CN107972663B - Vehicle control system, device and method based on intelligent driving technology - Google Patents
Vehicle control system, device and method based on intelligent driving technology Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- 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
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- B60W2050/143—Alarm means
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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
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- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
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Abstract
The invention discloses a vehicle control system, device and method based on an intelligent driving technology, and belongs to the technical field of intelligent driving. The system comprises: the vehicle self-data acquisition device comprises an environment sensing data acquisition module, a vehicle sensing data acquisition module and a positioning navigation data acquisition module, wherein the environment sensing data acquisition module is used for acquiring first driving data through a vehicle environment sensing system, the vehicle sensing data acquisition module is used for acquiring second driving data through other sensors of a vehicle and a vehicle communication network, and the positioning navigation data acquisition module is used for acquiring third driving data through the vehicle positioning navigation device; the external communication device comprises a communication module, and the communication module is used for communicating with a traffic information interaction service center, a traffic information cloud server and/or other vehicle servers based on the Internet of things to obtain fourth driving data.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a vehicle control system, device and method based on intelligent driving technology.
Background
With the increasing development of the communication industry in the aspect of intelligent driving technology, various cloud and big data analysis and processing technologies are also beginning to be applied to the public transportation field. With the opening of the data of the communication protocol part between the whole vehicle factories, the communication between the intelligent vehicles becomes possible, which brings new development opportunities for the existing intelligent driving control technology, especially the active safety technology. The active safety technique roughly defines the actions such as relevant warning and active intervention adjustment made by the vehicle for the driver before the collision occurs, in order to avoid the collision as much as possible or to protect the driver. Current active safety technologies include body stabilization systems, lane keeping, driver fatigue warning, intersection city safety systems, emergency braking systems, adaptive cruise systems, congestion assistance systems, pedestrian or bicycle identification systems, front end assistance functions, and the like. When the intelligent transportation cloud communication technology reaches the 5G level, the vehicle can accurately position the vehicle at the accuracy level of 10cm under the intelligent transportation environment, the transmission data transmission accuracy between the vehicles reaches 1ms, the intelligent high-speed facility is complete and has perfect cloud data processing, the vehicle and the vehicle interact with various data, and more technical possibilities are brought to the intelligent driving control field.
In addition, due to the introduction of the concept of the internet of vehicles and the rapid development of environment awareness, high-precision maps, GPS signal positioning and data fusion and big data cloud accompanied by laser radars and the like, the intelligent network traffic concept can be enriched, information intersection convenience conditions are provided for vehicles, vehicle surrounding environment awareness under complex climates and traffic conditions is realized, and new function expansion is provided for intelligent driving technology.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiment of the invention provides a vehicle control system, a device and a method based on an intelligent driving technology. The technical scheme is as follows:
in a first aspect, a vehicle control system based on intelligent driving technology is provided, the system comprising: the vehicle self-data acquisition device comprises an environment sensing data acquisition module, a vehicle sensing data acquisition module and a positioning navigation data acquisition module, wherein the environment sensing data acquisition module is used for acquiring first driving data through a vehicle environment sensing system, the vehicle sensing data acquisition module is used for acquiring second driving data through other sensors of a vehicle and a vehicle communication network, and the positioning navigation data acquisition module is used for acquiring third driving data through the vehicle positioning navigation device; the external communication device comprises a communication module, wherein the communication module is used for communicating with a traffic information interaction service center, a traffic information cloud server and/or other vehicle servers based on the Internet of things to obtain fourth driving data; the main controller is used for: and controlling the vehicle self data acquisition device and the external communication device to acquire and communicate data, determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that the preset condition is met.
With reference to the first aspect, in a first possible implementation manner, the vehicle environment sensing system includes: the first driving data comprises relevant data of vehicle distance, surrounding vehicle distribution positions, pedestrians, bicycles, large obstacles, road edges, lane lines, crossroads and/or traffic marks.
With reference to the first aspect, in a second possible implementation manner, the second driving data includes a real-time driving track of the host vehicle, a driving speed of the host vehicle, a real-time driving track of the host vehicle, a driving speed of the host vehicle and/or air bag blasting information of the host vehicle.
With reference to the first aspect, in a third possible implementation manner, the third driving data includes related data of a vehicle spatial position, navigation traffic data information and/or a road surface characteristic value.
