CN108407818A - A kind of automated driving system intelligently switched - Google Patents
A kind of automated driving system intelligently switched Download PDFInfo
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- CN108407818A CN108407818A CN201810185513.2A CN201810185513A CN108407818A CN 108407818 A CN108407818 A CN 108407818A CN 201810185513 A CN201810185513 A CN 201810185513A CN 108407818 A CN108407818 A CN 108407818A
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- vehicle
- control processor
- distance value
- control
- 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
- 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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a kind of automated driving systems intelligently switched, including：Vehicle control system, positioning system further include：Control processor, distance detection system, communication system；Distance detection system is used to detect the real-time range of vehicle and surrounding object, and is converted into distance value and is exported to control processor；Positioning system obtains the real time position of vehicle and obtains the real-time speed of vehicle, and the two is exported to control processor；Communication system is connect with control processor, and communication system is also connect with cloud server, and control processor is communicated by communication system and cloud server；Vehicle control system connect with control processor for controlling vehicle, if it receives the control signal of control processor output, corresponding operating is executed according to control signal；If there is distance value to be less than the first pre-determined distance value threshold value, control processor is exported to vehicle control system stops automatic Pilot signal, and vehicle is changed to manual drive by automatic Pilot.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of automated driving system intelligently switched.
Background technology
As China's automobile volume of holding increases, road traffic s congestion phenomenons are increasingly severe, etesian traffic accident
Also constantly rising, in order to preferably solve the problems, such as this, research and development automatic vehicle control system is necessary.
Existing automatic vehicle control system is to distinguish driving environment by video camera and image identification system, then basis
GPS positioning system and path planning software are navigated and are controlled to vehicle according to information such as pre-stored road-maps, but
It is it not being directed to the spacing of other vehicles and be adjusted, if in the case of different speeds and different spacings, it is right
The state of vehicle carries out specific aim adjustment can not realize effective adjustment especially in the case of complex road condition.
Invention content
Goal of the invention：
For the problem of being adjusted to the state of vehicle in the case of different speeds and spacing is mentioned in background technology, originally
Invention provides a kind of automated driving system intelligently switched.
Technical solution：
A kind of automated driving system intelligently switched, including：Vehicle control system, positioning system further include：Control processor,
Distance detection system, communication system；
Distance detection system is used to detect the real-time range of vehicle and surrounding object, and is converted into distance value to control process
Device exports；
Positioning system obtains the real time position of vehicle and obtains the real-time speed of vehicle, and the two is exported to control processor；
Communication system is connect with control processor, and communication system is also connect with cloud server, and control processor passes through communication system
System is communicated with cloud server；
Vehicle control system is connect with control processor for controlling vehicle, if to receive control processor defeated for it
The control signal gone out then executes corresponding operating according to control signal；
If there is distance value to be less than the first pre-determined distance value threshold value, control processor stops driving automatically to vehicle control system output
Signal is sailed, vehicle is changed to manual drive by automatic Pilot.
As a kind of preferred embodiment of the present invention, distance detection system detection vehicle and surrounding object it is real-time away from
From, and export front distance value, rear distance value, left distance value, right distance value to control processor.
Further include prompt system as a kind of preferred embodiment of the present invention, if under manual drive pattern, all distance values
Higher than the second pre-determined distance value threshold value, then control processor exports switching signal to prompt system, and prompt system is exported to user
Switching signal.
It is carried as a kind of preferred embodiment of the present invention if receiving confirmation feedback after prompt system output switching signal
Show that system is exported to control processor and confirm switching signal, control processor is defeated to vehicle control system according to confirmation switching signal
Go out to start automatic Pilot signal, vehicle is switched to automatic Pilot by manual drive.
As a kind of preferred embodiment of the present invention, if front distance value is less than the first pre-determined distance value threshold value, at control
It manages device and obtains current real-time speed, if current speed in real time is higher than pre-set velocity value threshold value, control processor is to vehicle control
System output reduce-speed sign, vehicle control processor unit drive vehicle deceleration according to reduce-speed sign.
As a kind of preferred embodiment of the present invention, control processor further includes memory module, and speed is stored in memory module
Degree distance proportioning table；Speed is stored with the corresponding distance value of real-time speed in proportioning table.
