CN109215369A - A kind of control method, device, equipment and the network equipment of ADAS system - Google Patents
A kind of control method, device, equipment and the network equipment of ADAS system Download PDFInfo
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- CN109215369A CN109215369A CN201811101742.8A CN201811101742A CN109215369A CN 109215369 A CN109215369 A CN 109215369A CN 201811101742 A CN201811101742 A CN 201811101742A CN 109215369 A CN109215369 A CN 109215369A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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Abstract
The invention discloses control method, device, equipment and the network equipment of a kind of ADAS system, the control method of the ADAS system includes: to obtain the target traffic route of user's selection；The acquisition request of the running data information of the target traffic route is sent to privately owned cloud, the running data information includes: the course angle in each section, pitch angle and roll angular data in the target traffic route；Receive the running data information for the target traffic route that the privately owned cloud is sent；According to the running data information of the target traffic route, the speed and/or energy regenerating strategy of the target traffic route are planned.The embodiment of the present invention, user can realize customization, personalized service according to their own needs in the APP of privately owned cloud and mobile terminal；And controller needed for the program is the standard configuration on vehicle, is not necessarily to other resources, without configuring ADAS map, reduces vehicle and looks forward to cost.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of control method of ADAS system, device, equipment and
The network equipment.
Background technique
With advanced driving assistance system (Advanced Driver Assistant Systems, abbreviation ADAS) function
Automatic driving vehicle it is more and more, but be used to realize that the sensors investigative range such as radar, camera of ADAS function is limited
, if it is desired to lane course, curvature and the Gradient in precognition front section in advance just must have system by means of several families of China
The manufacturer of figure qualification such as Gao De, the four-dimension, Baidu etc. buy their ADAS map to realize.But this scheme comes depot
It says that alternative is not high, will increase cost, so can seldom use ADAS map for L1, L2 grades of automatic driving vehicles
Scheme.But for electric vehicle, realize that speed planning and energy regenerating realize vehicle continuation of the journey energy using ADAS map datum
Power promotion is very necessary.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides control method, device, equipment and the nets of a kind of ADAS system
Network equipment, the ADAS system for solving vehicle can not achieve in the case where no map plans speed and energy regenerating plan in advance
Slightly the problem of.
According to one aspect of the present invention, a kind of control method of ADAS system is provided, is applied to advanced driving and assists
System ADAS, comprising:
Obtain the target traffic route of user's selection；
The acquisition request of the running data information of the target traffic route, the running data letter are sent to privately owned cloud
Breath includes: the course angle in each section, pitch angle and roll angular data in the target traffic route；
Receive the running data information for the target traffic route that the privately owned cloud is sent；
According to the running data information of the target traffic route, the speed and/or energy of the target traffic route are planned
Measure take-back strategy.
Optionally, it is described acquisition user selection target traffic route the step of before, the method also includes:
In vehicle driving in the target traffic route, the Inertial Measurement Unit (Inertial of Vehicular air bag is controlled
Measurement Unit, abbreviation IMU) and/or the Inertial Measurement Unit IMU of mobile terminal measure the target roadway respectively
Course angle, pitch angle and the roll angular data of line, wherein the fixed position that the mobile terminal is set in vehicle；
The course angle of the target traffic route, pitch angle and roll angular data are sent to the private clound pre-established
End.
Optionally, according to the running data information of the target traffic route, the speed of the target traffic route is planned
And/or the step of energy regenerating strategy includes:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, each section is calculated
The gradient, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy of the target traffic route are planned
Take-back strategy.
According to another aspect of the invention, a kind of control method of ADAS system is provided, privately owned cloud, packet are applied to
It includes:
What the Inertial Measurement Unit IMU of the Inertial Measurement Unit IMU and/or mobile terminal that receive Vehicular air bag were measured respectively
Course angle, pitch angle and the roll angular data of target traffic route；
Checking treatment is carried out to the course angle of the target traffic route, pitch angle and roll angular data, is obtained described
The running data information of target traffic route, and store.
