CN107972663A - A kind of vehicle control system based on intelligent driving technology, device and method - Google Patents
A kind of vehicle control system based on intelligent driving technology, device and method Download PDFInfo
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- CN107972663A CN107972663A CN201810004652.0A CN201810004652A CN107972663A CN 107972663 A CN107972663 A CN 107972663A CN 201810004652 A CN201810004652 A CN 201810004652A CN 107972663 A CN107972663 A CN 107972663A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
-
- 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
- B60W2556/65—Data transmitted between vehicles
Abstract
The invention discloses a kind of vehicle control system based on intelligent driving technology, device and method, belong to intelligent driving technical field.The system comprises：The vehicle its data acquisition device of interconnection, external communication device and master controller, the vehicle its data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition module and location navigation data acquisition module, the environment sensing data acquisition module is used to obtain the first driving data by vehicle environmental sensory perceptual system, the vehicle sensory data acquisition module is used to obtain the second driving data by vehicle other sensors and vehicle communication network, the location navigation data acquisition module is used to obtain the 3rd driving data by Vehicle positioning navigation apparatus；The external communication device includes communication module, and the communication module is used to communicate with traffic information interactive service center, traffic information cloud server and/or other vehicle servers based on Internet of Things, obtains the 4th driving data.
Description
Technical field
The present invention relates to intelligent driving technical field, more particularly to a kind of wagon control system based on intelligent driving technology
System, device and method.
Background technology
As communications industry is growing in intelligent driving technical elements, various high in the clouds and big data analysis and processing skill
Art also begins to be applied to public traffic field.And with the opening of communications protocol partial data between vehicle factor, intelligent transportation car
Communicate and be possibly realized between car, this brings new development contract for existing intelligent driving control technology especially active safety technologies
Machine.Active safety technologies are superficial to be defined on the stage before collision occurs, the related warning done by vehicle by driver and master
It is dynamic to intervene the action such as adjustment, for collision free or protection driver as far as possible.It is steady to include vehicle body for active safety technologies at present
Determine system, track holding, driver fatigue warning, crossroad urban safety system, emergency braking system, adaptive cruise system
System, congestion auxiliary system, pedestrian or bicycle identification system, front end miscellaneous function etc..When intelligent transportation high in the clouds mechanics of communication
When reaching 5G levels, vehicle can pass under intelligent transportation environment with accurate vehicle position in 10cm precision grades between car and car
Transmission of data transmission precision reaches 1ms, complete in intelligent high-speed facility and possess perfect high in the clouds data processing, and vehicle is handed over vehicle
Mutual various data, more engineering feasibilities are brought to intelligent driving control field.
In addition, along with car networking concept introduces, and with the environment sensings such as laser radar, high-precision map and
Gps signal positions and data fusion, the fast development of big data high in the clouds, can not only enrich intelligent network traffic concept, also for
Information is provided between vehicle and vehicle to cross convenience, is realized in complicated weather and transportation condition vehicle-periphery sense
Know, new functions expanding is provided for intelligent driving technology.
The content of the invention
In order to solve problem of the prior art, an embodiment of the present invention provides a kind of vehicle control based on intelligent driving technology
System processed, device and method.The technical solution is as follows：
First aspect, there is provided a kind of vehicle control system based on intelligent driving technology, the system comprises：Mutually interconnect
Vehicle its data acquisition device, external communication device and the master controller connect, wherein, the vehicle its data obtains dress
Put including environment sensing data acquisition module, vehicle sensory data acquisition module and location navigation data acquisition module, the ring
Border perception data acquisition module is used to obtain the first driving data by vehicle environmental sensory perceptual system, and the vehicle sensory data obtain
Modulus block is used to obtain the second driving data by vehicle other sensors and vehicle communication network, and the location navigation data obtain
Modulus block is used to obtain the 3rd driving data by Vehicle positioning navigation apparatus；The external communication device includes communication module,
The communication module be used for the traffic information interactive service center based on Internet of Things, traffic information cloud server and/or its
He communicates at vehicle server, obtains the 4th driving data；The master controller is used for：The vehicle its data is controlled to obtain
Device and external communication device is taken to carry out data acquisition and communication, according to first driving data, the second driving data, the 3rd
Driving data, the 4th driving data determine to drive adjustable strategies, and are performed in the case where meeting preset condition and drive adjustment plan
Slightly.
