CN109164814A - Automatic driving control system towards highway scene - Google Patents

Automatic driving control system towards highway scene Download PDF

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Publication number
CN109164814A
CN109164814A CN201811392612.4A CN201811392612A CN109164814A CN 109164814 A CN109164814 A CN 109164814A CN 201811392612 A CN201811392612 A CN 201811392612A CN 109164814 A CN109164814 A CN 109164814A
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China
Prior art keywords
torque
vehicle
module
target
transverse movement
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CN201811392612.4A
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CN109164814B (en
Inventor
时利
李卫兵
吴琼
张营
张一营
张雷
徐春梅
刘法勇
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The invention discloses a kind of automatic driving control systems towards highway scene, comprising: vision module, radar module, locating module, information fusion unit, programmed decision-making unit, vehicle movement coordination controller, torque sensor and electric booster steering controller.Electric booster steering controller is used under automatic driving mode, and the transverse movement of control vehicle is instructed based on transverse movement；It is also used under non-automatic driving mode, the transverse movement based on pilot control dtc signal and transverse movement instruction control vehicle.Utilize the present invention, when small curvature highway driving, electric booster steering device is controlled by vehicle tuning controller and controls transverse movement, realizes accurate avoidance demand when comfortable, stable and deep camber road when small curvature road is run at high speed is run at a low speed.And in deep camber highway driving, it can switch to the mode of pilot control, realize accurate human-computer interaction, avoid the generation of collision.

Description

Automatic driving control system towards highway scene
Technical field
The present invention relates to automatic Pilot technologies more particularly to a kind of automatic Pilot towards highway scene to control system System.
Background technique
Automatic Pilot technology is as the future thrust of conventional fuel oil vehicle and new energy vehicle and by industry It widelys popularize, the major automobile vendor in the whole world, parts company and scientific & technical corporation put into great effort and carry out automatic Pilot phase Research and development, the test and validation of pass technology.
Within the following significant period of time, the typical application scenarios of Function for Automatic Pilot focus on highway scene In specific function, the highway scene, covering has the small curvature lane of radius >=250m high speed and radius < 250m Low speed deep camber lane；The specific function covers vehicle and is maintained in same lane and (contains ring road) traveling and in difference The function that traveling is converted between lane, the vehicle motion control difficult point being related to are mainly lateral direction of car motion control；The high speed The typical road feature of highway scene controls automatic driving vehicle transverse movement the demand for proposing two dimensions: small curvature road It is required that it is ride comfort, steady, and want that good man-machine steering can be supported to interact, and deep camber road then requires vehicle for mesh Lane horizontal tracing precision with higher is marked, to avoid collision.
Existing automated driving system majority develops realization to keep vehicle to cruise in same lane for functional requirement, It is limited under radius >=250m road scene using operating condition, and the road scene of radius < 250m is then difficult to realize to vehicle The control of transverse movement.
In the automated driving system of the prior art, controller is acquired lane line acquisition of information by vision module and works as front truck Lateral deviation with Travel vehicle diatom, it is comprehensive based on information such as speed, yaw angles on this lateral deviation and vehicle bus The target shift torque for obtaining and vehicle being kept to travel in current lane is calculated, electric booster steering controller receives and is based on this Target shift torque calculates the work order of output assist motor, and control turns to execution unit and exports track rod pulling force, real Now to the control of lateral direction of car movement, i.e., control vehicle is suitably turned to is travelled with maintaining in current lane.
However, being limited to this system schema, such as lane line information is obtained by vision module merely, can not be suitable for Small curvature lane；And power-assisted steering control is carried out to assist motor based on target shift torque, not only lateral direction of car movement essence Degree is difficult to ensure, while correcting the used time that vehicle keeps same lanes to the elimination time that lateral deviation occurs in vehicle Relatively long, therefore, this system schema is only applicable to control vehicle and cruises in the single lane road radius >=250m traveling, It is difficult to convert the lateral direction of car motion control being related to suitable for the lane of more minor radius and multilane.
Summary of the invention
The object of the present invention is to provide a kind of automatic driving control systems towards highway scene, to solve existing skill The problems in art improves horizontal tracing precision, to avoid collision.
