CN109164814B - Automatic driving control system facing expressway scene - Google Patents
Automatic driving control system facing expressway scene Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses an automatic driving control system facing to a highway scene, which comprises: the system comprises a vision module, a radar module, a positioning module, an information fusion unit, a planning decision unit, a vehicle motion coordination controller, a torque sensor and an electric power steering controller. The electric power steering controller is used for controlling the transverse motion of the vehicle based on the transverse motion command in an automatic driving mode; and also for controlling lateral motion of the vehicle in a non-autonomous driving mode based on the driver manipulated torque signal and the lateral motion command. By using the invention, when a small-curvature highway runs, the electric power steering gear is controlled by the vehicle coordination controller to control the transverse movement, so that the comfortable and stable low-curvature highway running can be realized, and the accurate obstacle avoidance requirement of a large-curvature highway running at a low speed can be realized. And when the highway with large curvature is driven, the mode of operation by a driver can be switched, so that accurate man-machine interaction is realized, and the occurrence of collision is avoided.
Description
Technical Field
The invention relates to an automatic driving technology, in particular to an automatic driving control system for an expressway scene.
Background
The automatic driving technology is widely popularized in the industry as the future development direction of the traditional fuel vehicle and the new energy vehicle, and all automobile manufacturers, part companies and science and technology companies all put a great deal of effort to research, develop, test and verify the related automatic driving technology.
Within a long period of time in the future, typical application scenes of the automatic driving function focus on specific functions of an expressway scene, wherein the expressway scene covers a high-speed small-curvature lane with the radius larger than or equal to 250m and a low-speed large-curvature lane with the radius smaller than 250 m; the specific functions comprise the functions that the vehicle keeps running in the same lane (including ramps) and the vehicle changes among different lanes, and the difficulty of controlling the motion of the vehicle is mainly the control of the lateral motion of the vehicle; the typical road characteristics of the highway scenario present two-dimensional requirements for lateral motion control of autonomous vehicles: the small curvature road requires comfortable and stable running and can support good human-computer steering interaction, while the large curvature road requires a vehicle to have higher transverse tracking precision for a target lane so as to avoid collision.
Most of the existing automatic driving systems are developed and realized by taking the function requirement of keeping the vehicle cruise in the same lane as a requirement, the application working conditions of the existing automatic driving systems are limited in a road scene with the radius of more than or equal to 250m, and the control on the transverse motion of the vehicle is difficult to realize in the road scene with the radius of less than 250 m.
In the automatic driving system in the prior art, a controller acquires lane line information through a vision module to acquire the transverse deviation between a current vehicle and a driving lane line, a target steering torque for keeping the vehicle driving in the current lane is comprehensively calculated and acquired based on the transverse deviation and information such as the vehicle speed and the yaw angle on a vehicle bus, an electric power steering controller receives and calculates and outputs a working instruction of a power-assisted motor based on the target steering torque, a steering execution component is controlled to output the tension of a steering tie rod, and the control of the transverse motion of the vehicle is realized, namely the vehicle is controlled to properly steer to keep driving in the current lane.
However, limited to this system scheme, for example, the lane line information is obtained by only relying on the vision module, and is not suitable for the lane with small curvature; and the power-assisted motor is subjected to power-assisted steering control based on the target steering torque, so that the transverse motion precision of the vehicle is difficult to guarantee, and the elimination time of the transverse deviation of the vehicle, namely the time for correcting the vehicle to keep running on the same lane, is relatively long, so that the system scheme is only suitable for controlling the vehicle to cruise and run in a single lane with the road radius larger than or equal to 250m, and is difficult to be suitable for the transverse motion control of the vehicle related to the lane with the smaller radius and the multi-lane change.
Disclosure of Invention
The invention aims to provide an automatic driving control system for an expressway scene, which is used for solving the problems in the prior art and improving the transverse tracking precision to avoid collision.