With reference to first aspect, in the first possible implementation, the vehicle environmental sensory perceptual system includes：Multifunction
As head, millimetre-wave radar, laser radar and/or ultrasonic radar, first driving data includes spacing, surrounding vehicles are distributed
Position, pedestrian, bicycle, large obstacle, curb, lane line, the related data of crossroad and/or traffic marking.
With reference to first aspect, in second of possible implementation, second driving data includes this car real time running
Track, this car speed of operation, his car real time running track, his car speed of operation and/or his car air bag blasting information.
With reference to first aspect, in the third possible implementation, the 3rd driving data include this car locus,
The related data of traffic data information of navigating and/or road surface characteristic value.
With reference to first aspect, in the 4th kind of possible implementation, the 4th driving data includes ITS Information
With vehicle communication interactive information, the ITS Information includes repairing waypoint information and/or traffic accident location information, institute temporarily
Stating vehicle communication interactive information includes speed information, braking information and/or dangerous working condition information.
With reference to first aspect, in the 5th kind of possible implementation, the master controller further includes data fusion module, should
Data fusion module is used to carry out first driving data, the second driving data, the 3rd driving data, the 4th driving data
Data analysis and process, obtains analysis and processing result；The master controller determines to drive adjustment according to the analysis and processing result
Strategy, and performed in the case where meeting preset condition and drive adjustable strategies.
With reference to first aspect and the first, second, third and fourth of first aspect and five kind of possible implementation, the six, the seven, eight,
9th, in a kind of ten, ten possible implementations, the preset condition includes determining his car accident, determines that front road conditions are bad, definite
There is large obstacle in front and/or there is a temporary repair sign in front, it is described drive adjustable strategies include this car steering wheel shake,
Instrument warning, the display that comes back, audible alert, voice prompt and/or implementation pro-active intervention avoidance.
The six, the seven, eight, nine, ten, ten a kind of possible implementations with reference to first aspect, the 12nd, 13,14,
15,16, in 17 kind of possible implementation, the implementation pro-active intervention process includes：Implement pro-active intervention when satisfaction to keep away
During the preset condition allowed, the master controller sends corresponding actively avoid and asks；Judge whether this car speed is in pre-set threshold value
Scope, when judging result is to be, is adjusted, so by corner, torque and/or the driving torque of the EPS turning machines of this car
Judge whether ESP electronic control unit fails afterwards, be then to carry out electronics parking brake single-wheel braking, otherwise carry out unilateral hydraulic wheel braking；
When judging result is no, it is adjusted by the corner of driving torque and/or EPS turning machines, torque.
Second aspect, there is provided a kind of controller of vehicle based on intelligent driving technology, described device include：Above-mentioned
On the one hand master controller, vehicle its data acquisition device, external communication device and the gateway of scheme, the master controller are provided
With the vehicle its data acquisition device, external communication device and with other all the sensors of this car, other all controls
Device connection processed.
The third aspect, there is provided a kind of control method for vehicle based on intelligent driving technology, the described method includes：
First driving data is obtained by vehicle environmental sensory perceptual system, passes through vehicle other sensors and vehicle communication network
The second driving data is obtained, the 3rd driving data is obtained by Vehicle positioning navigation apparatus, the is obtained by external communication device
Four driving datas；Determine to drive according to first driving data, the second driving data, the 3rd driving data, the 4th driving data
Adjustable strategies are sailed, and is performed in the case where meeting preset condition and drives adjustable strategies, wherein, the preset condition includes determining
His car accident, determine that front road conditions are bad, determine that front has large obstacle and/or front to have temporary repair sign, described to drive
Sailing adjustable strategies includes the steering wheel shake, instrument warning, the display that comes back, audible alert, voice prompt and/or implementation master of this car
It is dynamic to intervene avoidance.