Optionally, the control method of the ADAS system further include:
Receive the acquisition request of the running data information for the target traffic route that vehicle-mounted T-BOX is sent；
The running data information of target traffic route corresponding with the acquisition request is sent to vehicle-mounted T-BOX.
According to another aspect of the invention, a kind of control device of ADAS system is provided, comprising:
First obtains module, for obtaining the target traffic route of user's selection；
First sending module is asked for sending the acquisition of running data information of the target traffic route to privately owned cloud
It asks, the running data information includes: the course angle in each section, pitch angle and roll angle number in the target traffic route
According to；
First receiving module, for receiving the running data letter for the target traffic route that the privately owned cloud is sent
Breath；
First control module plans the target driving for the running data information according to the target traffic route
The speed and/or energy regenerating strategy of route.
Optionally, the control device of the ADAS system further include:
Second control module, the inertia for, in the target traffic route, controlling Vehicular air bag in vehicle driving are surveyed
The Inertial Measurement Unit IMU of amount unit IMU and/or mobile terminal measures the course angle of the target traffic route, pitching respectively
Angle and roll angular data, wherein the fixed position that the mobile terminal is set in vehicle；
Second sending module, for sending the course angle of the target traffic route, pitch angle and roll angular data
To the privately owned cloud pre-established.
Optionally, first control module is specifically used for:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, each section is calculated
The gradient, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy of the target traffic route are planned
Take-back strategy.
According to another aspect of the invention, a kind of control device of ADAS system is provided, comprising:
Second receiving module, for receiving the Inertial Measurement Unit IMU of Vehicular air bag and/or the inertia measurement of mobile terminal
Course angle, pitch angle and the roll angular data for the target traffic route that unit IMU is measured respectively；
First processing module is carried out for course angle, pitch angle and the roll angular data to the target traffic route
Checking treatment obtains the running data information of the target traffic route, and stores.
Optionally, the control device of the ADAS system further include:
Third receiving module, the running data information of the target traffic route for receiving vehicle-mounted T-BOX transmission
Acquisition request；
Third sending module, for sending the running data information of target traffic route corresponding with the acquisition request
To vehicle-mounted T-BOX.
According to another aspect of the invention, a kind of control equipment of ADAS system is provided, which is characterized in that including place
It manages device, memory and is stored in the computer program that can be run on the memory and on the processor, the computer
Program realizes the step of control method of above-mentioned ADAS system when being executed by the processor.
Another aspect according to the present invention, provides a kind of network equipment, including processor, memory and is stored in institute
The computer program that can be run on memory and on the processor is stated, when the computer program is executed by the processor
The step of realizing the control method of above-mentioned ADAS system.
The beneficial effect of the embodiment of the present invention is:
The control method of ADAS system in above scheme, vehicle-mounted ADAS system can download private clound by T-BOX in real time
The data for holding certain section of route of storage predict the gradient, curvature, course information in this section, improve driving safety sense and relax
Adaptive.User can realize customization, personalized service according to their own needs in the APP of privately owned cloud and mobile terminal；
And controller needed for the program is the standard configuration on vehicle, is not necessarily to other resources, without configuring ADAS map, reduce vehicle enterprise at
This.
Detailed description of the invention
Fig. 1 shows one of the flow charts of control method of the ADAS system of the embodiment of the present invention；
Fig. 2 indicates the ADAS system controller of the embodiment of the present invention and the data transmission structure block diagram in privately owned cloud；
Fig. 3 indicates one of the structural block diagram of control device of the ADAS system of the embodiment of the present invention；
Fig. 4 indicates the two of the flow chart of the control method of the ADAS system of the embodiment of the present invention；
Fig. 5 indicates the two of the structural block diagram of the control device of the ADAS system of the embodiment of the present invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
As shown in Figure 1, it is auxiliary to be applied to advanced driving the embodiment provides a kind of control method of ADAS system
Auxiliary system ADAS, comprising:
Step 11, the target traffic route for obtaining user's selection；
In the embodiment, user can use the mobile terminal and vehicle-mounted T-BOX of 4G or 5G function, establish privately owned cloud,
Realize that data storage and real-time update are stored with the daily working that a plurality of user establishes according to demand in the privately owned cloud
With the route of drivings and the running data of a plurality of route such as go home.The privately owned cloud is just in from vehicle account
The storage and update of data, user can be accustomed to according to driving, and customize the data of several common routes.In driving, user Ke Tong
Cross the target traffic route that the cell phone application of exploitation selects certain route to drive a vehicle as this.
