when controlling intelligent automobile by passing through above barrier, and making intelligent automobile by passing through above barrier, two of intelligent automobile
Front-wheel and two rear-wheels are respectively positioned on the outside of barrier, so that intelligent automobile be avoided to occur in the process of moving because encountering barrier
It jolts, guarantees the comfort of occupant.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of automatically around barrier system, which is characterized in that the system comprises:
Obstacle information acquisition module, setting is in intelligent automobile front, in lane where obtaining intelligent automobile and positioned at intelligence
Obstacle information in energy vehicle front preset range, the barrier are included in vertically or approximately perpendicular to the intelligent automobile
Width on the lane line direction in place lane be less than the well lid of the distance between two front-wheels of the intelligent automobile, pit,
Mound or sand drift, the maximum height of the barrier are lower than the height on intelligent automobile chassis, and the obstacle information includes described
The position of barrier and geometry；
Automatic Pilot control module is connect with the obstacle information acquisition module, for according to the obstacle information, judgement
Whether the intelligent automobile can be in the lane by passing through beside the barrier；
If judging, the intelligent automobile can pass through beside the barrier in the lane, control the intelligent vapour
Vehicle can be travelled into the lane by the side of the barrier；
If judging, the intelligent automobile can not pass through beside the barrier in the lane, control the intelligence
Automobile above the barrier by passing through, and when making the intelligent automobile by passing through above the barrier, the intelligent automobile
Two front-wheels and two rear-wheels be respectively positioned on the outside of the barrier；
Different enhancing signal algorithms is set for different Driving Scenes, according to the practical ginseng in the intelligent automobile driving procedure
Number calculates enhancing signal, and calculates the absolute value of the difference of each the enhancing signal and targets improvement signal, according to described absolute
It is worth reduced direction and optimizes driving strategy,
Wherein, before the obstacle information acquisition module does not collect lane where the intelligent automobile and is located at intelligent automobile
There are when the barrier in square preset range, the enhancing signal is obtained by following first formula:
Wherein, r is the enhancing signal, d1It is the intelligent automobile at a distance from a lane line, d2For the intelligent automobile with
The distance of another lane line,
Wherein, the numerical value of the targets improvement signal is that the numerical value of 0, r more levels off to 0, shows the intelligent vehicle running process
In central axes closer to lane center, driving strategy when recording r in driving procedure closest to 0, later without around
The driving strategy is advanced optimized in the Driving Scene of barrier, with the driving strategy optimized.
2. system according to claim 1, which is characterized in that the system also includes:
Lane line information acquisition module is connect with the automatic Pilot control module, for vehicle where obtaining the intelligent automobile
The location information of two lane lines in road.
3. system according to claim 2, which is characterized in that the lane line information acquisition module includes:
The front of the intelligent automobile is arranged in first camera, includes two of lane where the intelligent automobile for shooting
The image of lane line；
First image processing unit is connect with first camera, for carrying out to the image comprising two lane lines
Processing, obtains the relative position information of the intelligent automobile Yu the lane line.
4. system according to claim 3, which is characterized in that the obstacle information acquisition module includes:
Second camera is arranged in the intelligent automobile front, for shooting the image comprising the barrier；
Second image processing unit is connect with the second camera and the first image processing unit respectively, for packet
Image containing the barrier is handled, and in conjunction with the relative position information of the intelligent automobile and the lane line, is obtained
The relative position information of the geometry information of the barrier and the barrier and the intelligent automobile and the lane line.
5. system according to claim 4, which is characterized in that first camera and the second camera are respectively provided with
On the front windshield of the intelligent automobile.
6. a kind of automatically around barrier method, applied to automatic around hindering system as described in any one of claim 1-5 claim,
It is characterized in that, which comprises
Obstacle information where obtaining intelligent automobile in lane and within the scope of intelligent automobile front preset, the barrier
It is less than the intelligent vapour including the width on vertical or lane line direction approximately perpendicular to lane where the intelligent automobile
Well lid, pit, mound or the sand drift of the distance between two front-wheels of vehicle, the obstacle information include the position of the barrier
It sets and geometry；
According to the obstacle information, judge whether the intelligent automobile can be led in the lane by the side of the barrier
It crosses；
If judging, the intelligent automobile can pass through beside the barrier in the lane, control the intelligent vapour
Vehicle can be travelled into the lane by the side of the barrier；
If judging, the intelligent automobile can not pass through beside the barrier in the lane, control the intelligence
Automobile above the barrier by passing through, and when making the intelligent automobile by passing through above the barrier, the intelligent automobile
Two front-wheels and two rear-wheels be respectively positioned on the outside of the barrier；
Different enhancing signal algorithms is set for different Driving Scenes, according to the practical ginseng in the intelligent automobile driving procedure
Number calculates enhancing signal, and calculates the absolute value of the difference of each enhancing signal and targets improvement signal, according to enhancing signal and mesh
The direction that the absolute value of the difference of mark enhancing signal reduces optimizes driving strategy,
Wherein, when the obstacle information acquisition module does not collect the intelligent automobile place lane and is located at the intelligent vapour
There are when the barrier in the preset range of front side, the enhancing signal is obtained by following first formula:
Wherein, r is the enhancing signal, d1It is the intelligent automobile at a distance from a lane line, d2For the intelligent automobile with
The distance of another lane line,
Wherein, the numerical value of the targets improvement signal is that the numerical value of 0, r more levels off to 0, shows the intelligent vehicle running process
In central axes closer to lane center, driving strategy when recording r in driving procedure closest to 0, later without around
The driving strategy is advanced optimized in the Driving Scene of barrier, with the driving strategy optimized.
7. according to the method described in claim 6, judging the intelligence it is characterized in that, described according to the obstacle information
Whether automobile can be in the lane by passing through beside the barrier, comprising:
Obtain the relative position information of the barrier Yu the lane line；
According to the relative position information of the barrier and the lane line, and in conjunction with the geometry information of the barrier,
Compare two front-wheels of the edge of the barrier to the distance between two lane lines in the lane with the intelligent automobile
The distance between size, if the edge of the barrier is greater than institute to the distance between at least one lane line in the lane
The distance between two front-wheels for stating intelligent automobile then judge that the intelligent automobile can be in the lane from the barrier
Side pass through, if the edge of the barrier is respectively less than the intelligent vapour to the distance between two lane lines in the lane
The distance between two front-wheels of vehicle then judge that the intelligent automobile can not be in the lane from the side of the barrier
Pass through.
8. a kind of intelligent automobile, which is characterized in that the intelligent automobile includes as described in any one of claim 1-5 claim
It is automatic around barrier system.
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| CN109533154B (en) * | 2018-12-07 | 2020-10-16 | 纳恩博（北京）科技有限公司 | Scooter |
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| CN111806433B (en) * | 2020-06-09 | 2022-07-12 | 宁波吉利汽车研究开发有限公司 | Obstacle avoidance method, device and equipment for automatically driven vehicle |
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