CN107089229A - Utilize the adaptive learning algorithms of operator's intent inference - Google Patents
Utilize the adaptive learning algorithms of operator's intent inference Download PDFInfo
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- CN107089229A CN107089229A CN201710083738.2A CN201710083738A CN107089229A CN 107089229 A CN107089229 A CN 107089229A CN 201710083738 A CN201710083738 A CN 201710083738A CN 107089229 A CN107089229 A CN 107089229A
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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
- B60W30/14—Adaptive cruise control
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
It the present invention relates to the use of the adaptive learning algorithms of operator's intent inference.A kind of track suitable for being used on automated vehicle changes system (10), including：Turn signal actuator (16), object detector (22), location equipment (24) and controller (30).Turn signal actuator (16) can be operated to mode of operation (18) by the operator (14) of this vehicle (12).Mode of operation (18) includes left state (18A), right state (18B) and closed mode (18C).Object detector (22) is used to detect the presence close to other vehicles (20) of this vehicle (12).Location equipment (24) is used for the position (26) that this vehicle (12) are determined on numerical map (28).Controller (30) communicates with turn signal actuator (16), object detector (22) and location equipment (24).The mode of operation (18) and numerical map (28) that controller (30) is based on turn signal actuator (16) determine when operator (14) is intended to exceed other vehicles (20) or slows down to be turned to or left expressway.
Description
The cross reference of related application
The application is according to 35U.S.C. § 119 (e), it is desirable to the U.S. Provisional Patent Application submitted for 17th for 2 months in 2016
No.62/296,205 rights and interests, the entire disclosure of which is incorporated herein by reference.
Technical field
The disclosure relates generally to adaptive cruise control system, and relates more specifically to determine this vehicle (host-
Vihicle operator) on more than other vehicles and/or be ready for turn to intention.
Background technology
Traditional adaptive learning algorithms (ACC) can waste combustion in many ways because of the intention for not knowing operator
Material.When operator intends slowing down in preparing to turn to, if ACC does not detect such case, vehicle in some way
But it can keep or gather way when coastdown is to compared with low velocity by more useful and more fuel efficiency.Another example
It is when operator is intended to by changing track to the right or to the left come more than other vehicles, but when ACC system does not detect this
During the situation of kind, this vehicle deceleration wastes and will have to more effortlessly work to obtain the momentum of returning after.Although in height
On fast road, left rotaring signal can be the reliable instruction that operator is intended to exceed other vehicles, but turn to letter in many cases
The intention of number behind is not clear.The turn signal individually occurred might mean that operator wants to slow down to turn to, Huo Zheke
It can mean that operator wants to change track with more than other slower vehicles.In both cases, desired system response
It is probably opposite so that only turn signal is not the abundant criterion that operator is intended to.
The content of the invention
System is changed there is provided a kind of track suitable for being used on automated vehicle according to one embodiment.System bag
Include turn signal actuator, object detector, location equipment and controller.Turn signal actuator can by this vehicle operation
Person is operated to a mode of operation.Mode of operation includes left state, right state and closed mode.Object detector is used to detect close
The presence of other vehicles of this vehicle.Location equipment is used for the position that this vehicle is determined on numerical map.Controller is with turning to
Signal actuator, object detector and location equipment communication.Mode of operation and numeral of the controller based on turn signal actuator
Map determines when operator is intended to exceed other vehicles.
After the following detailed description of preferred embodiments when read, further feature and advantage will be emerged more clearly, should
Preferred embodiment is only as nonrestrictive example and provides referring to the drawings.
Brief description of the drawings
The present invention is described by example referring now to accompanying drawing, in the accompanying drawings：
Fig. 1 is the diagram for changing system according to the track of one embodiment；And
Fig. 2 is the flow chart of the method for the system of the operation diagram 1 according to one embodiment.
Embodiment
Fig. 1 shows that track changes the non-limiting example of system 10 (hereinafter referred to as system 10).Generally, system 10 is adapted to
Used on such as automotive vehicle of this vehicle 12.As it is used herein, term " automotive vehicle " can be applied to work as this vehicle
12 situations that (that is, entirely autonomous pattern) is operated just in automatic mode, the wherein human operator of this vehicle 12 can be used hardly
The thing beyond specified destination is done with convenient to operate this vehicle 12.However, what full automation was not required.It is contemplated that this
The teaching that text is showed is journey that is useful, being automated in semiautomatic-mode when this vehicle 12 is operated in semiautomatic-mode
Degree or level can be the auto-speed control with some form of anticollision (also known as adaptive learning algorithms or ACC), wherein
Operator 14 generally control turn to, but the control or operation of accelerator and the alternatively brake of this vehicle 12 be it is automatic or
Auxiliary operator 14 if necessary.