Step 12, sent to privately owned cloud the target traffic route running data information acquisition request, the row
Sailing data information includes: the course angle in each section, pitch angle and roll angular data in the target traffic route；
Step 13, the running data information for receiving the target traffic route that the privately owned cloud is sent；
In the embodiment, after user's selection target traffic route, the ADAS system controller of vehicle by vehicle-mounted T-BOX to
Privately owned cloud sends the request for obtaining the running data information of the target traffic route, and privately owned cloud will be with according to the request
The corresponding running data information of the target traffic route feeds back to the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is by the traveling
Data information is sent to ADAS system.
Step 14, according to the running data information of the target traffic route, plan the speed of the target traffic route
And/or energy regenerating strategy.
In the embodiment, the ADAS system of vehicle handles the running data information, in ADAS system controller
The data processing algorithms such as coordinate system conversion, Kalman filtering are integrated with, the earth can be calculated according to the running data information
The gradient, curvature, the course information of certain section of route under coordinate system, so as to the application of the functions such as adaptive cruise in ADAS system.
In above scheme, vehicle-mounted ADAS system can download certain section of route of privately owned cloud storage by T-BOX in real time
Data, predict the gradient, curvature, course information in this section.In the adaptive cruise software algorithm of ADAS system controller
Increase the algorithm for shifting to an earlier date speed planning and energy regenerating, by entire car controller (the Vehicle Control for controlling vehicle
Unit, abbreviation VCU), electric machine controller (Moter Control Unit, abbreviation MCU), electronic stability program (Electronic
Stability Program, abbreviation ESP) etc. electronic control units (Electronic Control Unit, abbreviation ECU) realize
Speed planning and the energy regenerating in advance of adaptive cruise function, improve driving safety and comfort.User can according to oneself
Demand realizes customization, personalized service in the APP of privately owned cloud and mobile terminal；And controller needed for the program
It is the standard configuration on vehicle, is not necessarily to other resources, without configuring ADAS map, reduces vehicle and look forward to cost.
In the above embodiment of the present invention, it is described acquisition user selection target traffic route the step of before, it is described
Method further include:
In vehicle driving in the target traffic route, Inertial Measurement Unit IMU and/or the movement of Vehicular air bag are controlled
The Inertial Measurement Unit IMU of terminal measures course angle, pitch angle and the roll angular data of the target traffic route respectively,
In, the mobile terminal is set to the fixation position in vehicle；
The course angle of the target traffic route, pitch angle and roll angular data are sent to the private clound pre-established
End.
In the embodiment, the storage that user can customize in the APP of mobile terminal according to itself driving demand is a plurality of
Route, and need to store the corresponding running data information of the route in privately owned cloud.Wherein, it stores described solid
The method of the corresponding running data information of fixed line are as follows: select one in the route first customized in the APP of mobile terminal
As target traffic route, user's item normally drove this section, in vehicle driving in the target traffic route, control
Course angle, pitch angle, roll angle in Vehicular air bag processed in built-in Inertial Measurement Unit IMU real-time measurement driving process are simultaneously led to
Vehicle-mounted T-BOX is crossed data are passed to privately owned cloud storage in real time and are bound with the account in this section.It preferably, is guarantee
Data validity, accuracy, by the mobile terminal for being placed on fixed position, in vehicle driving in the target traffic route,
Using the Inertial Measurement Unit IMU built in mobile terminal equally measure the course angle of the target traffic route, pitch angle and
Roll angular data is also communicated to privately owned cloud by 4G or 5G, and the privately owned cloud is by Inertial Measurement Unit built-in in air bag
IMU and the data of the Inertial Measurement Unit IMU transmission built in mobile terminal carry out processing verification, are deposited after obtaining valid data
Storage, the valid data are running data information corresponding with the target traffic route.