The present invention provides a kind of automatic driving control systems towards highway scene, wherein includes:
Vision module, for obtaining lane information；The lane information includes the curvature of vehicle driving road；
Radar module, for obtaining obstacle information of vehicles；
Locating module, for obtaining vehicle location information；The vehicle location information include current vehicle speed, course heading, Yaw velocity and lateral deviation；
Information fusion unit, for will be issued after the fusion of the lane information, obstacle information of vehicles and vehicle location information Programmed decision-making unit；
Programmed decision-making unit, for being travelled according to the lane information, obstacle information of vehicles and vehicle location information Vehicle movement coordination controller is given in path instructions and driving behavior instruction output；
Vehicle movement coordination controller obtains transverse movement instruction for calculating, and is sent to electric power steering control Device；
Torque sensor, for exporting pilot control dtc signal under non-automatic driving mode；
The electric booster steering controller is calculated for being instructed under automatic driving mode based on the transverse movement Output motor instruction control turns to execution system and generates drag link pulling force, controls the transverse movement of vehicle；
The electric booster steering controller is also used under non-automatic driving mode, is believed based on pilot control torque Number and the transverse movement instruction, calculate output motor instruction control turn to execution system generate drag link pulling force, control vehicle Transverse movement.
Preferably, the system also includes:
Judgment module, when for judging that Function for Automatic Pilot module breaks down, to the electric booster steering controller Send fault-signal；
The electric powered steering controller controls artificial turn to according to the fault message.
Preferably, vehicle movement coordination controller includes that feed-forward target corner obtains module, feedback target corner obtains mould Block and corner synthesis module；
The feed-forward target corner obtains module, for the curvature according to current vehicle travel, exports feed-forward target Corner；
The feedback target corner obtains module, is used for according to current vehicle speed, course heading, yaw velocity and transverse direction partially Difference exports feedback target corner；
The corner synthesis module turns for will obtain target after the feed-forward target corner and the synthesis of feedback target corner Angle issues transverse movement instruction according to the target rotation angle.
Preferably, the vehicle movement coordination controller further include:
Time computing module, for calculating the execution time of the target rotation angle；
The electric booster steering controller be also used to control turn to execution system when being executed it is interior completion to the mesh Mark the execution of corner.
Preferably, the vehicle movement coordination controller include that preceding feedforward torque obtains module, feedback torque obtains module and Torque distribution module；
The preceding feedforward torque obtains module and is used to export feed-forward target torque according to the target rotation angle；
The feedback torque obtains module for the difference according to the target rotation angle and current steering wheel angle, output feedback Target torque；
Torque synthesis module, for according to the feed-forward target torque and the feedback target torque output active torque；
Torque distribution module, it is defeated for being based on Torque-sharing strategy according to the active torque and pilot control torque Basic active torque out.
Automatic driving control system provided by the invention towards highway scene is in small curvature highway driving When, electric booster steering device is controlled by vehicle tuning controller and controls transverse movement, realizes small curvature road high speed row Accurate avoidance demand when comfortable, stable and deep camber road when sailing is run at a low speed.And in deep camber highway driving When, it can switch to the mode of pilot control, realize accurate human-computer interaction, avoid the generation of collision.
Detailed description of the invention
Fig. 1 is the structural block diagram of the automatic driving control system provided in an embodiment of the present invention towards highway scene；
Fig. 2 is Torque-sharing strategy schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
As shown in Figure 1, the embodiment of the invention provides a kind of automatic driving control system towards highway scene, packet It includes vision module, radar module, locating module, information fusion unit, programmed decision-making unit, vehicle movement coordination controller, turn Square sensor and electric booster steering controller.