The invention provides an automatic driving control system facing to a highway scene, which comprises:
the vision module is used for acquiring lane information; the lane information includes a curvature of a road on which the vehicle travels;
the radar module is used for acquiring obstacle vehicle information;
the positioning module is used for acquiring vehicle positioning information; the vehicle positioning information comprises the current vehicle speed, the course angle, the yaw angular velocity and the lateral deviation;
the information fusion unit is used for fusing the lane information, the obstacle vehicle information and the vehicle positioning information and then sending the fused information to the planning decision unit;
the planning decision unit is used for obtaining a running track instruction and a driving behavior instruction according to the lane information, the obstacle vehicle information and the vehicle positioning information and outputting the running track instruction and the driving behavior instruction to the vehicle motion coordination controller;
the vehicle motion coordination controller is used for calculating to obtain a transverse motion instruction and sending the transverse motion instruction to the electric power steering controller;
a torque sensor for outputting a driver manipulation torque signal in a non-autonomous driving mode;
the electric power steering controller is used for calculating and outputting a motor instruction to control a steering execution system to generate a tie rod pulling force and control the transverse motion of a vehicle based on the transverse motion instruction in an automatic driving mode;
and the electric power steering controller is also used for calculating and outputting a motor instruction to control a steering execution system to generate a tie rod pulling force and control the transverse motion of the vehicle based on the driver operation torque signal and the transverse motion instruction in a non-automatic driving mode.
Preferably, the system further comprises:
the judging module is used for sending a fault signal to the electric power steering controller when judging that the automatic driving function module has a fault;
and the electric steering controller controls manual steering according to the fault information.
Preferably, the vehicle motion coordination controller comprises a feedforward target corner acquisition module, a feedback target corner acquisition module and a corner synthesis module;
the feedforward target corner acquisition module is used for outputting a feedforward target corner according to the curvature of the current vehicle running road;
the feedback target corner acquisition module is used for outputting a feedback target corner according to the current vehicle speed, the course angle, the yaw angular velocity and the transverse deviation;
and the corner synthesis module is used for synthesizing the feedforward target corner and the feedback target corner to obtain a target corner and sending a transverse motion instruction according to the target corner.
Preferably, the vehicle motion coordination controller further comprises:
the time calculation module is used for calculating the execution time of the target corner;
the electric power steering controller is also used for controlling the steering execution system to finish executing the target steering angle within execution time.
Preferably, the vehicle motion coordination controller comprises a feedforward torque acquisition module, a feedback torque acquisition module and a torque distribution module;
the feedforward torque acquisition module is used for outputting a feedforward target torque according to the target rotation angle;
the feedback torque acquisition module is used for outputting a feedback target torque according to the difference between the target turning angle and the current turning angle of the steering wheel;
the torque synthesis module is used for outputting an active torque according to the feedforward target torque and the feedback target torque;
and the torque distribution module is used for outputting basic active torque based on a torque distribution strategy according to the active torque and the driver operation torque.
The automatic driving control system for the expressway scene controls the electric power steering gear to control transverse movement through the vehicle coordination controller when the expressway with small curvature runs, and meets the requirements of comfort and stability when the expressway with small curvature runs at high speed and accurate obstacle avoidance when the expressway with large curvature runs at low speed. And when the highway with large curvature is driven, the mode of operation by a driver can be switched, so that accurate man-machine interaction is realized, and the occurrence of collision is avoided.
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Fig. 1 is a block diagram of an automatic driving control system for a highway scene according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a torque distribution strategy.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As shown in fig. 1, an embodiment of the present invention provides an automatic driving control system for a highway scene, which includes a vision module, a radar module, a positioning module, an information fusion unit, a planning decision unit, a vehicle motion coordination controller, a torque sensor, and an electric power steering controller.