Specifically, the step 14 includes:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, each section is calculated
The gradient, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy of the target traffic route are planned
Take-back strategy.
In the embodiment, the data that privately owned cloud is stored, by T-BOX download in vehicle-mounted ADAS system controller into
Row data processing is integrated with the data processing algorithms such as coordinate system conversion, Kalman filtering in ADAS system controller, can basis
The course angle in each section, pitch angle and roll angular data in the target traffic route, calculate the road earth coordinates Xia Gai
The gradient, the curvature, course information of section, realize the gradient, curvature, the precognition of course information in each section in target traffic route,
ADAS system can control the ECU such as VCU, MCU, ESP of vehicle according to the gradient, curvature and course information in each section and realize certainly
Speed planning and the energy regenerating in advance for adapting to cruise function, improve driving safety and comfort.
The data transmission relations in ADAS system controller and privately owned cloud as shown in Fig. 2, the IMU of mobile terminal by measurement
The data information of target traffic route uploads to privately owned cloud, and vehicle-mounted T-BOX is by the IMU of the air bag target traffic route measured
Data information uploads to privately owned cloud；Vehicle-mounted T-BOX is also used to download privately owned cloud according to the target traffic route of request feedback
Data information, and ADAS system controller is sent to, so that ADAS system controller controls vehicle according to data information
The ECU such as VCU, MCU, ESP realize speed planning and the energy regenerating in advance of adaptive cruise function.
As shown in figure 3, the embodiment provides a kind of control devices of ADAS system, comprising:
First obtains module 31, for obtaining the target traffic route of user's selection；
In the embodiment, user can use the mobile terminal and vehicle-mounted T-BOX of 4G or 5G function, establish privately owned cloud,
Realize that data storage and real-time update are stored with the daily working that a plurality of user establishes according to demand in the privately owned cloud
With the route of drivings and the running data of a plurality of route such as go home.The privately owned cloud is just in from vehicle account
The storage and update of data, user can be accustomed to according to driving, and customize the data of several common routes.In driving, user Ke Tong
Cross the target traffic route that the cell phone application of exploitation selects certain route to drive a vehicle as this.
First sending module 32, the acquisition of the running data information for sending the target traffic route to privately owned cloud
Request, the running data information includes: the course angle in each section, pitch angle and roll angle number in the target traffic route
According to；
First receiving module 33, for receiving the running data letter for the target traffic route that the privately owned cloud is sent
Breath；
In the embodiment, after user's selection target traffic route, the ADAS system controller of vehicle by vehicle-mounted T-BOX to
Privately owned cloud sends the request for obtaining the running data information of the target traffic route, and privately owned cloud will be with according to the request
The corresponding running data information of the target traffic route feeds back to the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is by the traveling
Data information is sent to ADAS system.
First control module 34 plans the target line for the running data information according to the target traffic route
The speed and/or energy regenerating strategy of bus or train route line.
In the embodiment, the ADAS system of vehicle handles the running data information, in ADAS system controller
The data processing algorithms such as coordinate system conversion, Kalman filtering are integrated with, the earth can be calculated according to the running data information
The gradient, curvature, the course information of certain section of route under coordinate system, so as to the application of the functions such as adaptive cruise in ADAS system.
In above scheme, vehicle-mounted ADAS system can download certain section of route of privately owned cloud storage by T-BOX in real time
Data, predict the gradient, curvature, course information in this section.In the adaptive cruise software algorithm of ADAS system controller
Increase the algorithm for shifting to an earlier date speed planning and energy regenerating, realizes adaptive cruise by ECU such as VCU, MCU, ESP of control vehicle
Speed planning and the energy regenerating in advance of function, improve driving safety and comfort.User can according to their own needs, privately owned
Customization, personalized service are realized in the APP of cloud and mobile terminal；And controller needed for the program is on vehicle
Standard configuration is not necessarily to other resources, without configuring ADAS map, reduces vehicle and looks forward to cost.
