CN107101644A - A kind of safe pilotless automobile system - Google Patents
A kind of safe pilotless automobile system Download PDFInfo
- Publication number
- CN107101644A CN107101644A CN201710289796.0A CN201710289796A CN107101644A CN 107101644 A CN107101644 A CN 107101644A CN 201710289796 A CN201710289796 A CN 201710289796A CN 107101644 A CN107101644 A CN 107101644A
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- vehicle
- subsystem
- pilotless automobile
- detection
- sensor
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention provides a kind of safe pilotless automobile system, subsystem, the second information acquisition subsystem, local map subsystem, path planning subsystem and traveling control subsystem are obtained including the first information, the first information obtains the running environment information that subsystem is used to gather pilotless automobile, second information acquisition subsystem is used for the information of vehicles for gathering road, the local map that the local map subsystem is set up centered on pilotless automobile for the information of vehicles of the running environment information and road；The path planning subsystem treats travel route for local map generation pilotless automobile；The traveling control subsystem is used to treat travel route plane-generating control instruction according to, and pilotless automobile is controlled according to the control instruction.Beneficial effects of the present invention are：Overall Acquisition data needed for unmanned environment, realize safe automobile unmanned.
Description
Technical field
The present invention relates to unmanned technical field, and in particular to a kind of safe pilotless automobile system.
Background technology
At present, pilotless automobile relies primarily on the intelligence based on computer system of in-car as a kind of intelligent automobile
Energy pilot is unmanned to realize.But, pilotless automobile has to the resolving ability of roadside traffic and ambient environmental conditions
Limit, so as to cause pilotless automobile security not high.
The content of the invention
In view of the above-mentioned problems, a kind of the present invention is intended to provide safe pilotless automobile system.
The purpose of the present invention is realized using following technical scheme：
Subsystem, the second information are obtained there is provided a kind of safe pilotless automobile system, including the first information
Subsystem, local map subsystem, path planning subsystem and traveling control subsystem are obtained, the first information obtains subsystem
Unite for the running environment information for gathering pilotless automobile, second information acquisition subsystem is used for the vehicle for gathering road
Information, the local map subsystem is used for the running environment information and the information of vehicles of road is set up with pilotless automobile
Centered on local map；The path planning subsystem is used for the road to be travelled that the local map generates pilotless automobile
Line；The traveling control subsystem is used to treat travel route plane-generating control instruction according to, and is referred to according to the control
Order is controlled to pilotless automobile.
Beneficial effects of the present invention are：Overall Acquisition data needed for unmanned environment, realize safe vapour
Car is unmanned.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not constitute any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Reference：
The first information obtains subsystem 1, the second information acquisition subsystem 2, local map subsystem 3, path planning subsystem
System 4, traveling control subsystem 5.
Embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of safe pilotless automobile system of the present embodiment, including the first information obtain subsystem
The 1, second information acquisition subsystem 2 of system, local map subsystem 3, path planning subsystem 4 and traveling control subsystem 5, it is described
The first information obtains the running environment information that subsystem 1 is used to gather pilotless automobile, second information acquisition subsystem 2
Information of vehicles for gathering road, the local map subsystem 3 is used for the vehicle letter of the running environment information and road
The local map that breath is set up centered on pilotless automobile；The path planning subsystem 4 is generated for the local map
Pilotless automobile treats travel route；The traveling control subsystem 5 is used to treat travel route plane-generating control according to
System instruction, and pilotless automobile is controlled according to the control instruction.
The present embodiment Overall Acquisition data needed for unmanned environment, realize safe automobile unmanned.
It is preferred that, the first information obtains the camera that subsystem 1 includes being arranged on pilotless automobile, described to take the photograph
As head is used to shoot the real-time road near the pilotless automobile.
The real-time road that this preferred embodiment is obtained using camera is more directly perceived.
It is preferred that, the camera is high-definition camera.