As a kind of preferred embodiment of the present invention, control processor is according to speed distance proportioning table to real-time speed and distance
Value is controlled.
As a kind of preferred embodiment of the present invention, the comparison that speed preferentially carries out velocity amplitude in proportioning table obtains the speed
The corresponding distance value of angle value.
As a kind of preferred embodiment of the present invention, if front distance is respectively less than the first pre-set velocity threshold value with rear distance,
Then control processor does not export reduce-speed sign.
As a kind of preferred embodiment of the present invention, if left side distance value and/or right side distance value are less than second distance value threshold
It is worth, then control processor exports reduce-speed sign to vehicle control system.
The present invention realizes following advantageous effect：
1. detecting the distance value of the real-time speed and surrounding of vehicle, the real-time status of vehicle is confirmed, and according to the real-time shape of vehicle
State carries out vehicle the switching of manual drive and automatic Pilot；
2. the preset speed distance proportioning table of setting, controls vehicle apart from proportioning table and real-time speed in conjunction with speed；
3. a pair both sides vehicle is detected, and is accordingly controlled this vehicle.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is a kind of system block diagram of the automated driving system intelligently switched provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
With reference to figure 1, Fig. 1 is a kind of system block diagram of the automated driving system intelligently switched provided by the invention.
Specifically, a kind of automated driving system intelligently switched, including：Vehicle control system 1, positioning system 2, are also wrapped
It includes：Control processor 5, distance detection system 4, communication system 3.
Distance detection system 4 is used to detect the real-time range of vehicle and surrounding object, and is converted into distance value to control
Processor 5 processed exports.Distance detection system 4 can be made of several range sensors, be respectively arranged at the surrounding of vehicle（Before,
Afterwards, left and right）, for detecting vehicle's surroundings at a distance from barrier, the barrier may include wall, vehicle, pedestrian, animal
Deng mobile or non-moving object.Distance detection system 4 can be used the distance measuring methods such as ultrasonic wave, infrared ray, laser and carry out ranging.Away from
Connect with control processor 5 from detecting system 4, and after detecting distance value to control processor 5 output in front of distance value, after
Square distance value, left side distance value, right side distance value etc., control processor 5 obtain front distance value, rear distance value, left side away from
From value, right side distance value and make subsequent operation according to these data.
Positioning system 2 obtains the real time position of vehicle and obtains the real-time speed of vehicle, and by the two to control processor 5
Output.Positioning system 2 may include that GPS positioning system 2 and dipper system, positioning system 2 obtain the position of vehicle in real time.Positioning
System 2 can also change the real-time speed for obtaining vehicle according to the real time position of vehicle.Positioning system 2 is connect with control processor 5,
Positioning system 2 exports real-time positioning and the real-time speed of vehicle of vehicle to control processor 5.
Communication system 3 is connect with control processor 5, and communication system 3 is also connect with cloud server 6, and control processor 5 is logical
Communication system 3 is crossed to communicate with cloud server 6.Communication system 3 can be that wireless communication system 3, satellite communication system 3 etc. are non-
Wired communication mode, communication system 3 connect cloud server 6 and control processor 5.Control processor 5 passes through communication system 3
It is communicated with cloud server 6.If control processor 5, to 3 output signal of communication system, communication system 3 is by the signal to high in the clouds
Server 6 exports, if cloud server 6 need to be to 5 feedback information of control processor, cloud server 6 is to corresponding communication system
It unites 3 output informations, communication system 3 exports the information to control processor 5.
Vehicle control system 1 is connect, if it is received at control for controlling vehicle with control processor 5
The control signal that device 5 exports is managed, then corresponding operating is executed according to control signal.It is defeated that vehicle control system 1 receives control processor 5
The control signal gone out, controls vehicle.In the present embodiment, as an implementation, control processor 5 can be to vehicle
Control system 1 exports traffic route, then vehicle control system 1 will control vehicle operation according to stroke route.In this embodiment, it controls
Processor 5 processed can export acceleration signals, reduce-speed sign, turn signal, stop signal etc., vehicle control to vehicle control system 1
System 1 controls vehicle according to control signal accordingly.