In the above embodiment of the present invention, the control device of the ADAS system further include:
Second control module, the inertia for, in the target traffic route, controlling Vehicular air bag in vehicle driving are surveyed
The Inertial Measurement Unit IMU of amount unit IMU and/or mobile terminal measures the course angle of the target traffic route, pitching respectively
Angle and roll angular data, wherein the fixed position that the mobile terminal is set in vehicle；
Second sending module, for sending the course angle of the target traffic route, pitch angle and roll angular data
To the privately owned cloud pre-established.
In the embodiment, the storage that user can customize in the APP of mobile terminal according to itself driving demand is a plurality of
Route, and need to store the corresponding running data information of the route in privately owned cloud.Wherein, it stores described solid
The method of the corresponding running data information of fixed line are as follows: select one in the route first customized in the APP of mobile terminal
As target traffic route, user's item normally drove this section, in vehicle driving in the target traffic route, control
Course angle, pitch angle, roll angle in Vehicular air bag processed in built-in Inertial Measurement Unit IMU real-time measurement driving process are simultaneously led to
Vehicle-mounted T-BOX is crossed data are passed to privately owned cloud storage in real time and are bound with the account in this section.It preferably, is guarantee
Data validity, accuracy, by the mobile terminal for being placed on fixed position, in vehicle driving in the target traffic route,
Using the Inertial Measurement Unit IMU built in mobile terminal equally measure the course angle of the target traffic route, pitch angle and
Roll angular data is also communicated to privately owned cloud by 4G or 5G, and the privately owned cloud is by Inertial Measurement Unit built-in in air bag
IMU and the data of the Inertial Measurement Unit IMU transmission built in mobile terminal carry out processing verification, are deposited after obtaining valid data
Storage, the valid data are running data information corresponding with the target traffic route.
In the above embodiment of the present invention, first control module 34 is specifically used for:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, each section is calculated
The gradient, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy of the target traffic route are planned
Take-back strategy.
In the embodiment, the data that privately owned cloud is stored, by T-BOX download in vehicle-mounted ADAS system controller into
Row data processing is integrated with the data processing algorithms such as coordinate system conversion, Kalman filtering in ADAS system controller, can basis
The course angle in each section, pitch angle and roll angular data in the target traffic route, calculate the road earth coordinates Xia Gai
The gradient, the curvature, course information of section, realize the gradient, curvature, the precognition of course information in each section in target traffic route,
ADAS system can control the ECU such as VCU, MCU, ESP of vehicle according to the gradient, curvature and course information in each section and realize certainly
Speed planning and the energy regenerating in advance for adapting to cruise function, improve driving safety and comfort.
The data transmission relations in ADAS system controller and privately owned cloud as shown in Fig. 2, the IMU of mobile terminal by measurement
The data information of target traffic route uploads to privately owned cloud, and vehicle-mounted T-BOX is by the IMU of the air bag target traffic route measured
Data information uploads to privately owned cloud；Vehicle-mounted T-BOX is also used to download privately owned cloud according to the target traffic route of request feedback
Data information, and ADAS system controller is sent to, so that ADAS system controller controls vehicle according to data information
The ECU such as VCU, MCU, ESP realize speed planning and the energy regenerating in advance of adaptive cruise function.
It should be noted that the device is device corresponding with above-mentioned individual recommended method, institute in above method embodiment
There is implementation suitable for the embodiment of the device, can also reach identical technical effect.
The embodiments of the present invention also provide a kind of control equipment of ADAS system, including processor, memory and storage
On the memory and the computer program that can run on the processor, the computer program are held by the processor
The step of control method of above-mentioned ADAS system is realized when row.