The real-time road that this preferred embodiment is obtained using high-definition camera is relatively sharp.
It is preferred that, second information acquisition subsystem 2 includes vehicle data collection module, one-time detection module, secondary
Detection module, three detection modules and class of vehicle division module, the vehicle data collection module are used to obtain vehicle detection
Data, the one-time detection module according to vehicle detection data to car speed for detecting, the secondary detection module
For according to vehicle detection data estimation track of vehicle, three detection modules to be used for long to vehicle according to vehicle detection data
Degree is detected that the class of vehicle division module is used to classify to vehicle according to the Vehicle length.
The vehicle data collection module is detected using magneto-dependent sensor to vehicle, in the detection zone of sensor
It is interior, when headstock and when entering and leaving of the tailstock, the magnetic line of force can be produced and significantly disturbed, the vehicle data collection module includes
One sub-cell and two sub-cells, a sub-cell are used under determining that sensor node sensor model, node perceived model are used
Formula is represented：FN (x)=0, x ＞ Rmax,0 ＜ x≤Rmax, in above-mentioned formula, RmaxTo pass
Sensor node maximum detectable range, x represents vehicle and sensor node distance, and FN (x) represents to detect the probability of vehicle；
Two sub-cell is used to handle the data of collection, and specific processing mode is：A, sensor is detected
Original signal data a (k) carry out preliminary treatment, obtain signal AY (k), the preliminary treatment is that original signal data is carried out
Lowpass and band-pass filter denoising, reduce sample frequency, ask energy spectrum to handle,；
B, the mode weighted using slip are handled signal, and the signal after processing is represented by：AY ' (k)=In above-mentioned formula, M is sliding window length.
The vehicle data collection module of the information acquisition subsystem of this preferred embodiment second is using magneto-dependent sensor to vehicle
Detected, its Detection accuracy has exceeded the first-class legacy equipment of video camera, improves the vehicle detection degree of accuracy；Vehicle is perceived
Model is determined according to the distance of vehicle and sensor, more accurately reflects actual conditions of the sensor in detection process；
Signal is handled using weighting scheme is slided, the influence of burst noise can be eliminated, provided more for pilotless automobile
For accurate vehicle detection data.
It is preferred that, the one-time detection module determines car speed in the following ways：A, one signal amplitude threshold of setting
Value EU (k), when signal continuously then thinks that vehicle is not present less than threshold value, thinks have if current signal sample continues to exceed threshold value
Vehicle is present, wherein, EU (k) is updated according to AY ' (k) change, and vacation top threshold value initial value is BE0, EU (k) update modes
It is as follows：If having detected car,If detecting no car,In above-mentioned formula, α and β are updating factor, 0 ＜ a ＜ 1, β ＞ 1,
QK is that threshold value updates delay；
T between at the beginning of b, foundation amplitude thresholds acquisition detection signalstartWith deadline tdown, speed is calculated using following formula
Degree：Above-mentioned formula
In son, Δ tBWith Δ tASensor B and the clock and the difference of standard time clock of sensors A, t are represented respectivelyB, startAnd tA, startPoint
Biao Shi not be between the detecting at the beginning of vehicle of sensor B and sensors A, tB, endAnd tA, endSensor B and sensing are represented respectively
The device A deadline for detecting vehicle, dA, BRepresent the distance between two sensors.
The one-time detection module of the information acquisition subsystem of this preferred embodiment second is updated to signal amplitude threshold value, right
The change of ambient noise has stronger adaptability in actually detected environment, improves the robustness of vehicle detection, it is ensured that
The accuracy and reliability of vehicle detection；When being asked for car speed, the clock difference between sensor is eliminated, so that
More accurate vehicle speed detection has been obtained, has judged that surrounding car speed is significant for pilotless automobile.