With reference to the first aspect, in a fourth possible implementation manner, the fourth driving data includes intelligent traffic information and vehicle communication interaction information, the intelligent traffic information includes temporary road repair point information and/or traffic accident positioning information, and the vehicle communication interaction information includes vehicle speed information, braking information and/or dangerous working condition information.
With reference to the first aspect, in a fifth possible implementation manner, the main controller further includes a data fusion module, where the data fusion module is configured to perform data analysis and processing on the first driving data, the second driving data, the third driving data, and the fourth driving data, so as to obtain an analysis processing result; and the main controller determines a driving adjustment strategy according to the analysis processing result and executes the driving adjustment strategy under the condition that the preset condition is met.
With reference to the first aspect and the first, second, third, fourth and fifth possible implementation manners of the first aspect, in a sixth, seventh, eighth, ninth, tenth and eleventh possible implementation manners, the preset condition includes determining that the vehicle is accident, determining that the road condition ahead is not good, determining that a large obstacle is ahead and/or that a temporary maintenance mark is ahead, and the driving adjustment strategy includes steering wheel shake, instrument warning, head-up display, sound warning, voice prompt and/or implementing active intervention avoidance.
With reference to the sixth, seventh, eighth, ninth, tenth, and eleventh possible implementation manners of the first aspect, in a twelfth, thirteenth, fourteenth, fifteenth, sixteen, seventeenth possible implementation manners, the implementing an active intervention procedure includes: when the preset condition for implementing the active intervention avoidance is met, the main controller sends out a corresponding active avoidance request; judging whether the speed of the vehicle is in a preset threshold range, adjusting through the rotation angle, the torque and/or the driving torque of an EPS steering engine of the vehicle when the judging result is yes, judging whether an ESP electric control unit fails, if yes, performing single-wheel braking of an electronic hand brake, and if not, performing single-side wheel hydraulic braking; and when the judgment result is negative, adjusting the driving torque and/or the rotation angle and the torque of the EPS steering engine.
In a second aspect, there is provided a vehicle control apparatus based on intelligent driving technology, the apparatus comprising: the first aspect provides the main controller, the vehicle self-data acquisition device, the external communication device and the gateway of the solution, wherein the main controller is connected with the vehicle self-data acquisition device, the external communication device and all other sensors and all other controllers of the vehicle.
In a third aspect, a vehicle control method based on intelligent driving technology is provided, the method comprising:
the method comprises the steps of obtaining first driving data through a vehicle environment sensing system, obtaining second driving data through other sensors of a vehicle and a vehicle communication network, obtaining third driving data through a vehicle positioning navigation device, and obtaining fourth driving data through an external communication device; and determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that preset conditions are met, wherein the preset conditions comprise determining an accident of the vehicle, determining a poor road condition in front, determining a large obstacle in front and/or a temporary maintenance mark in front, and the driving adjustment strategy comprises steering wheel shake, instrument warning, head-up display, sound warning, voice prompt and/or implementing active intervention avoidance.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
according to the vehicle control system, the device and the method based on the intelligent driving technology, the vehicle self data acquisition device is used for acquiring the environment sensing data, the vehicle body driving data and the positioning navigation position data of the vehicle, the external communication device is used for acquiring the external traffic or driving information data of other vehicles, then the driving data are integrated, the corresponding driving adjustment strategy is analyzed and determined through the main controller, and the corresponding driving adjustment strategy is executed under the condition of need.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a composition structure of a vehicle control system based on an intelligent driving technique according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a controller composition structure of a vehicle control system based on intelligent driving technology according to an embodiment of the present invention;
FIG. 3 illustrates an implementation of determining and executing a corresponding driving adjustment strategy based on the analysis processing results in a preferred embodiment;
FIG. 4 is a schematic diagram of a logic flow for implementing active intervention avoidance by a vehicle control system based on intelligent driving technology according to a preferred embodiment of the present invention;
FIG. 5 is a preferred implementation of an active intervention avoidance process implemented by a vehicle control system based on intelligent driving techniques provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating analysis of a certain active avoidance condition in the process of implementing active intervention avoidance by the vehicle control system based on the intelligent driving technique according to the embodiment of the present invention;
fig. 7 is a schematic flow chart of a vehicle control method based on intelligent driving technology according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
According to the vehicle control system, the device and the method based on the intelligent driving technology, the vehicle self data acquisition device is used for acquiring the environment sensing data, the vehicle body driving data and the positioning navigation position data of the vehicle, the external communication device is used for acquiring the external traffic or driving information data of other vehicles, the driving data are integrated, the corresponding driving adjustment strategy is determined through the analysis of the main controller, and the corresponding driving adjustment strategy is executed under the condition of need.