Wherein, vision module is for obtaining lane information；The lane information includes the curvature of vehicle driving road.Radar Module is for obtaining obstacle information of vehicles.Locating module is for obtaining vehicle location information；The vehicle location information includes working as Preceding speed, course heading, yaw velocity and lateral deviation.Information fusion unit is used for the lane information, obstacle vehicle Programmed decision-making unit is issued after information and vehicle location information fusion.Programmed decision-making unit is used for according to the lane information, barrier Hinder information of vehicles and vehicle location information, obtains driving trace instruction and driving behavior instruction output is controlled to vehicle movement coordination Device.Vehicle movement coordination controller obtains transverse movement instruction for calculating, and is sent to electric booster steering controller.Torque Sensor is used under non-automatic driving mode, exports pilot control dtc signal.The electric booster steering controller is used It under automatic driving mode, is instructed based on the transverse movement, calculating output motor instruction control turns to execution system and generates Drag link pulling force controls the transverse movement of vehicle；Electric booster steering controller is also used under non-automatic driving mode, is based on Pilot control dtc signal and transverse movement instruction calculate output motor instruction control steering execution system and generate horizontal drawing Draw-bar pull controls the transverse movement of vehicle.
Vehicle is when completing specific Function for Automatic Pilot and needing to generate transverse movement, and electric booster steering controller receives The transverse movement of vehicle movement coordination controller output instructs, and calculates output motor instruction control steering execution system and generate cross Draw-bar pull realizes the transverse movement of vehicle.When driver's un-activation Function for Automatic Pilot, transverse movement instruction is passed based on torque The pilot control dtc signal of sensor output obtains, and when driver activation's Function for Automatic Pilot, transverse movement instructs base It is obtained in the driving trace and driving behavior instruction COMPREHENSIVE CALCULATING of the output of programmed decision-making unit.
Automatic driving control system provided in an embodiment of the present invention towards highway scene is in small curvature highway When traveling, electric booster steering device is controlled by vehicle tuning controller and controls transverse movement, realizes small curvature road Accurate avoidance demand when comfortable, stable and deep camber road when running at high speed is run at a low speed.And it is public in deep camber high speed Road when driving, can switch to the mode of pilot control, realize accurate human-computer interaction, avoid the generation of collision.
Preferably, which further includes judgment module, when for judging that Function for Automatic Pilot module breaks down, to described Electric booster steering controller sends fault-signal.The electric powered steering controller turns according to fault message control is artificial To.
Further, vehicle movement coordination controller includes that feed-forward target corner obtains module, feedback target corner obtains Module and corner synthesis module.The feed-forward target corner acquisition module is used for the curvature according to current vehicle travel, defeated Feed-forward target corner out；The feedback target corner obtain module be used for according to current vehicle speed, course heading, yaw velocity and Lateral deviation exports feedback target corner；The corner synthesis module is used to turn the feed-forward target corner and feedback target Target rotation angle is obtained after the synthesis of angle, transverse movement instruction is issued according to the target rotation angle.
Preferably, the vehicle movement coordination controller further include: time computing module, for calculating the target rotation angle The execution time；The electric booster steering controller be also used to control turn to execution system when being executed it is interior completion to described The execution of target rotation angle.
In the present embodiment, to control the transverse movement of vehicle under deep camber road condition, and meet higher horizontal tracing Precision devises target rotation angle active steering strategy, wherein vehicle movement coordination controller synthesis vehicle, road information obtain And target rotation angle and target rotation angle execution two signals of time are exported to electric booster steering controller, by electric power steering Controller controls steering wheel and turns to target rotation angle in object time point, realizes active steering；Target rotation angle active steering strategy It is specifically made of feedforward computing module and feedback two nucleus modules of computing module, vehicle movement coordination controller is based on working as Vehicle in front travel curvature, export feed-forward target corner, based on vehicle driving speed, course heading, yaw velocity and Lateral deviation calculates output feedback target corner, and vehicle movement coordination controller, which calculates, obtains final synthesis target rotation angle, simultaneously Vehicle movement coordination controller is based on vehicle drive behavior command, calculates the execution time for obtaining and being directed to target rotation angle, electronic Booster steering controller receives and calculates output motor and instructs control steering execution unit is interior when being executed to complete to turn target Angle executes tracking.
Specifically, vehicle movement coordination controller is based on current vehicle travel curvature C, feed-forward target corner is exported θFFW；Output feedback target is calculated based on vehicle driving vehicle velocity V, side slip angle β, yaw velocity ω and lateral deviation e to turn Angle θFB。
θFFW=isw*δ；
δ=C*L (1+K*V2)；
Wherein iswFor the angular gear ratio of steering wheel angle to front wheel angle, L is vehicle wheelbase, the distance of a mass center to front axle, Distance of the b mass center to rear axle, k1It is the equivalent cornering stiffness of vehicle front-wheel, k2It is the equivalent cornering stiffness of vehicle rear wheel, m is vehicle matter Amount, V is speed, and e is lateral deviation, and β is the side slip angle of vehicle, tpIt is delay time；Wherein, for the vehicle of a certain determination Isw, L, a, b, k1, k2, m, V, e, β, tpIt is retrievable determining numerical value.