It is preferred that, the secondary detection module includes setting up unit and simplified element, and the unit of setting up is used to set up car
Track detection universal model, the simplified element is used to set up the track of vehicle detection model parallel with track：Track of vehicle
Detection universal model is represented by：Assuming that sensor network is made up of m node, it is spaced at a fixed time interior to vehicle progress
Periodically detect and reported to aggregation node, obtain a m dimensional vector collection CF=(+1,0, -1)m, wherein, -1 represents vehicle
Represent that vehicle is moved towards the detection range direction of sensor node toward the direction movement away from sensor node detection range ,+1
Dynamic, 0 represents, without vehicle is found, to estimate track of vehicle with reference to vector set CF and corresponding timestamp.
The track of vehicle detection model parallel with track is represented by：Because the running orbit of vehicle is parallel with track
Straight line, aggregation node is spaced in T to vehicle data with certain frequency sampling at a fixed time, and obtained sampled result is one
Individual binary detection sequence HX (tj)：HX(tj)=+ 1, ifRL (tj)≠0and RL(tj- T)=0；HX(tj)=0, ifRL (tj)=
0and RL(tj- T)=0；HX(tj)=- 1, ifRL (tj)=0and RL (tj-T)≠0；In above-mentioned formula, tjFor representing to adopt
Sample moment, RL (tj) for the state output of vehicle existence that is arrived according to signal amplitude threshold test.
The secondary detection module of the information acquisition subsystem of this preferred embodiment second realizes the estimation to track of vehicle, right
Judge that surrounding wagon flow is significant in pilotless automobile, wherein, universal model can be used in estimating various tracks
Calculate, the track of vehicle that simplified model is used to run vehicle with track when parallel is estimated, improves computational efficiency.
It is preferred that, three detection modules determine Vehicle length in the following ways：If sensor node p and q are at certain
One moment detected headstock and leaves event into the tailstock respectively, corresponded to the terrestrial magnetic disturbance signal of vehicle respectively in threshold test
At the time of exceeding threshold value and last time first less than threshold value, then the length GP of vehicle is represented by：GP=(BZ-1) × CA,In above-mentioned formula, dP, qRepresent two sensor nodes p and q between away from
From doffThe distance of two sensor lines of vehicle shift is represented, BZ represents error transfer factor parameter, T0、H0Respectively normal temperature, standard humidity, T, piece are respectively temperature, humidity, R in actual environmentpAnd RqPoint
Not Biao Shi vehicle and sensor node p and q distance.
Three detection modules of the information acquisition subsystem of this preferred embodiment second are in the mistake detected to Vehicle length
Cheng Zhong, introduces error transfer factor parameter and calculates Vehicle length, helps to reduce what the magnetic disturbance characteristic signal calculating through vehicle was obtained
The error of magnetic length and vehicle physical length, because magnetic signal can be influenceed by actual environment, regard humiture as foundation
Error transfer factor parameter is calculated, automatic driving vehicle results in more accurate Vehicle length.
Pilotless automobile gives starting point and destination using the safe pilotless automobile system of the present invention,
When QK takes different value, pilotless automobile security and time used are counted, compared with other pilotless automobiles,
What is produced has the beneficial effect that shown in table：
| QK | Pilotless automobile security is improved | Time used in pilotless automobile shortens |
| 10 | 36% | 30% |
| 15 | 32% | 25% |
| 20 | 30% | 20% |
| 25 | 27% | 18% |
| 30 | 25% | 15% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than to present invention guarantor
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (8)
1. a kind of safe pilotless automobile system, it is characterized in that, including first information acquisition subsystem, the second information
Subsystem, local map subsystem, path planning subsystem and traveling control subsystem are obtained, the first information obtains subsystem
Unite for the running environment information for gathering pilotless automobile, second information acquisition subsystem is used for the vehicle for gathering road
Information, the local map subsystem is used for the running environment information and the information of vehicles of road is set up with pilotless automobile
Centered on local map；The path planning subsystem is used for the road to be travelled that the local map generates pilotless automobile
Line；The traveling control subsystem is used to treat travel route plane-generating control instruction according to, and is referred to according to the control
Order is controlled to pilotless automobile.