The vehicle control system and method based on the intelligent driving technology provided by the embodiment of the invention are further described below with reference to specific embodiments and drawings.
Example 1
Fig. 1 is a schematic diagram of a composition structure of a vehicle control system based on an intelligent driving technology according to an embodiment of the present invention. As shown in fig. 1, a vehicle control system based on intelligent driving technology provided by an embodiment of the present invention includes the following components: the vehicle self data acquisition device, the external communication device and the main controller are mutually connected.
The vehicle self data acquisition device comprises an environment sensing data acquisition module, a vehicle sensing data acquisition module and a positioning navigation data acquisition module. The environment sensing data acquisition module is used for acquiring first driving data through the vehicle environment sensing system, the vehicle sensing data acquisition module is used for acquiring second driving data through other sensors of the vehicle and the vehicle communication network, and the positioning navigation data acquisition module is used for acquiring third driving data through the vehicle positioning navigation device. The external communication device comprises a communication module, wherein the communication module is used for communicating with a traffic information interaction service center, a traffic information cloud server and/or other vehicle servers based on the Internet of things to obtain fourth driving data. The main controller is used for controlling the vehicle self data acquisition device and the external communication device to acquire and communicate data, determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that the preset condition is met.
Fig. 2 is a schematic diagram of a controller composition structure of a vehicle control system based on intelligent driving technology according to an embodiment of the present invention. Fig. 3 is a schematic control logic hierarchical structure of a vehicle control system based on intelligent driving technology according to an embodiment of the present invention.
As shown in fig. 2, the vehicle environment sensing system utilized by the environment sensing data acquisition module includes a millimeter wave radar, a laser radar and a multifunctional camera, these devices are used to acquire surrounding environment sensing information data when the vehicle is driven, sensing devices included in the vehicle environment sensing system may be different according to different vehicles, for example, the vehicle environment sensing system includes an ultrasonic radar and the like in addition to the sensing devices, and the structural composition of the vehicle environment sensing system is merely exemplary, and the vehicle environment sensing system adopted by the environment sensing data acquisition module provided by the embodiment of the invention may be understood to include at least one of a millimeter wave radar, a laser radar, a multifunctional camera and an ultrasonic radar. In fact, some vehicles are currently equipped with a vehicle environment awareness system with multiple functions, and in embodiments of the present invention, whether the vehicle is equipped in advance or not, the vehicle environment awareness system may be implemented as desired using any possible technique or manner in the prior art without departing from the concept of the embodiment of the present invention.
The environment sensing data acquisition module is used for detecting a certain surrounding circular area range in real time through the millimeter wave radar, the laser radar and the multifunctional camera of the vehicle environment sensing system so as to achieve 360-degree environmental looking around, and first driving data are obtained. Preferably, the obtained first driving data comprise relevant data of vehicle distance, surrounding vehicle distribution position, pedestrians, bicycles, large obstacles, road edges, lane lines, intersections and/or traffic marks, which can comprehensively reflect real-time environment data around the vehicle driving, and provide a data basis for later driving situation data analysis to determine a driving adjustment strategy.
The second driving data are mainly obtained through other sensors in the vehicle and a vehicle communication network, and are illustratively input as internal signals through a CAN gateway, and are combined with a driving CAN, a chassis CAN and an information CAN for carrying out data transmission of the vehicle, and preferably, the obtained second driving data comprise real-time driving tracks of the vehicle, driving speeds of the vehicle, real-time driving tracks of the vehicle, driving speeds of the vehicle and/or blasting information of safety air bags of the vehicle. For example, his car airbag burst information is collected through a front car ABS/ASR/ESC intervention, and an airbag burst signal is obtained through a CAN network.
The positioning navigation data acquisition module acquires third driving data through a satellite positioning system and a navigation controller of the vehicle positioning navigation device and through a high-definition map and navigation input by external signals, and preferably, the third driving data comprises the spatial position of the vehicle, navigation traffic data information (such as information of roadblocks and the like) and/or related data of road surface characteristic values.