The beneficial effect that technical solution provided in an embodiment of the present invention is brought is：
Vehicle control system provided in an embodiment of the present invention based on intelligent driving technology, device and method, pass through vehicle
Its data acquisition device obtains the environment sensing data, vehicle body driving data, location navigation position data of this car, passes through at the same time
External communication device obtains external traffic or his car driving information data, then integrates these driving datas, passes through master controller
Analysis is definite accordingly to drive adjustable strategies, and performs corresponding driving adjustable strategies in case of need, since this is based on intelligence
Context aware systems that the vehicle control system of driving technology can generally be configured based on current vehicle, Position Fixing Navigation System and
Active safety technologies related device, with reference to can realize the external communication device that obtains traffic information based on Internet of Things and interact,
Realize a kind of various road conditions that can more effectively control driving vehicle reply to run into, the stronger intelligent driving control of adaptability
Technology, can be widely applied to the Vehicle Industry such as traditional vehicle and new energy car.
Brief description of the drawings
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 present invention, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the composition structural representation of the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology
Figure；
Fig. 2 is the controller composition structure of the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology
Schematic diagram；
Fig. 3 is shown determines and performs corresponding driving adjustable strategies according to analysis and processing result in certain preferred embodiments
Implementation；
Fig. 4 is that the vehicle control system based on intelligent driving technology that a certain preferred embodiment of the present invention provides is implemented actively
Intervene the logic flow schematic diagram avoided；
Fig. 5 is that the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology implements pro-active intervention avoidance
The preferred embodiment of process；
Fig. 6 is that the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology implements pro-active intervention avoidance
During a certain actively avoid performance analysis schematic diagram；
Fig. 7 is the flow diagram of the control method for vehicle provided in an embodiment of the present invention based on intelligent driving technology.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described embodiment is only this
Invention part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiments obtained under the premise of creative work are not made, belong to the scope of protection of the invention.
It should be noted that term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint phase
To importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be with
Express or implicitly include one or more this feature.In the description of the present invention, " multiple " be meant that two with
On, unless otherwise specifically defined.
A kind of vehicle control system based on intelligent driving technology provided in an embodiment of the present invention, device and method, pass through
Vehicle its data acquisition device obtains the environment sensing data, vehicle body driving data, location navigation position data of this car, at the same time
External traffic or his car driving information data are obtained by external communication device, these driving datas is then integrated, passes through master control
The definite corresponding driving adjustable strategies of device analysis processed, and corresponding driving adjustable strategies are performed in case of need, since this is based on
Context aware systems that the vehicle control system of intelligent driving technology can generally be configured based on current vehicle, Position Fixing Navigation System
And active safety technologies related device, with reference to the PERCOM peripheral communication dress that can realize that traffic information of the acquisition based on Internet of Things interacts
Put, realize a kind of can more effectively control and drive various road conditions, the stronger intelligent driving of adaptability that vehicle reply is run into
Control technology, can be widely applied to the Vehicle Industry such as traditional vehicle and new energy car.
Below in conjunction with specific embodiment and attached drawing, to the vehicle provided in an embodiment of the present invention based on intelligent driving technology
Control system and method are described further.
Embodiment 1
Fig. 1 is the composition structural representation of the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology
Figure.As shown in Figure 1, the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology includes consisting of knot
Structure：Vehicle its data acquisition device, external communication device and master controller, are connected with each other between them.
Specifically, vehicle its data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition
Module and location navigation data acquisition module.Environment sensing data acquisition module is used to obtain the by vehicle environmental sensory perceptual system
One driving data, vehicle sensory data acquisition module are used to drive by vehicle other sensors and vehicle communication network acquisition second
Data are sailed, location navigation data acquisition module is used to obtain the 3rd driving data by Vehicle positioning navigation apparatus.PERCOM peripheral communication
Device includes communication module, and communication module is used for and traffic information interactive service center, traffic information high in the clouds based on Internet of Things
Server and/or other vehicle servers communicate, and obtain the 4th driving data.Master controller is used to control vehicle itself to count
Data acquisition and communication are carried out according to acquisition device and external communication device, according to the first driving data, the second driving data, the 3rd
Driving data, the 4th driving data determine to drive adjustable strategies, and are performed in the case where meeting preset condition and drive adjustment plan
Slightly.