2. safe pilotless automobile system according to claim 1, it is characterized in that, the first information is obtained
Subsystem includes the camera being arranged on pilotless automobile, and the camera is used to shoot near the pilotless automobile
Real-time road.
3. safe pilotless automobile system according to claim 2, it is characterized in that, the camera is high definition
Camera.
4. safe pilotless automobile system according to claim 3, it is characterized in that, second acquisition of information
Subsystem is drawn including vehicle data collection module, one-time detection module, secondary detection module, three detection modules and class of vehicle
Sub-module, the vehicle data collection module is used to obtain vehicle detection data, and the one-time detection module is used for according to vehicle
Detection data detect that the secondary detection module is used for according to vehicle detection data estimation track of vehicle to car speed,
Three detection modules according to vehicle detection data to Vehicle length for being detected, the class of vehicle division module is used
Vehicle is classified according to the Vehicle length.
5. safe pilotless automobile system according to claim 4, it is characterized in that, the vehicle data collection
Module is detected using magneto-dependent sensor to vehicle, in the detection zone of sensor, when headstock and the tailstock entrance and from
When opening, the magnetic line of force can be produced and significantly disturbed, the vehicle data collection module includes a sub-cell and two sub-cells, described one
Sub-cell is used to determine sensor node sensor model, and node perceived model is represented using following formula：FN (x)=0, x ＞ Rmax,0 ＜ x≤Rmax, in above-mentioned formula, RmaxFor sensor node maximum detectable range, x tables
Show vehicle and sensor node distance, FN (x) represents to detect the probability of vehicle；
Two sub-cell is used to handle the data of collection, and specific processing mode is：A, the original detected to sensor
Beginning signal data a (k) carries out preliminary treatment, obtains signal AY (k), and the preliminary treatment is to carry out low pass to original signal data
With bandpass filter denoising, reduce sample frequency, ask energy spectrum to handle,；
B, the mode weighted using slip are handled signal, and the signal after processing is represented by： In above-mentioned formula, M is sliding window length.
6. safe pilotless automobile system according to claim 5, it is characterized in that, the one-time detection module
Car speed is determined in the following ways：A, one signal amplitude threshold value EU (k) of setting, when signal is continuously then thought less than threshold value
Vehicle is not present, and thinks if current signal sample continues to exceed threshold value with the presence of vehicle, wherein, EU (k) is according to AY's ' (k)
Change is updated, and vacation top threshold value initial value is BE0, EU (k) update modes are as follows：If having detected car, If detecting no car,On
State in formula, α and β are updating factor, and 0 ＜ a ＜ 1, β ＞ 1, QK updates delay for threshold value；
T between at the beginning of b, foundation amplitude thresholds acquisition detection signalstartWith deadline tdown, using following formula calculating speed：Above-mentioned formula
In, Δ tBWith Δ tASensor B and the clock and the difference of standard time clock of sensors A, t are represented respectivelyB,startAnd tA,startRespectively
Represent between the detecting at the beginning of vehicle of sensor B and sensors A, tB,endAnd tA,endSensor B and sensor are represented respectively
The A deadline for detecting vehicle, dA,BRepresent the distance between two sensors.