And communicating with a traffic information interaction service center, a traffic information cloud server and/or other vehicle servers based on the Internet of things through a communication module controller and a transmission antenna of the external communication device to obtain fourth driving data. Here, the traffic information interaction service center based on the internet of things may be an existing traffic information interaction service center based on the internet of things (for example, between vehicles and vehicles, between vehicles and traffic management departments), and the traffic information cloud server may be various cloud servers storing real-time traffic information in the prior art, or may be a traffic information cloud server built for implementing the embodiment of the present invention, where the cloud server includes a big data processing/analysis cloud database module and an in-vehicle data acquisition/transmission module. The system comprises a big data cloud database module and an in-vehicle data module, wherein related key data are compiled in a custom protocol by utilizing an internet of vehicles (RT-V) technology, the data transmission implementation mode is that the bandwidth between vehicles is 300M, the implementation is realized by adopting a low-frequency band in 2.4GH, and the vehicles are mutually transmitted; the data transmission between the big data cloud and the vehicle is realized through the Ethernet, and the data transmission speed can be 100Mb/s. Preferably, the fourth driving data includes intelligent traffic information and vehicle communication interaction information, the intelligent traffic information includes temporary road repair point information and/or traffic accident positioning information, and the vehicle communication interaction information includes vehicle speed information, braking information and/or dangerous working condition information.
Preferably, the main controller further comprises a data fusion module, and the data fusion module specifically analyzes and processes the first driving data, the second driving data, the third driving data and the fourth driving data through the data fusion controller to obtain analysis and processing results. Because four kinds of driving data are obtained by utilizing different channels and reflect driving conditions of different sides of the vehicle, some data can be directly used for judging or guiding driving behaviors, and some data can be comprehensively analyzed and processed so as to obtain driving data with higher reliability, higher accuracy and better guiding effect correspondingly, thereby providing data and theoretical support for realizing better intelligent driving. The method includes the steps that after ABS/ASR/ESC intervention is collected by a front vehicle, an airbag explosion signal is obtained through a CAN network, if an anti-skid controller judges a trigger position, ice accumulation, water or dangerous obstacle avoidance conditions are comprehensively judged by utilizing front vehicle speed/wheel speed signals, longitudinal/lateral acceleration, steering wheel angle data of a driver and real vehicle yaw rate judgment, and the information data are transmitted to surrounding vehicles to carry out cloud technology and vehicle-to-vehicle interconnection mode transmission. The method comprises the steps of determining the approximate position of a vehicle through a high-definition map and Beidou satellite positioning, extracting characteristic values of surrounding environment through a laser radar and a multifunctional camera, comparing the characteristic values with the high-definition map, accurately positioning the position of the vehicle, analyzing the posture of the vehicle through inertia sensors such as yaw rate, longitudinal acceleration, lateral acceleration, wheel angular velocity and steering angle sensors of the vehicle, comparing the vehicle posture with the data, and obtaining the accurate position positioning at the moment. It should be noted that, in the embodiment of the present invention, any possible data fusion and analysis method in the prior art may be adopted in the process of performing the data analysis and obtaining the analysis result by the data fusion module, which is not particularly limited in the embodiment of the present invention.
After the analysis processing result is obtained, the main controller determines a driving adjustment strategy according to the analysis processing result, and executes the driving adjustment strategy under the condition that the preset condition is met. Preferably, the preset condition comprises determining that the vehicle is in accident, determining that the road condition in front is poor, determining that a large obstacle is in front and/or a temporary maintenance mark is in front, and the driving adjustment strategy comprises steering wheel shake, instrument warning, head-up display, sound warning, voice prompt and/or implementing active intervention avoidance.
Fig. 3 shows an implementation of determining and executing a corresponding driving adjustment strategy based on the analysis processing results in a certain preferred embodiment. As shown in fig. 3, related data is provided for a rear vehicle (which must be equipped with millimeter wave radar, a multi-camera, laser radar and the like) through cloud data transmission by information such as real-time driving track, driving speed, roadside temporary speed limit indication, ABS/ESC intervention, airbag explosion signals and the like of the front vehicle. The rear vehicle learns of the front traffic accident situation by utilizing the air bag blasting signals, and the rear vehicle provides sound and optical reminding for a driver, and avoids danger through active avoidance if the driver does not operate. The system provides sound and optical reminding for a driver, and if the driver does not operate, the system utilizes corresponding executing mechanisms in the vehicle to timely avoid the obstacle according to the obstacle avoidance track of the front vehicle. When the environment sensing module obtains that the front part is provided with a large animal or temporary maintenance mark, sound and optical reminding are provided for a driver, and if the driver does not operate, the driver actively avoids the large animal or temporary maintenance mark through a corresponding executing mechanism.