The visual module is used for acquiring lane information; the lane information includes a curvature of a road on which the vehicle travels. The radar module is used for acquiring obstacle vehicle information. The positioning module is used for acquiring vehicle positioning information; the vehicle positioning information includes a current vehicle speed, a heading angle, a yaw rate, and a lateral deviation. And the information fusion unit is used for fusing the lane information, the obstacle vehicle information and the vehicle positioning information and then sending the fused information to the planning decision unit. And the planning decision unit is used for obtaining a running track instruction and a driving behavior instruction according to the lane information, the obstacle vehicle information and the vehicle positioning information and outputting the running track instruction and the driving behavior instruction to the vehicle motion coordination controller. And the vehicle motion coordination controller is used for calculating and obtaining a transverse motion instruction and sending the transverse motion instruction to the electric power steering controller. The torque sensor is used for outputting a driver manipulation torque signal in a non-automatic driving mode. The electric power steering controller is used for calculating and outputting a motor instruction to control a steering execution system to generate a tie rod pulling force and control the transverse motion of a vehicle based on the transverse motion instruction in an automatic driving mode; and the electric power steering controller is also used for calculating and outputting a motor instruction to control the steering execution system to generate a tie rod pulling force and control the transverse motion of the vehicle based on the driver operation torque signal and the transverse motion instruction in a non-automatic driving mode.
When the vehicle needs to generate transverse motion for finishing a specific automatic driving function, the electric power steering controller receives a transverse motion command output by the vehicle motion coordination controller, calculates an output motor command and controls a steering execution system to generate a tie rod pulling force, and transverse motion of the vehicle is realized. When the automatic driving function is not activated by the driver, the transverse motion instruction is obtained based on the driver manipulation torque signal output by the torque sensor, and when the automatic driving function is activated by the driver, the transverse motion instruction is comprehensively calculated and obtained based on the driving track output by the planning decision unit and the driving behavior instruction.
The automatic driving control system for the expressway scene, provided by the embodiment of the invention, controls the electric power steering gear to control transverse movement through the vehicle coordination controller when the expressway with small curvature runs, and meets the requirements of comfort and stability when the expressway with small curvature runs at high speed and accurate obstacle avoidance when the expressway with large curvature runs at low speed. And when the highway with large curvature is driven, the mode of operation by a driver can be switched, so that accurate man-machine interaction is realized, and the occurrence of collision is avoided.
Preferably, the system further comprises a judging module, configured to send a fault signal to the electric power steering controller when it is judged that the automatic driving function module has a fault. And the electric steering controller controls manual steering according to the fault information.
Further, the vehicle motion coordination controller comprises a feedforward target corner obtaining module, a feedback target corner obtaining module and a corner synthesizing module. The feedforward target corner acquisition module is used for outputting a feedforward target corner according to the curvature of the current vehicle running road; the feedback target corner acquisition module is used for outputting a feedback target corner according to the current vehicle speed, the course angle, the yaw angular velocity and the transverse deviation; and the corner synthesis module is used for synthesizing the feedforward target corner and the feedback target corner to obtain a target corner and sending a transverse motion instruction according to the target corner.
Preferably, the vehicle motion coordination controller further comprises: the time calculation module is used for calculating the execution time of the target corner; the electric power steering controller is also used for controlling the steering execution system to finish executing the target steering angle within execution time.
In the embodiment, a target corner active steering strategy is designed for controlling the transverse motion of a vehicle under the working condition of a large-curvature road and meeting higher transverse tracking precision, wherein a vehicle motion coordination controller integrates the vehicle and road information to obtain and output two signals of a target corner and a target corner execution time to an electric power steering controller, and the electric power steering controller controls a steering wheel to rotate to the target corner at a target time point to realize active steering; the target corner active steering strategy specifically comprises a feedforward calculation module and a feedback calculation module, wherein a vehicle motion coordination controller outputs a feedforward target corner based on the curvature of a current vehicle running road, and calculates and outputs a feedback target corner based on the vehicle running speed, the course angle, the yaw angular velocity and the lateral deviation, the vehicle motion coordination controller calculates and obtains a final synthesized target corner, meanwhile, the vehicle motion coordination controller calculates and obtains the execution time aiming at the target corner based on a vehicle driving behavior instruction, and an electric power steering controller receives and calculates and outputs a motor instruction to control a steering execution component to complete execution tracking of the target corner within the execution time.