Fig. 2 is the controller composition structure of the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology
Schematic diagram.Fig. 3 is the control logic level knot of the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology
Structure schematic diagram.
As shown in Fig. 2, the vehicle environmental sensory perceptual system that environment sensing data acquisition module utilizes includes millimetre-wave radar, swashs
Optical radar and multifunctional pick-up head, these devices are used to obtain surrounding environment perception information data in vehicle drive, according to car
Its different vehicle environmental sensory perceptual system in the sensing device that includes will be different, such as the vehicle environmental sensory perceptual system having
Except above-mentioned sensing device further includes ultrasonic radar etc., the structure composition of above-mentioned vehicle sensory perceptual system is only exemplary, this
Vehicle environmental sensory perceptual system used by the environment sensing data acquisition module that inventive embodiments provide, it can be understood as at least wrap
Include at least one in millimetre-wave radar, laser radar, multifunctional pick-up head and ultrasonic radar.In fact, some current cars
Vehicle environmental sensory perceptual system vdiverse in function is already equipped with, in embodiments of the present invention, no matter whether vehicle has been equipped with advance,
Can be as needed in the case where not departing from the embodiment of the present invention design, utilization any possible skill in the prior art
Art or mode implement vehicle environmental sensory perceptual system.
Environment sensing data acquisition module passes through the millimetre-wave radar of above-mentioned vehicle environmental sensory perceptual system, laser radar and more
Function camera, finds out certain border circular areas scope around in real time, is looked around with reaching 360 degree of environment, obtains the first driving data.
Preferably, the first driving data of acquisition includes spacing, surrounding vehicles distributing position, pedestrian, bicycle, large obstacle, road
Around when edge, lane line, the related data of crossroad and/or traffic marking, these data can reflect vehicle drive comprehensively
Real time environmental data, for followed by driving situation data analysis with determine drive adjustable strategies data basis is provided.
Second driving data is mainly obtained by the other sensors and vehicle communication network of vehicle interior, exemplary
Ground, is used as internal signal by CAN gateways and inputs, with reference to driving CAN, chassis CAN and information CAN, carry out this car data biography
Pass, it is preferable that the second driving data of acquisition includes this car real time running track, this car speed of operation, his car real time running rail
Mark, his car speed of operation and/or his car air bag blasting information.Exemplarily, his car air bag blasting information passes through preceding
Square vehicle collects ABS/ASR/ESC interventions, CAN network obtains air bag blast signal.
Location navigation data acquisition module is led to by the global position system and navigation controller of Vehicle positioning navigation apparatus
High definition map and the navigation of external signal input are crossed, obtains the 3rd driving data, it is preferable that it is empty that the 3rd driving data includes this car
Between position, navigation traffic data information (such as roadblock information) and/or road surface characteristic value related data.
By the communication module controller and transmission antenna of external communication device, interacted with the traffic information based on Internet of Things
Service centre, traffic information cloud server and/or other vehicle servers communicate, and obtain the 4th driving data.Here,
Traffic information interactive service center based on Internet of Things can be it is existing set up based on technology of Internet of things (such as car with
Between car, car and traffic control department) traffic information interactive service center, traffic information cloud server can be of the prior art
The various cloud servers for storing Real-time Traffic Information or the traffic letter established to implement the embodiment of the present invention
Cloud server is ceased, exemplarily the cloud server handles/analyze cloud database module and in-car number comprising big data
According to collection/sending module.Wherein, big data cloud database module and in-car data module, using car networking RT-V technologies,
Carry out related keyword data progress custom protocol to write, data transfer is achieved in that 300M bandwidth between car and car, uses
Low frequency band is realized in 2.4GH, is transmitted mutually between vehicle；Data transfer is to pass through Ethernet between big data high in the clouds and vehicle
Realize interconnection, data transmission bauds can realize 100Mb/s.Preferably, the 4th driving data includes ITS Information and vehicle
Interactive information is communicated, ITS Information includes repairing waypoint information and/or traffic accident location information temporarily, vehicle communication interaction
Information includes speed information, braking information and/or dangerous working condition information.