As shown in figure 4, it is applied to privately owned cloud the embodiment provides a kind of control method of ADAS system,
Include:
Inertial Measurement Unit IMU points of step 41, the Inertial Measurement Unit IMU for receiving Vehicular air bag and/or mobile terminal
Course angle, pitch angle and the roll angular data for the target traffic route not measured；
In the embodiment, the privately owned cloud is that user is established using the mobile terminal of 4G or 5G function and vehicle-mounted T-BOX,
Data storage and real-time update may be implemented, what user can customize in the APP of mobile terminal according to itself driving demand
A plurality of route is stored, and needs to store the corresponding running data information of the route in privately owned cloud.Wherein, it deposits
The method for storing up the corresponding running data information of the route are as follows: the route first customized in the APP of mobile terminal
Middle to select one as target traffic route, user normally drove this section, drove a vehicle in vehicle driving in the target
When route, control course angle in Inertial Measurement Unit IMU real-time measurement driving process built-in in Vehicular air bag, pitch angle,
Data are simultaneously passed to privately owned cloud storage by vehicle-mounted T-BOX by roll angle in real time, and are bound with the account in this section.It is excellent
Selection of land, to guarantee data validity, accuracy, by the mobile terminal for being placed on fixed position, in vehicle driving in the target
When traffic route, using the Inertial Measurement Unit IMU built in mobile terminal equally measure the target traffic route course angle,
Pitch angle and roll angular data are also communicated to privately owned cloud by 4G or 5G.
Step 42, the course angle to the target traffic route, pitch angle and roll angular data carry out checking treatment, obtain
To the running data information of the target traffic route, and store.
In the embodiment, inertia of the privately owned cloud built in by Inertial Measurement Unit IMU and mobile terminal built-in in air bag
The data of measuring unit IMU transmission carry out processing verification, are stored after obtaining valid data, and the valid data are and institute
State the corresponding running data information of target traffic route.A plurality of driving can be stored according to user demand in this way in privately owned cloud
Route and the corresponding running data of traffic route, realize cloud privatization, is equivalent to the privately owned " ADAS for establishing vehicle
Figure ", that is, lane course, curvature and the Gradient in precognition front section in advance can be realized by not needing purchase ADAS map,
Driving safety and comfort are improved, vehicle is reduced and looks forward to cost.
In the above embodiment of the present invention, the control method of the ADAS system further include:
Receive the acquisition request of the running data information for the target traffic route that vehicle-mounted T-BOX is sent；
The running data information of target traffic route corresponding with the acquisition request is sent to vehicle-mounted T-BOX.
In the embodiment, in driving, user can select certain route as this by the APP of the mobile terminal of exploitation
The target traffic route of driving.After user's selection target traffic route, the ADAS system controller of vehicle by vehicle-mounted T-BOX to
Privately owned cloud sends the request for obtaining the running data information of the target traffic route, and privately owned cloud will be with according to the request
The corresponding running data information of the target traffic route feeds back to the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is by the traveling
Data information is sent to ADAS system.The data processings such as coordinate system conversion, Kalman filtering are integrated in ADAS system controller
Algorithm can calculate the gradient, curvature, the course information of certain section of route under earth coordinates according to the running data information,
So as to the application of the functions such as adaptive cruise in ADAS system.
As shown in figure 5, the embodiment provides a kind of control devices of ADAS system, comprising:
Second receiving module 51, the inertia for the Inertial Measurement Unit IMU and/or mobile terminal that receive Vehicular air bag are surveyed
Course angle, pitch angle and the roll angular data for the target traffic route that amount unit IMU is measured respectively；
In the embodiment, the privately owned cloud is that user is established using the mobile terminal of 4G or 5G function and vehicle-mounted T-BOX,
Data storage and real-time update may be implemented, what user can customize in the APP of mobile terminal according to itself driving demand
A plurality of route is stored, and needs to store the corresponding running data information of the route in privately owned cloud.Wherein, it deposits
The method for storing up the corresponding running data information of the route are as follows: the route first customized in the APP of mobile terminal
Middle to select one as target traffic route, user normally drove this section, drove a vehicle in vehicle driving in the target
When route, control course angle in Inertial Measurement Unit IMU real-time measurement driving process built-in in Vehicular air bag, pitch angle,
Data are simultaneously passed to privately owned cloud storage by vehicle-mounted T-BOX by roll angle in real time, and are bound with the account in this section.It is excellent
Selection of land, to guarantee data validity, accuracy, by the mobile terminal for being placed on fixed position, in vehicle driving in the target
When traffic route, using the Inertial Measurement Unit IMU built in mobile terminal equally measure the target traffic route course angle,
Pitch angle and roll angular data are also communicated to privately owned cloud by 4G or 5G.