If there is distance value to be less than the first pre-determined distance value threshold value, control processor 5 is exported to vehicle control system 1 to be stopped
Automatic Pilot signal, vehicle are changed to manual drive by automatic Pilot.First pre-determined distance value threshold value may be configured as 0.2-20m,
Specifically it may be configured as 10m.If there is distance value to be less than the first pre-determined distance value threshold value, control processor 5 is to vehicle control system 1
Output stops automatic Pilot signal, if vehicle is in automatic Pilot state, vehicle control system 1 controls vehicle stopping and drives automatically
Manual drive pattern is sailed and starts, vehicle control system 1 is failure to actuate if vehicle is in manual drive pattern.
Preferably, the distance detection system 4 detects the real-time range of vehicle and surrounding object, and to control processor 5
Output front distance value, rear distance value, left distance value, right distance value.
Preferably, further include prompt system, if under manual drive pattern, all distance values are higher than the second pre-determined distance value
Threshold value, then control processor 5 to prompt system export switching signal, prompt system to user export switching signal.Prompt system
It may include voice prompt, display reminding.Second pre-determined distance value threshold value may be configured as 100-300m in the present embodiment, specifically
It may be configured as 200m.If under manual drive pattern, all distance values are above the second pre-determined distance value threshold value, then at control
It manages 5 casees prompt systems of device and exports switching signal, prompt system exports switching signal according to switching signal to user, as this implementation
A kind of embodiment of example can prompt to user speech and show etc. that modes prompt the user in display screen.
Preferably, if receiving confirmation feedback after prompt system output switching signal, prompt system is to control processor 5
Output confirms switching signal, and control processor 5 exports beginning automatic Pilot according to confirmation switching signal to vehicle control system 1 to be believed
Number, vehicle is switched to automatic Pilot by manual drive.User feeds back to prompt system, by voice or can click specific bit
It sets and is confirmed, if user feedback confirmation message, prompt system is exported to control processor 5 confirms switching signal, at control
It manages device 5 and is exported to vehicle control system 1 according to confirmation switching signal and start automatic Pilot signal.
Preferably, if front distance value is less than the first pre-determined distance value threshold value, control processor 5 obtains current real-time vehicle
Speed, if current speed in real time is higher than pre-set velocity value threshold value, control processor 5 exports reduce-speed sign to vehicle control system 1,
Vehicle control processor Unit 5 drives vehicle deceleration according to reduce-speed sign.First pre-determined distance value threshold value in the present embodiment may be used
It is set as 0.2-20m, specifically may be configured as 10m.Pre-set velocity value threshold value may be configured as 10-100km/h, in the present embodiment may be used
It is set as 20km/h.If front distance value is higher than the first pre-determined distance value threshold value, and current speed in real time is higher than pre-set velocity value
Threshold value exports reduce-speed sign in control processor 5 to vehicle control system 1.
Preferably, control processor 5 further includes memory module 7, and speed is stored in memory module 7 apart from proportioning table.Speed
Degree is stored with the corresponding distance value of real-time speed in proportioning table.It is corresponding that speed is stored with real-time speed in proportioning table
Distance value.There are velocity amplitude and corresponding distance value in the speed proportioning table respectively.
Preferably, control processor 5 controls real-time speed with distance value apart from proportioning table according to speed.At control
Reason device 5 controls vehicle apart from proportioning table according to speed, as an embodiment of the present embodiment, control processor 5
The real-time speed of vehicle is obtained, and the corresponding distance value of the real-time speed, control processor 5 are obtained apart from proportioning table according to speed
The vehicle that vehicle and front are controlled according to the distance value is kept at a distance from the distance value.If specifically, real-time speed be 40km/h,
Corresponding distance value is 20m in speed distance proportioning table, then control processor 5 obtains current front distance value, if front
Distance value is less than the distance value, then control processor 5 exports reduce-speed sign to vehicle control system 1, to control spacing, if front
Distance is higher than the distance value, then control processor 5 exports acceleration signals to vehicle control system 1, shortens the vehicle and front truck
Spacing.As an embodiment of the present embodiment, control processor 5 obtains the distance value of vehicle, and is matched according to speed distance
The corresponding velocity amplitude of the distance value is obtained than table, control processor 5 controls the speed of vehicle according to the velocity amplitude.
Preferably, speed preferentially carries out the comparison of velocity amplitude in proportioning table and obtains the corresponding distance value of the velocity amplitude.