It is θ that vehicle movement coordination controller, which calculates and obtains final synthesis target rotation angle,Output=θFFW+θFB, while vehicle is transported Dynamic tuning controller is based on vehicle drive behavior command, calculates acquisition and is directed to target rotation angle θOutputExecution time TimeLim, Electric booster steering controller receives θOutputAnd TimeLim, calculate output motor instruction control and turn to execution unit when being executed Between TimeLimInterior completion is to target rotation angle θOutputExecute tracking.
It on the basis of the above embodiments, is the transverse movement for controlling vehicle under small curvature road condition, the vehicle fortune Dynamic tuning controller includes that preceding feedforward torque obtains module, feedback torque obtains module and torque distribution module；The preceding feedforward torque Module is obtained to be used to export feed-forward target torque according to the target rotation angle；The feedback torque obtains module and is used for according to The difference of target rotation angle and current steering wheel angle exports feedback target torque；Torque synthesis module, for according to the feedforward mesh Mark torque and the feedback target torque output active torque；Torque distribution module, for according to the active torque and driving Member's manipulation torque, is based on Torque-sharing strategy, exports basic active torque.
To control the transverse movement of vehicle under small curvature road condition, and meets higher row and sail stability and good people Machine turns to interaction, devises torque distribution active steering strategy.Torque distributes in active steering strategy, vehicle movement coordination control Device integrates vehicle, road information obtains target torque signal, steering force of this target torque combined signal driver to steering wheel Square signal obtain after torque distribution and export basic dtc signal to electric booster steering controller, electric power steering Controller carries out the power-assisted to steering wheel based on this basic dtc signal control assist motor, realizes active steering；Torque distribution Active steering strategy obtains module by torque and torque distribution module forms；Torque obtains module with aforementioned target rotation angle active Feedforward torque before obtaining based on the final synthesis target rotation angle obtained in steering strategy, is worked as with finally synthesizing target rotation angle with vehicle Feedback torque is obtained based on the difference of front steering disk corner, torque obtains module final output active torque；Torque distribution module The active torque and pilot control torque that module output is obtained based on torque, it is final to obtain simultaneously by Torque-sharing strategy The torque of active steering basis is exported, electric booster steering controller is based on the torque of active steering basis and according to assist characteristic song Line, control turn to execution unit and export steering pull, the final transverse movement for controlling vehicle.
Specifically, vehicle movement coordination controller synthesis vehicle, road information obtain target torque signal, this target turns Square combined signal driver obtain after torque distributes to the operating torque signal of steering wheel and exports basic dtc signal To electric booster steering controller, electric booster steering controller is based on this basic dtc signal control assist motor and carries out to turning To the power-assisted of disk, active steering is realized；Torque distributes active steering strategy and obtains module and torque distribution module group by torque At；Torque obtains final synthesis target rotation angle θ of the module to obtain in aforementioned target rotation angle active steering strategyOutputBased on Feedforward torque T before obtainingFFW:
TFFW=Kffw*θoutput；
Wherein, KffwFor feed-forward coefficients, K is designedffwFor with the coefficient of speed variation.
Finally to synthesize target rotation angle θOutputAnd difference Δ θ=θ of the current steering wheel angle θ of vehicleOutputIt is obtained based on-θ Negate feedforward torque TFB:
TFB=Kfb*Δθ；
Wherein, KfbFor feedback factor, K is designedfbFor with the coefficient of speed variation.
Torque obtains module final output active torque TAuto=TFFW+TFB；Torque distribution module is based on torque and obtains module The active torque T of outputAutoAnd pilot control torque TDriver, by Torque-sharing strategy, finally obtain and export actively Turn to basic torque TBase, electric booster steering controller is based on active steering basis torque TBaseAnd according to assist characteristic curve, Control turns to execution unit and exports steering pull FOutput, the final transverse movement for controlling vehicle.