7. safe pilotless automobile system according to claim 6, it is characterized in that, the secondary detection module
Including setting up unit and simplified element, the unit of setting up is used to set up track of vehicle detection universal model, the simplified element
For setting up the track of vehicle detection model parallel with track：Track of vehicle detection universal model is represented by：Assuming that sensor
Network is made up of m node, and vehicle is carried out in interval at a fixed time periodically to detect and report to aggregation node, obtained
To a m dimensional vector collection CF=(+1,0, -1)m, wherein, -1 represents that vehicle is moved toward the direction away from sensor node detection range
Dynamic ,+1 represents that vehicle is moved towards the detection range direction of sensor node, and 0 represents without vehicle is found, with reference to vector set CF
And corresponding timestamp can be estimated track of vehicle；
The track of vehicle detection model parallel with track is represented by：Because the running orbit of vehicle is parallel with track straight
Line, aggregation node is spaced in T to vehicle data with certain frequency sampling at a fixed time, and obtained sampled result is one
Binary detection sequence HX (tj)：HX(tj)=+ 1, if RL (tj)≠0and RL(tj-T)=0；HX(tj)=0, if RL (tj)=
0and RL(tj- T)=0；HX(tj)=- 1, if RL (tj)=0and RL (tj-T)≠0；In above-mentioned formula, tjFor representing to adopt
Sample moment, RL (tj) for the state output of vehicle existence that is arrived according to signal amplitude threshold test.
8. safe pilotless automobile system according to claim 7, it is characterized in that, three detection modules
Determine Vehicle length in the following ways：If sensor node p and q at a time detect respectively headstock enter and the tailstock from
Event is opened, the terrestrial magnetic disturbance signal for corresponding to vehicle respectively in threshold test exceedes threshold value and last time less than threshold value first
Moment, then the length GP of vehicle be represented by：GP=(BZ-1) × CA,
In above-mentioned formula, dp,qRepresent the distance between two sensor nodes p and q, doffRepresent two sensor lines of vehicle shift
Distance, BZ represents error transfer factor parameter,T0、H0Respectively normal temperature, standard are wet
Degree, T, H are respectively temperature, humidity, R in actual environmentpAnd RqThe distance of vehicle and sensor node p and q is represented respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710289796.0A CN107101644A (en) | 2017-04-27 | 2017-04-27 | A kind of safe pilotless automobile system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710289796.0A CN107101644A (en) | 2017-04-27 | 2017-04-27 | A kind of safe pilotless automobile system |
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| CN107101644A true CN107101644A (en) | 2017-08-29 |
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| CN201710289796.0A Withdrawn CN107101644A (en) | 2017-04-27 | 2017-04-27 | A kind of safe pilotless automobile system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534790A (en) * | 2018-02-27 | 2018-09-14 | 吉林省行氏动漫科技有限公司 | Automatic driving vehicle air navigation aid, device and automatic driving vehicle |
| CN108983764A (en) * | 2018-04-27 | 2018-12-11 | 榛硕（武汉）智能科技有限公司 | Based on the unmanned control system of vehicle and automobile |
| CN110096051A (en) * | 2018-01-31 | 2019-08-06 | 北京京东尚科信息技术有限公司 | Method and apparatus for generating vehicle control instruction |
-
2017
- 2017-04-27 CN CN201710289796.0A patent/CN107101644A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110096051A (en) * | 2018-01-31 | 2019-08-06 | 北京京东尚科信息技术有限公司 | Method and apparatus for generating vehicle control instruction |
| CN110096051B (en) * | 2018-01-31 | 2024-04-09 | 北京京东乾石科技有限公司 | Method and device for generating vehicle control command |
| CN108534790A (en) * | 2018-02-27 | 2018-09-14 | 吉林省行氏动漫科技有限公司 | Automatic driving vehicle air navigation aid, device and automatic driving vehicle |
| CN108983764A (en) * | 2018-04-27 | 2018-12-11 | 榛硕（武汉）智能科技有限公司 | Based on the unmanned control system of vehicle and automobile |
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Effective date of registration: 20170920 Address after: Xinhua Street, Huadu District, Guangdong city of Guangzhou province 510000 Tian Mei Cun Tian Mei Xin Cun from No. 87 Applicant after: Guangzhou Rui LAN embroidery Trading Co., Ltd. Address before: 200000, 556, 5, 2265 Willow Road, Shanghai, Putuo District Applicant before: Shanghai phase resistant Intelligent Technology Co., Ltd. |
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Application publication date: 20170829 |