System 10 includes turn signal actuator 16, and the turn signal actuator 16 can be grasped by the operator 14 of this vehicle 12
Accomplish mode of operation 18.Mode of operation includes left state (left-state) 18A, right state (right-state) 18B and closing
State (off-state) 18C, they activate the left-hand rotation indicator (not shown) of this vehicle 12, the right-hand rotation of this vehicle 12 and referred to respectively
Show device (not shown) or do not activate both.As will be explained in more detail, the advantage of system 10 described herein is, is
System 10 carrys out inference operations person 14 on being made more than other vehicles 20 or preparation from this using the activation of turn signal actuator 16
The intention of the steering of road or traveling lane that vehicle 12 is currently occupied.
The system also includes the object detector 22 for being used for detecting the presence for other vehicles 20 for being generally proximal to this vehicle 12.
As it is used herein, term " close " refers to other vehicles 20 relative to the position of this vehicle 12 and speed and this vehicle 12
Safety operation is related.It is unrestricted as example, if other vehicles 20 or any other vehicle are in the 100 of this vehicle 12
Within rice (100m), it will be considered as close to this vehicle.
System also includes location equipment 24, and it is used for the position 26 that this vehicle 12 is determined on digitally Figure 28.As showing
Example and it is unrestricted, location equipment 24 can be global positioning system (GPS) receiver, its configure and operation be well-known
's.Alternately, location equipment 24 can be included in other devices for the position 26 that this vehicle 12 is determined on digitally Figure 28, all
Such as be used for the transceiver that is communicated to infrastructure (V2I) of vehicle and/or for around this vehicle 12 landscape (such as building,
Mark) optical identification camera.
System also includes controller 30, and it communicates with turn signal actuator 16, object detector 22 and location equipment 24.
Controller 30 may include the processor (not specifically illustrated) or other control circuits of such as microprocessor, such as simulate and/or number
Word control circuit, including it is used for the application specific integrated circuit (ASIC) of processing data known to those skilled in that art.Controller
30 may include memory (not specifically illustrated), including nonvolatile memory, such as Electrically Erasable Read Only Memory
(EEPROM), to store one or more routines, threshold value and the data of seizure.One or more routines can be held by processor
OK, it is used to set from turn signal actuator 16 as described herein, object detector 22 and positioning based on controller 30 to perform
The step of intention of standby 24 signals received to determine operator 14.Unrestricted as example, controller 30, which is based on turning to, to be believed
Number mode of operation 18 of actuator 16 and the information from digitally Figure 28 determine when operator 14 is intended to exceed other cars
20.Although digitally Figure 28 is illustrated as a part for controller 30 or in controller 30, it is contemplated that
Digitally Figure 28 can be located or stored in " in cloud ", i.e., away from this vehicle 12.
Fig. 2 shows the non-limiting example of the method 32 of operation this vehicle 12.Method 32 uses digitally Figure 28, for example
Electronic horizon (eH) data, to infer whether the operator 14 of this vehicle 12 is intended to slow down in preparing to turn to, or when steering
Operator 14 is intended to exceed such as other vehicles 20 when signal actuator 16 is operated into left state 18A or right state 18B.In operation
Person 14 is intended in the case of turning to, and system 10 (can be similar to when operator 14 does not apply any brake or any with coastdown
During air throttle (throttle)) and using than maintaining constant speed or being accelerated back to the less fuel of setting speed.The opposing party
Face, when operator 14 is intended to overtake other vehicles from the right side or left side of other vehicles 20 positioned at the front of this vehicle 12, system can be through
Operate this vehicle 12 that setting speed is returned or be maintained at by vehicle control device 34.Do not decelerated to also in this vehicle 12
In the case of behind other vehicles 20 more slowly advanced than this vehicle 12, system 10 or more specifically control device 30 and can push away
It is disconnected to be intended that more than other vehicles 20, so as to advantageously operate this vehicle 12 to preserve momentum and fuel.
Method 32 is shown for determining that operator 14 is intended to turn to (" sliding (COAST) ") or whether operator 14 is intended to
Overtake other vehicles the logic flow of (" ignoring preceding road (IGNORE HEADWAY) ").These marks can be provided to adaptive learning algorithms system
Unite to take appropriate action when operator 14 is using turn signal.