Specifically, the vehicle motion coordination controller outputs a feed-forward target rotation angle theta based on the current vehicle running road curvature CFFW(ii) a Based on the movement of the vehicleCalculating and outputting a feedback target rotation angle theta by using driving speed V, mass center side deviation angle beta, yaw angular speed omega and transverse deviation eFB。
θFFW＝isw*；
＝C*L(1+K*V2)；
Wherein iswIs the angular transmission ratio from the steering wheel angle to the front wheel angle, L is the vehicle wheelbase, a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, k1Is the equivalent cornering stiffness, k, of the front wheel of the vehicle2Is the vehicle rear wheel equivalent cornering stiffness, m is the vehicle mass, V is the vehicle speed, e is the lateral deviation, β is the vehicle's centroid cornering angle, t is the vehicle's center of masspIs the delay time; wherein for a certain determined vehicle isw，L，a，b，k1，k2，m，V，e，β，tpIs a definite value that can be obtained.
The vehicle motion coordination controller calculates and obtains a final synthesized target rotation angle thetaOutput＝θFFW+θFBMeanwhile, the vehicle motion coordination controller calculates and acquires a target rotation angle theta based on the vehicle driving behavior commandOutputExecution Time ofLimThe electric power steering controller receivesOutputAnd TimeLimCalculating and outputting motor command to control steering execution component to execute Time at execution TimeLimTarget turning angle theta of internal completion pairOutputIs performed.
On the basis of the embodiment, in order to control the transverse motion of the vehicle under the working condition of the small-curvature road, the vehicle motion coordination controller comprises a feedforward torque acquisition module, a feedback torque acquisition module and a torque distribution module; the feedforward torque acquisition module is used for outputting a feedforward target torque according to the target rotation angle; the feedback torque acquisition module is used for outputting a feedback target torque according to the difference between the target turning angle and the current turning angle of the steering wheel; the torque synthesis module is used for outputting an active torque according to the feedforward target torque and the feedback target torque; and the torque distribution module is used for outputting basic active torque based on a torque distribution strategy according to the active torque and the driver operation torque.
In order to control the transverse motion of a vehicle under the working condition of a small-curvature road and meet the requirements of high driving stability and good man-machine steering interaction, a torque distribution active steering strategy is designed. In the torque distribution active steering strategy, a vehicle motion coordination controller synthesizes vehicle and road information to obtain a target torque signal, the target torque signal is combined with an operation torque signal of a steering wheel by a driver to perform torque distribution, then a basic torque signal is obtained and output to an electric power steering controller, and the electric power steering controller controls a power motor to assist the steering wheel based on the basic torque signal to realize active steering; the torque distribution active steering strategy consists of a torque acquisition module and a torque distribution module; the torque acquisition module acquires a feedforward torque on the basis of a final synthesized target corner acquired in the target corner active steering strategy, acquires a feedback torque on the basis of a difference between the final synthesized target corner and a current steering wheel corner of the vehicle, and finally outputs an active torque; the torque distribution module finally acquires and outputs an active steering basic torque through a torque distribution strategy based on the active torque output by the torque acquisition module and the driver control torque, and the electric power steering controller controls the steering execution component to output a steering pulling force based on the active steering basic torque and according to a power-assisted characteristic curve, and finally controls the transverse motion of the vehicle.