Preferably, master controller further includes data fusion module, and the data fusion module is in particular by data fusion control
First driving data, the second driving data, the 3rd driving data, the 4th driving data are carried out data analysis and process by device processed,
Obtain analysis and processing result.Due to four kinds of driving datas be using different channels obtain reflection vehicle not ipsilateral drive feelings
Condition, some data can be used directly to judge or instruct driving behavior, some data can then pass through comprehensive analysis processing, so as to
Reliability higher, more accurate, the correspondingly more preferable driving data of directive function are obtained, so as to realize that more preferable intelligent driving carries
For data and theories integration.Exemplarily, substitute is obtained in front vehicles collection ABS/ASR/ESC interventions, by CAN network
After capsule blast signal, if anti-skid controller judges trigger bit, using front truck speed/wheel speed signal, longitudinally/laterally accelerate
Degree, driver's steering wheel angle data and real vehicle yaw velocity judge that comprehensive descision goes out accumulated ice, water either escape from danger barrier
Hinder the situation of thing, be transmitted information above data to surrounding vehicles, transmitted in a manner of carrying out cloud and car and being interconnected with car.
Exemplarily, positioned first by high definition map and big-dipper satellite, to determine substantially vehicle approximate location, secondly by laser thunder
Reach and multifunctional pick-up head, compared to the characteristics extraction of surrounding environment, and with high definition map, it is relatively accurate to carry out this truck position
Position be accurately positioned, finally by some inertia sensor such as yaw velocities of this car and longitudinally, laterally acceleration, wheel angle speed
Degree and steering angle sensor, analyze vehicle attitude, and are compared with data above, learn at this very moment accurately position positioning.
It should be noted that in the embodiment of the present invention, related data fusion module carries out Data Analysis Services and obtains analyzing and processing knot
The process of fruit, can be not right using any possible data fusion in the prior art, the method for analyzing and processing, the embodiment of the present invention
It is especially limited.
After obtaining analysis and processing result, master controller determines to drive adjustable strategies according to analysis and processing result, and is meeting
Performed in the case of preset condition and drive adjustable strategies.Preferably, preset condition includes determining his car accident, definite front road conditions
Bad, definite front has large obstacle and/or front to have temporary repair sign, and driving adjustable strategies includes the steering wheel of this car
Shake, instrument warning, the display that comes back, audible alert, voice prompt and/or implementation pro-active intervention avoidance.
Fig. 3 is shown determines and performs corresponding driving adjustable strategies according to analysis and processing result in certain preferred embodiments
Implementation.As shown in figure 3, by front truck real time running track, speed of operation, roadside temporary speed limitation indicates, ABS/ESC is situated between
Enter, the information such as air bag blast signal, by high in the clouds data transfer, (millimetre-wave radar, the shooting of more mesh are must be equipped with for rear car
Head and laser radar etc.) related data is provided.Rear car learns front traffic accident situation using air bag blast signal, this car is to drive
The person of sailing provides sound and optics is reminded, if driver does not operate, danger is avoided by active.Rear car utilizes front truck
ABS/ESC intrusion signals, preceding wheel paths situation, judge that situations such as accumulated ice, ponding or escape from danger barrier occurs in front, should
System provides sound for driver and optics is reminded, if driver does not operate, hides obstacle track according to front truck, utilizes car
Interior respective execution mechanisms in time obstacle avoidance.There are larger animal or temporary repair mark when environmental perception module obtains front
Show, also provide sound for driver and optics is reminded, if driver does not operate, carried out actively also through respective execution mechanisms
Avoid.