When eH data (i.e. digitally Figure 28) invalid or this vehicle 12 is being turned to (as indicated by small radius of curvature measurement)
When, judge that 36 would not allow for sliding or ignore preceding road generation.Judge 38 in " whether currentSegment (current road segment)=
Ramp" the current eH sections roadway travel (segment form-of-way) under this vehicle 12 is referred to, and this judgement can
Made by the road type block 40 in controller 30.
Judge that 42 judge whether a upper section is expressway roadway travel and whether next section form is not expressway.
Note, the wherein roadway travel that lastSegment (a upper section) is referred to before current road segment is different from the road of currency
Section.Similarly, the wherein roadway travel that nextSegment (next section) is referred to after current road segment is different from present road
The road segment segment of form value.Note, every other situation all refers to the attribute for the present road section that this vehicle 12 is passing through.When sentencing
42 be that when affirming, it indicates that current road segment is the exit ramp (off-ramp) from fastlink to non-high-speed section, therefore calmly
This vehicle 12 is by coastdown so that it is close to more reasonably off-highway speed.
Judge that 44 judge whether current road segment has the more than one car for being specified for travelling in the same direction with this vehicle 12
The track in road or unknown number.When the track with the only one track on this car direction or unknown number, answer is false
(no).It is again noted that the diagram of method 32 assumes vehicle in road right travel.
Judge that 46 judge when this vehicle 12 is intended to refer to by using by the mode of operation 18 of turn signal actuator 16
The adjacent lane shown exceedes other vehicles 20 (if its presence).When mode of operation 18 is left state 18A and left-lane
In the presence of (leftLaneExists (left-lane presence)>=may) and do not occupied by slower or neighbouring vehicle
When (slowOrNearVehicleLeftLane (slow or neighbouring vehicle left-lane)=vacation), or when mode of operation 18 is right shape
State 18B and right lane presence (rightLaneExists (right lane presence)>=may) and not by slower or neighbouring vehicle
When occupying (slowOrNearVehicleRightLane (slow or neighbouring vehicle right lane)=vacation), it is assumed that this vehicle 12 should be neglected
Omit other vehicles 20 (in safe enough and to spare).LeftLaneExists and RightLaneExists attribute may be deposited at them
When exceed " possibility " positive nonzero value, and they may be not present when less than " possibility " negative nonzero value.These variables
Null value indicate that the presence in track in this direction is unknown.Note, strictly observe what can only be overtaken other vehicles in side in driver
In country (such as German), the opposite side of this expression formula can be deleted.
Plan exceedes other using head-on track when judging 48 judgement this vehicle 12 in bicycle road (in the direction)
Vehicle 20.When mode of operation 18 is that left state and this vehicle 12 are travelled and other cars with more than 40 mph. (40mph)
20 labeled as dotted line less than at least five mph. of ACC setting speeds (5mph) traveling and left-lane (to mean to use
It is legal that left-lane, which is overtaken other vehicles) and lane change to the left have begun to or relatively straight (abs (the radiusCurve) (absolute value of road
(sweep))>250m) (the sufficient observability that the head-on track for overtaking other vehicles is provided) and the no divided lane of present road section
And the position of other vehicles 20 is on the right (leadLateralPosition (front truck the lateral attitude)=right side) of this vehicle 12
When, it is assumed that this vehicle 12 is intended to overtake other vehicles.The leadLateralPosition values refer to its compared with the center line of this vehicle 12
The relative position of his vehicle 20 so that when this vehicle 12 starts to change track to the left or other vehicles 20 start to change track to the right
When, the relative position on the right side of other vehicles 20 will make leadLateralPosition be equal to " right side ".Note, on the left of road
In the country of traveling, the term of left and right will be exchanged in all situations.The decision box, which may also comprise, to be required not detect to meet
The vehicle come is sailed in face, unless they will be exceeded before it may occur track change.
Judge that 50 judge current road segment whether as expressway roadway travel.On expressway, unless there is exit ramp stake,
Otherwise the possibility very little that operator 14 is intended to slow down to turn to.Judge that 52 judge nearby whether have exit ramp and turn to letter
Number it is intended to leave the situation of expressway to carry out evaluate operator 14 to the right.Exported generally in the case of the left side, to the left in high speed
Same problem can replace or carry out "or" with the current problem shown in decision box.