Torque-sharing strategy is with active torque TAuto, vehicle velocity V and pilot control torque TDriverFor input, output master Turn is to basic torque TBase；The Torque-sharing strategy is as shown in Fig. 2, setting TD1For pilot control torque TDriverFirst T is arranged in threshold valueD2For pilot control torque TDriverSecond threshold, in vehicle velocity V1Under operating condition, work as TDriver< TD1When, it keeps TBase=TAutoIt is constant, work as TDriver≥TD1And TDriver≤TD2When, TBaseWith TDriverIncrease and reduce, and work as TDriver > TD1When, TBase=0, and electric booster steering controller is according to TDriverExecute work；TBaseVariation relation can summarize It is expressed for formula:
Wherein, K (V) is the coefficient changed with speed
The Torque-sharing strategy can be realized system when controlling lateral direction of car movement, more smooth artificial of driver Turn to intervention and it is man-machine drive altogether, it is described it is man-machine driven altogether specially for a certain bend, system supports driver and system same When Collaborative Control complete tracking of the vehicle for bend.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings, It should all be within the scope of the present invention.

Claims (5)

1. a kind of automatic driving control system towards highway scene characterized by comprising
Vision module, for obtaining lane information；The lane information includes the curvature of vehicle driving road；
Radar module, for obtaining obstacle information of vehicles；
Locating module, for obtaining vehicle location information；The vehicle location information includes current vehicle speed, course heading, sideway Angular speed and lateral deviation；
Information fusion unit, for planning will to be issued after the fusion of the lane information, obstacle information of vehicles and vehicle location information Decision package；
Programmed decision-making unit, for obtaining driving trace according to the lane information, obstacle information of vehicles and vehicle location information Vehicle movement coordination controller is given in instruction and driving behavior instruction output；
Vehicle movement coordination controller obtains transverse movement instruction for calculating, and is sent to electric booster steering controller；
Torque sensor, for exporting pilot control dtc signal under non-automatic driving mode；
The electric booster steering controller calculates output for being instructed under automatic driving mode based on the transverse movement Motor command control turns to execution system and generates drag link pulling force, controls the transverse movement of vehicle；
The electric booster steering controller is also used under non-automatic driving mode, based on pilot control dtc signal and The transverse movement instruction calculates output motor instruction control steering execution system and generates drag link pulling force, controls the cross of vehicle To movement.
2. system according to claim 1, which is characterized in that the system also includes:
Judgment module when for judging that Function for Automatic Pilot module breaks down, is sent to the electric booster steering controller Fault-signal；
The electric powered steering controller controls artificial turn to according to the fault message.
3. system according to claim 1, which is characterized in that vehicle movement coordination controller includes that feed-forward target corner obtains Modulus block, feedback target corner obtain module and corner synthesis module；
The feed-forward target corner obtains module, for the curvature according to current vehicle travel, exports feed-forward target corner；
The feedback target corner obtains module, is used for according to current vehicle speed, course heading, yaw velocity and lateral deviation, Export feedback target corner；
The corner synthesis module, for target rotation angle will to be obtained after the feed-forward target corner and the synthesis of feedback target corner, Transverse movement instruction is issued according to the target rotation angle.
4. system according to claim 3, which is characterized in that the vehicle movement coordination controller further include:
Time computing module, for calculating the execution time of the target rotation angle；
The electric booster steering controller is also used to control steering execution system, and interior completion turns the target when being executed The execution at angle.
5. system according to claim 3, which is characterized in that the vehicle movement coordination controller includes that preceding feedforward torque obtains Modulus block, feedback torque obtain module and torque distribution module；
The preceding feedforward torque obtains module and is used to export feed-forward target torque according to the target rotation angle；
The feedback torque obtains module for the difference according to the target rotation angle and current steering wheel angle, exports feedback target Torque；
Torque synthesis module, for according to the feed-forward target torque and the feedback target torque output active torque；
Torque distribution module exports base for being based on Torque-sharing strategy according to the active torque and pilot control torque Plinth active torque.
CN201811392612.4A 2018-11-21 2018-11-21 Automatic driving control system facing expressway scene Active CN109164814B (en)

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