Fig. 4 is that the vehicle control system based on intelligent driving technology that a certain preferred embodiment of the present invention provides is implemented actively
Intervene the logic flow schematic diagram avoided.As shown in figure 4, give data by environment sensing data acquisition module and communication module
Fused controlling device carries out judging to avoid request automatically.Specifically, millimetre-wave radar, multifunctional pick-up head and laser radar carry out
This car environment is found out and the navigation of big-dipper satellite and high definition Orientation on map；Communication module is realized by transmission antenna.Work as number
Sent according to fused controlling device and actively avoid request to network, the implementation actively avoided is judged by speed, when speed is
When low, more using active steering, and it be less frequently utilized driving torque and coordinate control body gesture, is actively avoided as early as possible to realize；
When speed is high, to avoid driver panic, active steering is less frequently utilized, and is more coordinated using vehicle body stability program
Body gesture, and reasonable distribution driving torque is taken into account, suppress vehicle and lost multiple speed, ensure to complete actively to avoid as early as possible, such as
Fruit vehicle body stability program function can not be realized, one side brake is realized to trailing wheel by electronics parking brake, adjusts body gesture.It is preferred that
Ground, actively avoids execution level and includes engine controller, gearbox control, electric machine controller etc. in drive module；Turn to mould
Electric powered steering controller in block, receives steering wheel angular signal；Electronic type vacuum booster and vehicle body stability in brake module
Control system, comprising hydraulic control unit and EPB electronics parking brake actuators, receives wheel speed sensors signal, vacuum signal, car
The horizontal and vertical acceleration signal of body and yaw rate signal；Display module is divided into instrument, and correlation is passed through conventional instrument
The prompting avoided automatically with the display that comes back, while receive 360 ° of radars and look around.
Fig. 5 is that the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology implements pro-active intervention avoidance
The preferred embodiment of process.As shown in Figure 5, it is preferable that the vehicle provided in an embodiment of the present invention based on intelligent driving technology
Control system is implemented pro-active intervention avoidance process and is carried out as follows：When the preset condition for meeting to implement pro-active intervention avoidance
When, the master controller sends corresponding actively avoid and asks；Judge whether this car speed is in pre-set threshold value scope, when judgement is tied
Fruit is when being, to be adjusted by corner, torque and/or the driving torque of the EPS turning machines of this car, then judge that ESP is automatically controlled
Whether unit fails, and is then to carry out electronics parking brake single-wheel braking, otherwise carries out unilateral hydraulic wheel braking；When judging result is no
When, it is adjusted by the corner of driving torque and/or EPS turning machines, torque.
Fig. 6 is that the vehicle control system provided in an embodiment of the present invention based on intelligent driving technology implements pro-active intervention avoidance
During a certain actively avoid performance analysis schematic diagram.It is divided into two kinds of situations as shown in fig. 6, actively avoiding, double changes and monotropic.
The first group picture of the top show double changes in figure, that is, realizes to return immediately after changing Lane and be changed to original track, realizes active steering
Angle is the just profound corner input with delay, as arrow is unilateral wheel braking matters in body stabilization system in figure, is being turned
To initial stage, applied using inner rear wheel and braked, allow vehicle attitude to be in oversteering, turned to second stage, outboard wheels are applied
Add it is dynamic so that vehicle region understeer, into second lane, to turn to the phase III, i.e., car is in second
In the range of track, braked by applying to outboard wheels, allow vehicle to be in oversteering, fourth stage is being turned to, after interior
Wheel applies braking, allows vehicle to tend to understeer, is returned as original track.The second group picture is shown monotropic among figure, even if car
Changing Lane, and keep new track, corner variation tendency turn to input for typical case is just profound, and implementation is the in double become
First, the two-stage.It is all to allow vehicle to tend to oversteering, all control with the driving torque of drive shaft, realized with torque minimum value
Vehicle centroid moves forward, to complete oversteering；It is all to allow vehicle to tend to understeer, all with the driving torque control of drive shaft
System, is suitably increased with torque and is moved after realizing vehicle centroid, to complete understeer.The torque of bottom and corner corresponding diagram in figure
Show corresponding steering characteristic.