The comparison of velocity amplitude is preferentially carried out in practical applications.
Preferably, if front distance is respectively less than the first pre-set velocity threshold value with rear distance, control processor 5 does not export
Reduce-speed sign.If front-and-rear vehicle distance is respectively less than the first pre-determined distance value threshold value, control processor 5 will control vehicle and keep current speed
Degree.
Preferably, if left side distance value and/or right side distance value are less than the first distance value threshold value, control processor 5 to
Vehicle control system 1 exports reduce-speed sign.If there is the spacing on left side and/or right side to be less than the first pre-determined distance value threshold value, control
Processor 5 processed controls vehicle deceleration.First pre-determined distance value threshold value may be configured as 0.2-20m, specifically may be configured as 10m.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of automated driving system intelligently switched, including：Vehicle control system, positioning system, which is characterized in that also wrap
It includes：Control processor, distance detection system, communication system；
Distance detection system is used to detect the real-time range of vehicle and surrounding object, and is converted into distance value to control process
Device exports；
Positioning system obtains the real time position of vehicle and obtains the real-time speed of vehicle, and the two is exported to control processor；
Communication system is connect with control processor, and communication system is also connect with cloud server, and control processor passes through communication system
System is communicated with cloud server；
Vehicle control system is connect with control processor for controlling vehicle, if to receive control processor defeated for it
The control signal gone out then executes corresponding operating according to control signal；
If there is distance value to be less than the first pre-determined distance value threshold value, control processor stops driving automatically to vehicle control system output
Signal is sailed, vehicle is changed to manual drive by automatic Pilot.
2. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that described apart from detection system
System detection vehicle and surrounding object real-time range, and to control processor output in front of distance value, rear distance value, left away from
From value, right distance value.
3. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that further include prompt system
System, if under manual drive pattern, all distance values are higher than the second pre-determined distance value threshold value, then control processor is to prompt system
Switching signal is exported, prompt system exports switching signal to user.
4. a kind of automated driving system intelligently switched according to claim 3, which is characterized in that if prompt system exports
Confirmation feedback is received after switching signal, then prompt system is exported to control processor confirms switching signal, control processor root
Start automatic Pilot signal according to confirming that switching signal is exported to vehicle control system, vehicle is switched to by manual drive and is driven automatically
It sails.
5. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that if front distance value is low
In the first pre-determined distance value threshold value, then control processor obtains current real-time speed, if current speed in real time is higher than pre-set velocity
It is worth threshold value, then control processor exports reduce-speed sign to vehicle control system, and vehicle control processor unit is according to reduce-speed sign
Drive vehicle deceleration.
6. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that control processor also wraps
Memory module is included, speed is stored in memory module apart from proportioning table；Speed is stored with real-time speed correspondence in proportioning table
Distance value.
7. a kind of automated driving system intelligently switched according to claim 6, which is characterized in that control processor according to
Speed controls real-time speed with distance value apart from proportioning table.
8. a kind of automated driving system intelligently switched according to claim 7, which is characterized in that speed distance proportioning table
In preferentially carry out the comparison of velocity amplitude and obtain the corresponding distance value of the velocity amplitude.
9. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that if front distance is with after
Side's distance is respectively less than the first pre-set velocity threshold value, then control processor does not export reduce-speed sign.
10. a kind of automated driving system intelligently switched according to claim 1, which is characterized in that if left side distance value
And/or right side distance value is less than second distance value threshold value, then control processor exports reduce-speed sign to vehicle control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810185513.2A CN108407818B (en) | 2018-03-06 | 2018-03-06 | Intelligent switching automatic driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810185513.2A CN108407818B (en) | 2018-03-06 | 2018-03-06 | Intelligent switching automatic driving system |
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| CN108407818A true CN108407818A (en) | 2018-08-17 |
| CN108407818B CN108407818B (en) | 2021-04-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113552576A (en) * | 2021-07-20 | 2021-10-26 | 中交信捷科技有限公司 | Vehicle obstacle avoidance method and device based on ultrasonic ranging |
| CN114407928A (en) * | 2022-01-24 | 2022-04-29 | 中国第一汽车股份有限公司 | Vehicle avoidance control method and vehicle avoidance control device |
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| CN108407818B (en) | 2021-04-13 |
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