Specifically, the vehicle motion coordination controller integrates vehicle and road information to obtain a target torque signal, and the target torque signal is obtained after torque distribution is carried out on the steering torque signal of a steering wheel by a driver in combination with the target torque signalA basic torque signal is taken and output to an electric power steering controller, and the electric power steering controller controls a power-assisted motor to assist a steering wheel based on the basic torque signal so as to realize active steering; the torque distribution active steering strategy consists of a torque acquisition module and a torque distribution module; the torque acquisition module acquires a final synthesized target rotation angle theta in the target rotation angle active steering strategyOutputObtaining feedforward torque T on the basisFFW：
TFFW＝Kffw*θoutput；
Wherein, KffwDesign K for feedforward coefficientsffwIs a coefficient that varies with the vehicle speed.
To finally synthesize the target rotation angle thetaOutputThe difference delta theta from the current steering wheel angle theta of the vehicle is thetaOutput-theta based feedback torque TFB:
TFB＝Kfb*Δθ；
Wherein, KfbDesign K for feedback coefficientfbIs a coefficient that varies with the vehicle speed.
The torque acquisition module finally outputs the active torque TAuto＝TFFW+TFB(ii) a The torque distribution module is based on the active torque T output by the torque acquisition moduleAutoAnd driver steering torque TDriverFinally obtaining and outputting the basic torque T of the active steering through a torque distribution strategyBaseThe electric power steering controller is based on the active steering basic torque TBaseAnd controlling the steering executing component to output a steering pulling force F according to the power-assisted characteristic curveOutputAnd finally controlling the lateral motion of the vehicle.
Torque distribution strategy with active torque TAutoVehicle speed V and driver manipulation torque TDriverFor input, an active steering base torque T is outputBase(ii) a The torque distribution strategy is shown in FIG. 2, with T setD1For steering torque T by the driverDriverFirst threshold value, set TD2For steering torque T by the driverDriverSecond threshold value at vehicle speed V1Under the working condition of TDriver＜TD1While maintaining TBase＝TAutoDoes not change when TDriver≥TD1And TDriver≤TD2When, TBaseWith TDriverIs increased and decreased, and when T is increased and decreasedDriver＞TD1When, T Base0 and the electric power steering controller follows TDriverExecuting work; t isBaseThe variation relationship of (a) can be summarized as a formula expression:
wherein K (V) is a coefficient varying with the vehicle speed
The torque distribution strategy can realize smooth manual steering intervention and man-machine common driving of a driver when the system controls the transverse motion of the vehicle, wherein the man-machine common driving is specifically to a certain curve, and the system supports the driver and the system to cooperatively control and complete the tracking of the vehicle to the curve.
The construction, features and functions of the present invention are described in detail in the embodiments illustrated in the drawings, which are only preferred embodiments of the present invention, but the present invention is not limited by the drawings, and all equivalent embodiments modified or changed according to the idea of the present invention should fall within the protection scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.
Claims (3)
1. An automatic driving control system for a highway scene, comprising:
the vision module is used for acquiring lane information; the lane information includes a curvature of a road on which the vehicle travels;
the radar module is used for acquiring obstacle vehicle information;
the positioning module is used for acquiring vehicle positioning information; the vehicle positioning information comprises the current vehicle speed, the course angle, the yaw angular velocity and the lateral deviation;
the information fusion unit is used for fusing the lane information, the obstacle vehicle information and the vehicle positioning information and then sending the fused information to the planning decision unit;
the planning decision unit is used for obtaining a running track instruction and a driving behavior instruction according to the lane information, the obstacle vehicle information and the vehicle positioning information and outputting the running track instruction and the driving behavior instruction to the vehicle motion coordination controller;
the vehicle motion coordination controller is used for calculating to obtain a transverse motion instruction and sending the transverse motion instruction to the electric power steering controller;
a torque sensor for outputting a driver manipulation torque signal in a non-autonomous driving mode;
the electric power steering controller is used for calculating and outputting a motor instruction to control a steering execution system to generate a tie rod pulling force and control the transverse motion of a vehicle based on the transverse motion instruction in an automatic driving mode;
the electric power steering controller is also used for calculating and outputting a motor instruction to control a steering execution system to generate a tie rod pulling force and control the transverse motion of a vehicle in a non-automatic driving mode based on a driver operation torque signal and the transverse motion instruction;
the vehicle motion coordination controller comprises a feedforward target corner acquisition module, a feedback target corner acquisition module and a corner synthesis module;
the feedforward target corner acquisition module is used for outputting a feedforward target corner according to the curvature of the current vehicle running road;
the feedback target corner acquisition module is used for outputting a feedback target corner according to the current vehicle speed, the course angle, the yaw angular velocity and the transverse deviation;
the corner synthesis module is used for synthesizing the feedforward target corner and the feedback target corner to obtain a target corner and sending a transverse motion instruction according to the target corner;
the vehicle motion coordination controller comprises a feedforward torque acquisition module, a feedback torque acquisition module and a torque distribution module;
the feedforward torque acquisition module is used for outputting a feedforward target torque according to the target rotation angle;
the feedback torque acquisition module is used for outputting a feedback target torque according to the difference between the target turning angle and the current turning angle of the steering wheel;
the torque synthesis module is used for outputting an active torque according to the feedforward target torque and the feedback target torque;
and the torque distribution module is used for outputting basic active torque based on a torque distribution strategy according to the active torque and the driver operation torque.