Embodiment 2
An embodiment of the present invention provides a kind of controller of vehicle based on intelligent driving technology, which includes：Master control
Device, vehicle its data acquisition device, external communication device and gateway processed, master controller and vehicle its data acquisition device,
External communication device and it is connected with other all the sensors of this car, all controllers, easy to data transfer.Wherein gateway is used
In realizing the number in the vehicle control system based on intelligent driving technology in intelligent driving control device between each function module
According to transmission, data transmission network is provided for it.Its specific transmission mode and content include two parts：Part I is traditional number
According to transmission mode, using CAN as back end message transmission, another part for image and communication data with the Ethernet of high speed into
Row transmits.Conventional data transmission mode is based on gateway, with reference to driving CAN, chassis CAN and information CAN, carries out this car number
According to transmission；Ethernet transmission is mainly reflected in data fusion controller programme area, and sea is transmitted from environment sensing and communication module
Amount data are transmitted, it is necessary to be equipped with 100,000,000 Ethernets per second.Control and fill for intelligent driving provided in an embodiment of the present invention
Master controller, vehicle its data acquisition device, external communication device in putting, dress corresponding to described in above-described embodiment 1
Put identical, its embodiment detailed in Example 1, details are not described herein.
Embodiment 3
Fig. 7 is the flow diagram of the control method for vehicle provided in an embodiment of the present invention based on intelligent driving technology.Such as
Shown in Fig. 7, the control method for vehicle provided in an embodiment of the present invention based on intelligent driving technology, comprises the following steps：
101st, cross vehicle environmental sensory perceptual system and obtain the first driving data, pass through vehicle other sensors and vehicle communication net
Network obtains the second driving data, obtains the 3rd driving data by Vehicle positioning navigation apparatus, is obtained by external communication device
4th driving data；
102nd, determine to drive according to the first driving data, the second driving data, the 3rd driving data, the 4th driving data and adjust
Whole strategy, and performed in the case where meeting preset condition and drive adjustable strategies, wherein, preset condition includes determining his car thing
Therefore, determine that front road conditions are bad, determine front and have a large obstacle and/or there is temporary repair sign in front, drive adjustable strategies
Steering wheel shake, instrument warning, the display that comes back, audible alert, voice prompt and/or implementation pro-active intervention including this car are kept away
Allow.
It should be noted that：Above-described embodiment provide the vehicle control system based on intelligent driving technology, device into
, can basis only with the division progress of above-mentioned each function module for example, in practical application during row intelligent driving control business
Need and complete above-mentioned function distribution by different function modules, i.e., be divided into system, the internal structure of device different
Function module, to complete all or part of function described above.In addition, the intelligent driving control dress that above-described embodiment provides
Put, method and the vehicle control system embodiment provided in an embodiment of the present invention based on intelligent driving technology belong to same design,
Its specific implementation process refers to system embodiment, and which is not described herein again.
Above-mentioned all optional technical solutions, can use any combination to form the alternative embodiment of the present invention, herein no longer
Repeat one by one.
From above example and practice, the wagon control system provided in an embodiment of the present invention based on intelligent driving technology
System, device and method, the environment sensing data of this car, vehicle body driving data, fixed are obtained by vehicle its data acquisition device
Position navigation position data, while external traffic or his car driving information data are obtained by external communication device, then integrate this
A little driving datas, corresponding driving adjustable strategies are determined by master controller analysis, and perform corresponding drive in case of need
Adjustable strategies, the environment sense that can be generally configured based on current vehicle due to the vehicle control system based on intelligent driving technology
Know system, Position Fixing Navigation System and active safety technologies related device, the traffic based on Internet of Things is obtained with reference to that can realize
The external communication device of information exchange, realize it is a kind of can more effectively control drive vehicle reply run into various road conditions,
The stronger intelligent driving control technology of adaptability, can be widely applied to the Vehicle Industry such as traditional vehicle and new energy car.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on, should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. vehicle control system based on intelligent driving technology, it is characterised in that the system comprises：The car of interconnection Its data acquisition device, external communication device and master controller, wherein,The vehicle its data acquisition device includes environment sensing data acquisition module, vehicle sensory data acquisition module and determines Position navigation data acquisition module, the environment sensing data acquisition module are used to drive by vehicle environmental sensory perceptual system acquisition first Data are sailed, the vehicle sensory data acquisition module is used to drive by vehicle other sensors and vehicle communication network acquisition second Data are sailed, the location navigation data acquisition module is used to obtain the 3rd driving data by Vehicle positioning navigation apparatus；The external communication device includes communication module, and the communication module is used to interact clothes with the traffic information based on Internet of Things Business center, traffic information cloud server and/or other vehicle servers communicate, and obtain the 4th driving data；The master controller is used for：Control the vehicle its data acquisition device and external communication device carry out data acquisition and Communication, determines to drive adjustment according to first driving data, the second driving data, the 3rd driving data, the 4th driving data Strategy, and performed in the case where meeting preset condition and drive adjustable strategies.