First processing module 52, for course angle, pitch angle and the roll angular data to the target traffic route into
Row checking treatment obtains the running data information of the target traffic route, and stores.
In the embodiment, inertia of the privately owned cloud built in by Inertial Measurement Unit IMU and mobile terminal built-in in air bag
The data of measuring unit IMU transmission carry out processing verification, are stored after obtaining valid data, and the valid data are and institute
State the corresponding running data information of target traffic route.A plurality of driving can be stored according to user demand in this way in privately owned cloud
Route and the corresponding running data of traffic route, realize cloud privatization, is equivalent to the privately owned " ADAS for establishing vehicle
Figure ", that is, lane course, curvature and the Gradient in precognition front section in advance can be realized by not needing purchase ADAS map,
Driving safety and comfort are improved, vehicle is reduced and looks forward to cost.
In the above embodiment of the present invention, the control device of the ADAS system further include:
Third receiving module, the running data information of the target traffic route for receiving vehicle-mounted T-BOX transmission
Acquisition request；
Third sending module, for sending the running data information of target traffic route corresponding with the acquisition request
To vehicle-mounted T-BOX.
In the embodiment, in driving, user can select certain route as this by the APP of the mobile terminal of exploitation
The target traffic route of driving.After user's selection target traffic route, the ADAS system controller of vehicle by vehicle-mounted T-BOX to
Privately owned cloud sends the request for obtaining the running data information of the target traffic route, and privately owned cloud will be with according to the request
The corresponding running data information of the target traffic route feeds back to the vehicle-mounted T-BOX, and the vehicle-mounted T-BOX is by the traveling
Data information is sent to ADAS system.The data processings such as coordinate system conversion, Kalman filtering are integrated in ADAS system controller
Algorithm can calculate the gradient, curvature, the course information of certain section of route under earth coordinates according to the running data information,
So as to the application of the functions such as adaptive cruise in ADAS system.
It should be noted that the device is device corresponding with above-mentioned individual recommended method, institute in above method embodiment
There is implementation suitable for the embodiment of the device, can also reach identical technical effect.
The embodiments of the present invention also provide a kind of network equipment, including processor, memory and it is stored in the storage
On device and the computer program that can run on the processor, realized when the computer program is executed by the processor
The step of control method for the ADAS system stated.
The embodiment of the invention, the data that privately owned cloud is stored download to vehicle-mounted ADAS system by T-BOX and control
Data processing is carried out in device, and the data processing algorithms such as coordinate system conversion, Kalman filtering are integrated in ADAS system controller, it can
To calculate earth coordinates according to the course angle in each section, pitch angle and roll angular data in the target traffic route
The gradient, curvature, the course information in the lower section, realize the gradient, curvature, course information in each section in target traffic route
Precognition, ADAS system can control the ECU such as VCU, MCU, ESP of vehicle according to the gradient, curvature and course information in each section
Speed planning and the energy regenerating in advance for realizing adaptive cruise function, improve driving safety and comfort.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (12)
1. a kind of control method of ADAS system is applied to advanced driving assistance system ADAS characterized by comprising
Obtain the target traffic route of user's selection；
The acquisition request of the running data information of the target traffic route, the running data packet are sent to privately owned cloud
It includes: the course angle in each section, pitch angle and roll angular data in the target traffic route；
Receive the running data information for the target traffic route that the privately owned cloud is sent；
According to the running data information of the target traffic route, plan that the speed of the target traffic route and/or energy are returned
Receive strategy.