Fig. 4 is a schematic logic flow diagram of a vehicle control system implementing active intervention avoidance based on intelligent driving technology according to a certain preferred embodiment of the present invention. As shown in fig. 4, the data fusion controller is handed over to judge the automatic avoidance request through the environment sensing data acquisition module and the communication module. Specifically, millimeter wave radar, multifunctional cameras and laser radar are used for carrying out environment detection of the vehicle and navigation of Beidou satellite and high-definition map positioning; the communication module is realized by a transmission antenna. When the vehicle speed is low, active steering is utilized more, and the vehicle body gesture is controlled less by driving torque in a coordinated manner, so that the active avoidance is realized as soon as possible; when the vehicle speed is high, in order to avoid the panic of a driver, the vehicle body stability program is used for coordinating the vehicle body posture more by less active steering, the reasonable distribution of the driving torque is considered, the excessive speed of the vehicle is restrained, the active avoidance is ensured to be completed as soon as possible, if the function of the vehicle body stability program cannot be realized, the unilateral braking of the rear wheel is realized through the electronic hand brake, and the vehicle body posture is adjusted. Preferably, the active avoidance execution layer comprises an engine controller, a gearbox controller, a motor controller and the like in the driving module; an electric steering controller in the steering module receives a steering wheel angle signal; the electronic vacuum booster and the vehicle body stability control system in the braking module comprise a hydraulic control unit and an EPB electronic hand brake actuator, and are used for receiving wheel speed sensor signals, vacuum degree signals, vehicle body transverse and longitudinal acceleration signals and yaw rate signals; the display module is divided into meters, and is used for prompting automatic avoidance through the traditional meters and head-up display, and simultaneously receiving 360-degree radar looking around.
Fig. 5 is a preferred implementation of the active intervention avoidance process implemented by the vehicle control system based on intelligent driving technology provided by the embodiment of the invention. As shown in fig. 5, preferably, the implementation of the active intervention avoidance process by the vehicle control system based on the intelligent driving technology according to the embodiment of the present invention is performed as follows: when the preset condition for implementing the active intervention avoidance is met, the main controller sends out a corresponding active avoidance request; judging whether the speed of the vehicle is in a preset threshold range, adjusting through the rotation angle, the torque and/or the driving torque of an EPS steering engine of the vehicle when the judging result is yes, judging whether an ESP electric control unit fails, if yes, performing single-wheel braking of an electronic hand brake, and if not, performing single-side wheel hydraulic braking; and when the judgment result is negative, adjusting the driving torque and/or the rotation angle and the torque of the EPS steering engine.
Fig. 6 is a schematic diagram illustrating analysis of a certain active avoidance condition in the process of implementing active intervention avoidance by the vehicle control system based on the intelligent driving technology according to the embodiment of the present invention. As shown in fig. 6, active avoidance is divided into two cases, double-varying and single-varying. The first group of diagrams at the top in the diagram shows double changes, namely, the vehicle is immediately changed into an original lane after lane change is realized, the active steering angle is realized to be a positive-brown corner input with delay, as an arrow in the diagram is a single-side wheel braking matter in a vehicle body stabilizing system, in the initial steering stage, the inner rear wheel is utilized to apply braking to enable the vehicle posture to be in oversteer, in the second steering stage, the outer wheel is applied to brake so as to enable the vehicle area to be understeer, so that the vehicle enters the second lane, in the third steering stage, namely, the vehicle is in the second lane range, the vehicle is in oversteer by applying the braking to the outer wheel, in the fourth steering stage, the vehicle tends to be understeer by applying the braking to the inner rear wheel, and the vehicle returns to the original lane. The second set of graphs in the middle of the graph shows single change, even if the vehicle changes lanes and keeps a new lane, the corner change trend is typical positive-going steering input, and the implementation mode is the first and second phases in double change. All vehicles tend to oversteer, and driving torque control of a driving shaft is carried out, so that the mass center of the vehicle is moved forward at the minimum value of the torque, and oversteer is completed; all vehicles tend to be understeered, and the driving torque of the driving shaft is controlled, so that the mass center of the vehicle is moved backwards by properly increasing the torque, and the understeer is completed. The lowest torque and steering angle map in the graph shows the corresponding steering system characteristics.