- 2. system according to claim 1, it is characterised in that the vehicle environmental sensory perceptual system includes：Multifunctional camera Head, millimetre-wave radar, laser radar and/or ultrasonic radar, first driving data include spacing, surrounding vehicles distribution position Put, pedestrian, bicycle, large obstacle, curb, lane line, the related data of crossroad and/or traffic marking.
- 3. system according to claim 1, it is characterised in that second driving data includes this car real time running rail Mark, this car speed of operation, his car real time running track, his car speed of operation and/or his car air bag blasting information.
- 4. system according to claim 1, it is characterised in that the 3rd driving data includes this car locus, leads The related data of traffic data information of navigating and/or road surface characteristic value.
- 5. system according to claim 1, it is characterised in that the 4th driving data includes ITS Information and car Communication interactive information, the ITS Information include repair waypoint information and/or traffic accident location information, the car temporarily Communication interactive information include speed information, braking information and/or dangerous working condition information.
- 6. system according to claim 1, it is characterised in that the master controller further includes data fusion module, the number It is used for according to Fusion Module by first driving data, the second driving data, the 3rd driving data, the 4th driving data into line number According to analysis and processing, analysis and processing result is obtained；The master controller determines to drive adjustment plan according to the analysis and processing result Slightly, and performed in the case where meeting preset condition and drive adjustable strategies.
- 7. system according to any one of claims 1 to 6, it is characterised in that the preset condition includes determining his car thing Therefore, determine that front road conditions are bad, determine front and have a large obstacle and/or there is temporary repair sign in front, it is described to drive adjustment Tactful the steering wheel shake for including this car, instrument warning, the display that comes back, audible alert, voice prompt and/or implementation pro-active intervention Avoid.
- 8. system according to claim 7, it is characterised in that the implementation pro-active intervention process, including：When meeting to implement the preset condition of pro-active intervention avoidance, the master controller sends corresponding active and avoids request；Judge whether this car speed is in pre-set threshold value scope,When judging result is to be, it is adjusted by corner, torque and/or the driving torque of the EPS turning machines of this car, then Judge whether ESP electronic control unit fails, be then to carry out electronics parking brake single-wheel braking, otherwise carry out unilateral hydraulic wheel braking；When judging result is no, it is adjusted by the corner of driving torque and/or EPS turning machines, torque.
- 9. a kind of controller of vehicle based on intelligent driving technology, it is characterised in that described device includes：According to claim It is master controller, vehicle its data acquisition device according to claim 1 described in 1, according to claim 1 outer Portion's communicator and gateway, the master controller and the vehicle its data acquisition device, external communication device and with this Other all the sensors of car, other all controller connections.
- A kind of 10. control method for vehicle based on intelligent driving technology, it is characterised in that the described method includes：First driving data is obtained by vehicle environmental sensory perceptual system, is obtained by vehicle other sensors and vehicle communication network Second driving data, the 3rd driving data is obtained by Vehicle positioning navigation apparatus, and obtaining the 4th by external communication device drives Sail data；Determined to drive adjustment plan according to first driving data, the second driving data, the 3rd driving data, the 4th driving data Slightly, and performed in the case where meeting preset condition and drive adjustable strategies, wherein, the preset condition includes determining his car thing Therefore, determine that front road conditions are bad, determine front and have a large obstacle and/or there is temporary repair sign in front, it is described to drive adjustment Tactful the steering wheel shake for including this car, instrument warning, the display that comes back, audible alert, voice prompt and/or implementation pro-active intervention Avoid.
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| CN110979318B (en) * | 2019-11-20 | 2021-06-04 | 苏州智加科技有限公司 | Lane information acquisition method and device, automatic driving vehicle and storage medium |
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