CN109215369B - Control method, device, equipment and network equipment of ADAS system - Google Patents
Control method, device, equipment and network equipment of ADAS system Download PDFInfo
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- CN109215369B CN109215369B CN201811101742.8A CN201811101742A CN109215369B CN 109215369 B CN109215369 B CN 109215369B CN 201811101742 A CN201811101742 A CN 201811101742A CN 109215369 B CN109215369 B CN 109215369B
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Abstract
The invention discloses a control method, a device, equipment and network equipment of an ADAS system, wherein the control method of the ADAS system comprises the following steps: acquiring a target driving route selected by a user; sending an acquisition request of driving data information of the target driving route to a private cloud, wherein the driving data information comprises: course angle, pitch angle and roll angle data of each road section in the target driving route; receiving the driving data information of the target driving route sent by the private cloud; and planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route. According to the embodiment of the invention, a user can realize customized and personalized services in the APP of the private cloud and the mobile terminal according to own requirements; and the controllers required by the scheme are all standard allocation on the vehicle, other resources are not needed, an ADAS map is not needed to be configured, and the vehicle enterprise cost is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method, a control device, control equipment and network equipment of an ADAS (advanced vehicle as a service) system.
Background
More and more automatic driving vehicles with Advanced Driver Assistance Systems (ADAS) function are available, but the detection range of sensors such as radar and camera for realizing the ADAS function is limited, and if the lane course, curvature and gradient data of a road section ahead are to be predicted in advance, the ADAS map of the manufacturers with drawing qualification such as high-grade, four-dimensional, hundred-degree and the like of several Chinese furniture must be purchased for realization. However, this solution is not very selective for the car manufacturer and increases the cost, so for the automated driving vehicles of the L1 and L2 classes, the ADAS map solution is rarely adopted. However, for the electric vehicle, it is necessary to utilize ADAS map data to realize speed planning and energy recovery to improve the cruising ability of the entire vehicle.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method, a control device, control equipment and network equipment of an ADAS system, and solves the problem that the ADAS system of a vehicle cannot realize the advanced planning speed and energy recovery strategy under the condition of no map.
According to an aspect of the present invention, there is provided a method for controlling an ADAS system, applied to an advanced driving assistance system ADAS, including:
acquiring a target driving route selected by a user;
sending an acquisition request of driving data information of the target driving route to a private cloud, wherein the driving data information comprises: course angle, pitch angle and roll angle data of each road section in the target driving route;
receiving the driving data information of the target driving route sent by the private cloud;
and planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route.
Optionally, before the step of obtaining the target driving route selected by the user, the method further includes:
when a vehicle runs on the target driving route, an Inertial Measurement Unit (IMU) for controlling an airbag of the vehicle and/or an Inertial Measurement Unit (IMU) of a mobile terminal measure course angle, pitch angle and roll angle data of the target driving route respectively, wherein the mobile terminal is arranged at a fixed position in the vehicle;
and sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud.
Optionally, the step of planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route includes:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
According to another aspect of the present invention, there is provided a method for controlling an ADAS system, applied to a private cloud, including:
receiving course angle, pitch angle and roll angle data of a target driving route respectively measured by an inertial measurement unit IMU of a vehicle airbag and/or the inertial measurement unit IMU of a mobile terminal;
and checking the course angle, pitch angle and roll angle data of the target driving route to obtain the driving data information of the target driving route, and storing the driving data information.
Optionally, the method for controlling the ADAS system further includes:
receiving an acquisition request of the running data information of the target driving route sent by the vehicle-mounted T-BOX;
and sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX.
According to another aspect of the present invention, there is provided a control apparatus of an ADAS system, including:
the first acquisition module is used for acquiring a target driving route selected by a user;
the first sending module is used for sending a request for acquiring the running data information of the target running route to a private cloud, wherein the running data information comprises: course angle, pitch angle and roll angle data of each road section in the target driving route;
the first receiving module is used for receiving the driving data information of the target driving route sent by the private cloud end;
and the first control module is used for planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route.
Optionally, the control device of the ADAS system further includes:
the second control module is used for controlling an inertial measurement unit IMU of a vehicle airbag and/or an inertial measurement unit IMU of the mobile terminal to respectively measure the course angle, the pitch angle and the roll angle data of the target driving route when the vehicle runs on the target driving route, wherein the mobile terminal is arranged at a fixed position in the vehicle;
and the second sending module is used for sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud.
Optionally, the first control module is specifically configured to:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
According to another aspect of the present invention, there is provided a control apparatus of an ADAS system, including:
the second receiving module is used for receiving course angle, pitch angle and roll angle data of a target driving route, which are respectively measured by an inertial measurement unit IMU of a vehicle airbag and/or the inertial measurement unit IMU of the mobile terminal;
and the first processing module is used for verifying the course angle, the pitch angle and the roll angle data of the target driving route to obtain the driving data information of the target driving route and storing the driving data information.
Optionally, the control device of the ADAS system further includes:
the third receiving module is used for receiving a request for acquiring the running data information of the target driving route sent by the vehicle-mounted T-BOX;
and the third sending module is used for sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX.
According to another aspect of the present invention, there is provided a control device of an ADAS system, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method of the ADAS system described above.