Example 2
The embodiment of the invention provides a vehicle control device based on an intelligent driving technology, which comprises: the system comprises a main controller, a vehicle self data acquisition device, an external communication device and a gateway, wherein the main controller is connected with the vehicle self data acquisition device, the external communication device and all other sensors and all controllers of the vehicle, so that data transmission is facilitated. The gateway is used for realizing data transmission among all functional modules in the vehicle control system based on the intelligent driving technology in the intelligent driving control device and providing a data transmission network for the intelligent driving control device. The specific transmission mode and the content thereof comprise two parts: the first part is a traditional data transmission mode, CAN is used as a data node for message transmission, and the other part is used for transmitting image and communication data through a high-speed Ethernet. The traditional data transmission mode is to take a gateway as a main part, combine a driving CAN, a chassis CAN and an information CAN, and carry out data transmission of the vehicle; the ethernet transmission is mainly embodied in the working scope of the data fusion controller, and the mass data is transmitted from the environment sensing and communication module, so that 100 megabytes per second of ethernet is required to be equipped for transmission. The main controller, the vehicle self-data acquisition device and the external communication device in the intelligent driving control device provided by the embodiment of the present invention are the same as the corresponding devices described in the above embodiment 1, and specific implementation manners of the main controller, the vehicle self-data acquisition device and the external communication device are detailed in embodiment 1, and are not repeated here.
Example 3
Fig. 7 is a schematic flow chart of a vehicle control method based on intelligent driving technology according to an embodiment of the present invention. As shown in fig. 7, the vehicle control method based on the intelligent driving technology provided by the embodiment of the invention includes the following steps:
101. the vehicle environment sensing system obtains first driving data, obtains second driving data through other sensors of the vehicle and a vehicle communication network, obtains third driving data through a vehicle positioning navigation device, and obtains fourth driving data through an external communication device;
102. and determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that preset conditions are met, wherein the preset conditions comprise determining an accident of the vehicle, determining that the road condition in front is poor, determining that a large obstacle is arranged in front and/or a temporary maintenance mark is arranged in front, and the driving adjustment strategy comprises steering wheel shake, instrument warning, head up display, sound warning, voice prompt and/or implementing active intervention avoidance.
It should be noted that: in the vehicle control system and device based on the intelligent driving technology provided in the foregoing embodiments, only the division of the functional modules is used for illustration when the intelligent driving control service is performed, and in practical application, the functional allocation may be performed by different functional modules according to needs, that is, the internal structures of the system and device are divided into different functional modules, so as to complete all or part of the functions described above. In addition, the intelligent driving control device and method provided in the above embodiments belong to the same concept as the vehicle control system embodiment based on the intelligent driving technology provided in the embodiments of the present invention, and detailed implementation processes of the intelligent driving control device and method are shown in the system embodiment, which is not repeated here.
Any combination of the above optional solutions may be adopted to form an optional embodiment of the present invention, which is not described herein.