2. The system of claim 1, further comprising:
the judging module is used for sending a fault signal to the electric power steering controller when judging that the automatic driving function module has a fault;
and the electric power steering controller controls manual steering according to the fault signal.
3. The system of claim 1, wherein the vehicle motion coordination controller further comprises:
the time calculation module is used for calculating the execution time of the target corner;
the electric power steering controller is also used for controlling the steering execution system to finish executing the target steering angle within execution time.
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| CN109849900A (en) * | 2019-03-14 | 2019-06-07 | 武汉理工大学 | A kind of automobile active steering control system and method based on bus or train route collaboration |
| CN111487971B (en) * | 2020-04-23 | 2023-04-28 | 重庆长安汽车股份有限公司 | Automatic driving transverse control method and system for vehicle |
| CN113954962B (en) * | 2020-07-20 | 2023-03-31 | 上汽通用汽车有限公司 | Steering assist device, method, and storage medium |
| CN114074706B (en) * | 2020-08-19 | 2023-06-30 | 蜂巢智能转向系统(江苏)有限公司 | Electric power steering system, off-tracking compensation arbitration method and equipment |
| CN111913389B (en) * | 2020-08-20 | 2021-02-26 | 襄阳达安汽车检测中心有限公司 | Vehicle formation longitudinal control method based on vehicle-vehicle communication |
| CN111818189B (en) * | 2020-09-09 | 2020-12-25 | 浙江吉利控股集团有限公司 | Vehicle road cooperative control system, method and medium |
| CN114721375B (en) * | 2022-03-14 | 2024-03-26 | 常州江苏大学工程技术研究院 | Agricultural machinery single antenna navigation path tracking method |
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| US9731755B1 (en) * | 2016-02-16 | 2017-08-15 | GM Global Technology Operations LLC | Preview lateral control for automated driving |
| CN107031600A (en) * | 2016-10-19 | 2017-08-11 | 东风汽车公司 | Automated driving system based on highway |
| CN106527428A (en) * | 2016-10-19 | 2017-03-22 | 东风汽车公司 | Expressway-based embedded integrated automatic driving controller |
| JP6573643B2 (en) * | 2017-03-27 | 2019-09-11 | 株式会社Ｓｕｂａｒｕ | Vehicle travel control device |
| CN107037817A (en) * | 2017-06-19 | 2017-08-11 | 吉林大学 | A kind of intelligent electric motor car longitudinal side is to integrated control platform and vehicle |
| CN107797534B (en) * | 2017-09-30 | 2019-05-28 | 安徽江淮汽车集团股份有限公司 | A kind of pure electric vehicle automated driving system |
| CN107891860A (en) * | 2017-11-14 | 2018-04-10 | 重庆长安汽车股份有限公司 | System and method based on road curvature automatic adjusument speed |
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