2. the control method of ADAS system according to claim 1, which is characterized in that in the mesh of the acquisition user selection
Before the step of marking traffic route, the method also includes:
In vehicle driving in the target traffic route, the Inertial Measurement Unit IMU and/or mobile terminal of Vehicular air bag are controlled
Inertial Measurement Unit IMU measure course angle, pitch angle and the roll angular data of the target traffic route respectively, wherein
The fixed position that the mobile terminal is set in vehicle；
The course angle of the target traffic route, pitch angle and roll angular data are sent to the privately owned cloud pre-established.
3. the control method of ADAS system according to claim 1, which is characterized in that according to the target traffic route
The step of running data information, the speed and/or energy regenerating strategy of planning the target traffic route includes:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, the slope in each section is calculated
Degree, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy regenerating of the target traffic route are planned
Strategy.
4. a kind of control method of ADAS system is applied to privately owned cloud characterized by comprising
The target that the Inertial Measurement Unit IMU of the Inertial Measurement Unit IMU and/or mobile terminal that receive Vehicular air bag are measured respectively
Course angle, pitch angle and the roll angular data of traffic route；
Checking treatment is carried out to the course angle of the target traffic route, pitch angle and roll angular data, obtains the target
The running data information of traffic route, and store.
5. the control method of ADAS system according to claim 4, which is characterized in that the control method of the ADAS system
Further include:
Receive the acquisition request of the running data information for the target traffic route that vehicle-mounted T-BOX is sent；
The running data information of target traffic route corresponding with the acquisition request is sent to vehicle-mounted T-BOX.
6. a kind of control device of ADAS system characterized by comprising
First obtains module, for obtaining the target traffic route of user's selection；
First sending module, the acquisition request of the running data information for sending the target traffic route to privately owned cloud,
The running data information includes: the course angle in each section, pitch angle and roll angular data in the target traffic route；
First receiving module, for receiving the running data information for the target traffic route that the privately owned cloud is sent；
First control module plans the target traffic route for the running data information according to the target traffic route
Speed and/or energy regenerating strategy.
7. the control device of ADAS system according to claim 6, which is characterized in that the control device of the ADAS system
Further include:
Second control module, for, in the target traffic route, controlling the inertia measurement list of Vehicular air bag in vehicle driving
The Inertial Measurement Unit IMU of first IMU and/or mobile terminal measure respectively the course angle of the target traffic route, pitch angle with
And roll angular data, wherein the fixed position that the mobile terminal is set in vehicle；
Second sending module, it is pre- for the course angle of the target traffic route, pitch angle and roll angular data to be sent to
The privately owned cloud first established.
8. the control device of ADAS system according to claim 6, which is characterized in that first control module is specifically used
In:
According to the course angle in each section, pitch angle and roll angular data in the target traffic route, the slope in each section is calculated
Degree, curvature and course information；
According to the gradient, curvature and course information in each section, the speed and/or energy regenerating of the target traffic route are planned
Strategy.
9. a kind of control device of ADAS system characterized by comprising
Second receiving module, for receiving the Inertial Measurement Unit IMU of Vehicular air bag and/or the Inertial Measurement Unit of mobile terminal
Course angle, pitch angle and the roll angular data for the target traffic route that IMU is measured respectively；
First processing module is verified for course angle, pitch angle and the roll angular data to the target traffic route
Processing, obtains the running data information of the target traffic route, and store.
10. the control device of ADAS system according to claim 9, which is characterized in that the control of the ADAS system fills
It sets further include:
Third receiving module, the acquisition of the running data information for receiving the target traffic route that vehicle-mounted T-BOX is sent
Request；
Third sending module, for the running data information of target traffic route corresponding with the acquisition request to be sent to vehicle
Carry T-BOX.
11. a kind of control equipment of ADAS system, which is characterized in that including processor, memory and be stored in the memory
Computer program that is upper and can running on the processor, is realized when the computer program is executed by the processor as weighed
Benefit require any one of 1~3 described in ADAS system control method the step of.
12. a kind of network equipment, which is characterized in that including processor, memory and be stored on the memory and can be in institute
The computer program run on processor is stated, such as claim 4~5 is realized when the computer program is executed by the processor
Any one of described in ADAS system control method the step of.
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