As can be seen from the above embodiments and practices, the vehicle control system, device and method based on the intelligent driving technology provided by the embodiments of the present invention acquire the environmental awareness data, the vehicle body driving data, and the positioning navigation position data of the host vehicle through the vehicle own data acquisition device, and simultaneously acquire the external traffic or other vehicle driving information data through the external communication device, and then synthesize these driving data, and analyze and determine the corresponding driving adjustment strategy through the main controller, and execute the corresponding driving adjustment strategy if necessary.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A vehicle control system based on intelligent driving technology, the system comprising: a vehicle own data acquisition device, an external communication device, and a main controller connected to each other, wherein,
the vehicle self data acquisition device comprises an environment sensing data acquisition module, a vehicle sensing data acquisition module and a positioning navigation data acquisition module, wherein the environment sensing data acquisition module is used for acquiring first driving data through a vehicle environment sensing system, the vehicle sensing data acquisition module is used for acquiring second driving data through other sensors of a vehicle and a vehicle communication network, and the positioning navigation data acquisition module is used for acquiring third driving data through a vehicle positioning navigation device;
the external communication device comprises a communication module, wherein the communication module is used for communicating with a traffic information interaction service center, a traffic information cloud server and/or other vehicle servers based on the Internet of things to obtain fourth driving data;
the main controller is used for: controlling the vehicle self data acquisition device and the external communication device to acquire and communicate data, determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that preset conditions are met;
the preset conditions comprise determining an accident of the vehicle, determining poor road conditions in front of the vehicle, determining a large obstacle in front of the vehicle and/or a temporary maintenance mark in front of the vehicle, and the driving adjustment strategy comprises steering wheel shake, instrument warning, head-up display, sound warning, voice prompt and/or implementing active intervention avoidance;
the implementation of active intervention avoidance includes:
when the preset condition for implementing the active intervention avoidance is met, the main controller sends out a corresponding active avoidance request;
judging whether the speed of the vehicle is in a preset threshold range,
when the judgment result is yes, the rotation angle, the torque and/or the driving torque of the EPS steering engine of the vehicle are adjusted, then whether the ESP electric control unit fails or not is judged, if yes, the single-wheel braking of the electronic hand brake is carried out, and if not, the single-side wheel hydraulic braking is carried out;
and when the judgment result is negative, adjusting the driving torque and/or the rotation angle and the torque of the EPS steering engine.
2. The system of claim 1, wherein the vehicle environment awareness system comprises: the first driving data comprises relevant data of vehicle distance, surrounding vehicle distribution positions, pedestrians, bicycles, large obstacles, road edges, lane lines, crossroads and/or traffic marks.
3. The system of claim 1, wherein the second driving data comprises a host vehicle real-time travel trajectory, a host vehicle travel speed, and/or host vehicle airbag deployment information.
4. The system of claim 1, wherein the third driving data comprises data related to a host vehicle spatial location, navigational traffic data information, and/or road surface characteristic values.
5. The system of claim 1, wherein the fourth driving data comprises intelligent traffic information including temporary waypoint information and/or traffic accident location information and vehicle communication interaction information including vehicle speed information, braking information and/or dangerous condition information.
6. The system of claim 1, wherein the main controller further comprises a data fusion module for performing data analysis and processing on the first driving data, the second driving data, the third driving data and the fourth driving data to obtain analysis processing results; and the main controller determines a driving adjustment strategy according to the analysis processing result and executes the driving adjustment strategy under the condition that the preset condition is met.
7. A vehicle control apparatus based on intelligent driving technology, the apparatus comprising: the main controller according to claim 1, the vehicle-self data acquisition device according to claim 1, the external communication device according to claim 1, and the gateway, the main controller being connected to the vehicle-self data acquisition device, the external communication device, and to all other sensors, all other controllers of the host vehicle.
8. A vehicle control method based on intelligent driving technology, the method comprising:
the method comprises the steps of obtaining first driving data through a vehicle environment sensing system, obtaining second driving data through other sensors of a vehicle and a vehicle communication network, obtaining third driving data through a vehicle positioning navigation device, and obtaining fourth driving data through an external communication device;
determining a driving adjustment strategy according to the first driving data, the second driving data, the third driving data and the fourth driving data, and executing the driving adjustment strategy under the condition that preset conditions are met, wherein the preset conditions comprise determining an accident of the vehicle, determining a poor road condition in front, determining a large obstacle in front and/or a temporary maintenance mark in front, and the driving adjustment strategy comprises steering wheel shake, instrument warning, head-up display, sound warning, voice prompt and/or implementing active intervention avoidance of the vehicle;
the implementation of active intervention avoidance includes:
when the preset condition for implementing the active intervention avoidance is met, a corresponding active avoidance request is sent out;
judging whether the speed of the vehicle is in a preset threshold range,
when the judgment result is yes, the rotation angle, the torque and/or the driving torque of the EPS steering engine of the vehicle are adjusted, then whether the ESP electric control unit fails or not is judged, if yes, the single-wheel braking of the electronic hand brake is carried out, and if not, the single-side wheel hydraulic braking is carried out;
and when the judgment result is negative, adjusting the driving torque and/or the rotation angle and the torque of the EPS steering engine.
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