Judge that 54 are related to following situations：EH notifies us to only have a track on this car direction and judge right turn signal
It whether there is, or whether have left rotaring signal, other vehicles 20 not in the right (leadLateralPosition of this vehicle 12！=
It is right) and preceding vehicle speed is more than the combination of this vehicle speed or road not divided lane.Extra inspection on the left of use is come prevent will be super
Car be intended to get wrong to slow down to turn to intentions because it is non-slide on side malfunction be more preferable.Note, in road left driving
In country, the both sides in this decision box will be exchanged.
Judge that 56 are related to following situations：Current road segment be not expressway but have on this car direction more than one track (or
The track of unknown number) and assess the intention to turn to of slowing down.It judges whether preceding road is not ignored (from judging 46) and does not have
There is generation track to change, and turn signal occurs and the [(turnSignal on the equidirectional in track for looking presence
(turn signal)=right and rightLaneExisits (right lane presence)<- may) or (turnSignal (turn signal)=
Left and leftLaneExisits (left-lane presence)<- may)]
Although invention has been described according to a preferred embodiment of the invention, but the present invention is not intended to by such
Limitation, but only limited by the scope provided in appended claims.
Claims (2)
1. a kind of track suitable for being used on automated vehicle changes system (10), the system (10) includes：
Turn signal actuator (16), it can be operated to mode of operation (18) by the operator (14) of this vehicle (12), wherein
The mode of operation (18) includes left state (18A), right state (18B) and closed mode (18C)；
Object detector (22), it is used for the presence for detecting other vehicles (20) close to described vehicle (12)；
Location equipment (24), it is used for the position (26) that described vehicle (12) is determined on numerical map (28)；
Controller (30), itself and the turn signal actuator (16), the object detector (22) and the location equipment
(24) communicate, wherein the controller (30) is based on the mode of operation (18) of the turn signal actuator (16) and described
Numerical map (28) determines when the operator (14) is intended to exceed other described vehicles (20).
2. the system as claimed in claim 1 (10), it is characterised in that the controller (30) determines the operator (14) is how
Shi Yitu slows down to make steering.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201662296205P | 2016-02-17 | 2016-02-17 | |
| US62/296,205 | 2016-02-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107089229A true CN107089229A (en) | 2017-08-25 |
Family
ID=59646218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710083738.2A Pending CN107089229A (en) | 2016-02-17 | 2017-02-16 | Utilize the adaptive learning algorithms of operator's intent inference |
Country Status (1)
| Country | Link |
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| CN (1) | CN107089229A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098809A (en) * | 2019-12-31 | 2020-05-05 | 长城汽车股份有限公司 | Dormancy control method and device and vehicle |
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| DE10045944A1 (en) * | 2000-09-16 | 2002-03-28 | Volkswagen Ag | Method for controlling a vehicle's distance/speed during overtaking uses a detection system on a vehicle to detect a vehicle directly in front, the position of direction indicators and vehicle steering position or rate of yaw |
| WO2006122867A1 (en) * | 2005-05-19 | 2006-11-23 | Robert Bosch Gmbh | Lane change assistant for motor vehicles |
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| CN103069466A (en) * | 2010-06-18 | 2013-04-24 | 本田技研工业株式会社 | System for inferring driver's lane change intention |
| CN103318176A (en) * | 2013-06-28 | 2013-09-25 | 郑州宇通客车股份有限公司 | Coach self-adaptive cruise control system and control method thereof |
| EP2825435A1 (en) * | 2012-03-15 | 2015-01-21 | Google, Inc. | Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles |
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|---|---|---|---|---|
| US5871062A (en) * | 1995-04-13 | 1999-02-16 | Mercedes-Benz Ag | Method and device for speed and distance control for a motor vehicle |
| DE10045944A1 (en) * | 2000-09-16 | 2002-03-28 | Volkswagen Ag | Method for controlling a vehicle's distance/speed during overtaking uses a detection system on a vehicle to detect a vehicle directly in front, the position of direction indicators and vehicle steering position or rate of yaw |
| WO2006122867A1 (en) * | 2005-05-19 | 2006-11-23 | Robert Bosch Gmbh | Lane change assistant for motor vehicles |
| CN101516712A (en) * | 2006-11-14 | 2009-08-26 | 丰田自动车株式会社 | Apparatus for changing a vehicle speed setting of cruise control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111098809A (en) * | 2019-12-31 | 2020-05-05 | 长城汽车股份有限公司 | Dormancy control method and device and vehicle |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181204 Address after: Babado J San Michaele Applicant after: Amberford Technology Co., Ltd. Address before: michigan Applicant before: Delphi Automotive Systems LLC (US) |
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| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170825 |
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