According to a further aspect of the present invention, there is provided a network device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for controlling an ADAS system as described above.
The embodiment of the invention has the beneficial effects that:
according to the control method of the ADAS system in the scheme, the vehicle-mounted ADAS system can download data of a certain fixed route stored in a private cloud in real time through the T-BOX, so that the gradient, curvature and course information of the route can be predicted, and the driving safety and comfort are improved. The user can realize customized and personalized services in the APP of the private cloud and the mobile terminal according to the own requirements; and the controllers required by the scheme are all standard allocation on the vehicle, other resources are not needed, an ADAS map is not needed to be configured, and the vehicle enterprise cost is reduced.
Drawings
Fig. 1 shows one of the flow charts of the control method of the ADAS system of the embodiment of the present invention;
fig. 2 is a block diagram of a data transmission structure between an ADAS system controller and a private cloud according to an embodiment of the present invention;
fig. 3 is a block diagram showing a configuration of a control device of the ADAS system according to the embodiment of the present invention;
fig. 4 shows a second flowchart of a control method of the ADAS system according to the embodiment of the present invention;
fig. 5 shows a second block diagram of the control device of the ADAS system according to the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for controlling an ADAS system, which is applied to an advanced driving assistance system ADAS, and includes:
in the embodiment, a user can establish a private cloud by using a mobile terminal with a 4G or 5G function and a vehicle-mounted T-BOX to realize data storage and real-time update, and a plurality of fixed routes of driving such as daily work, home and the like and driving data of a plurality of routes, which are established by the user according to requirements, are stored in the private cloud. The private cloud is only used for storing and updating the data of the own vehicle account, and a user can customize data of several common routes according to driving habits. When the vehicle is driven, a user can select a certain route as a target driving route of the vehicle through the developed mobile phone APP.
in the embodiment, after a user selects a target driving route, an ADAS system controller of a vehicle sends a request for acquiring driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, the private cloud end feeds the driving data information corresponding to the target driving route back to the vehicle-mounted T-BOX according to the request, and the vehicle-mounted T-BOX sends the driving data information to the ADAS system.
And 14, planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route.
In this embodiment, the ADAS system of the vehicle processes the travel data information, and the ADAS system controller integrates data processing algorithms such as coordinate system conversion and kalman filtering, so that the gradient, curvature and course information of a certain route in the geodetic coordinate system can be calculated according to the travel data information, thereby facilitating the application of functions such as adaptive cruise in the ADAS system.
In the scheme, the vehicle-mounted ADAS system can download data of a certain fixed route stored in a private cloud in real time through the T-BOX, and predict the gradient, curvature and course information of the route. An algorithm of advance speed planning and energy recovery is added in an adaptive cruise software algorithm of an ADAS system controller, and the advance speed planning and energy recovery of an adaptive cruise function are realized by controlling an Electronic Control Unit (ECU) such as a Vehicle Controller (VCU), a Motor Controller (MCU), an Electronic Stability Program (ESP) and the like, so that the driving safety and the comfort are improved. The user can realize customized and personalized services in the APP of the private cloud and the mobile terminal according to the own requirements; and the controllers required by the scheme are all standard allocation on the vehicle, other resources are not needed, an ADAS map is not needed to be configured, and the vehicle enterprise cost is reduced.
In the above embodiment of the present invention, before the step of obtaining the target driving route selected by the user, the method further includes:
when the vehicle runs on the target driving route, an inertial measurement unit IMU of a vehicle airbag and/or an inertial measurement unit IMU of a mobile terminal are/is controlled to respectively measure the course angle, the pitch angle and the roll angle data of the target driving route, wherein the mobile terminal is arranged at a fixed position in the vehicle;
and sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud.
In this embodiment, the user can be according to many fixed routes of the storage of self driving demand customization in mobile terminal's APP, and need store in the private cloud the data information of going that fixed route corresponds. The method for storing the driving data information corresponding to the fixed route comprises the following steps: firstly, selecting one customized fixed route in APP of a mobile terminal as a target driving route, driving a vehicle normally to drive the vehicle to the road section, controlling an inertial measurement unit IMU (inertial measurement unit) built in a vehicle airbag to measure a course angle, a pitch angle and a roll angle in the driving process in real time when the vehicle drives on the target driving route, transmitting data to a private cloud terminal for storage in real time through a vehicle-mounted T-BOX (T-BOX) and binding the data with an account of the road section. Preferably, in order to ensure data validity and accuracy, when a vehicle runs on the target driving route by means of a mobile terminal placed at a fixed position, the heading angle, the pitch angle and the roll angle data of the target driving route are measured by an inertial measurement unit IMU built in the mobile terminal, and are also transmitted to a private cloud terminal through 4G or 5G, the private cloud terminal processes and verifies the data transmitted by the inertial measurement unit IMU built in the airbag and the inertial measurement unit IMU built in the mobile terminal, valid data is obtained and then stored, and the valid data is driving data information corresponding to the target driving route.
Specifically, the step 14 includes:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
In the embodiment, data stored in a private cloud is downloaded to a vehicle-mounted ADAS system controller through a T-BOX for data processing, data processing algorithms such as coordinate system conversion and Kalman filtering are integrated in the ADAS system controller, the gradient, curvature and course information of each road section in a geodetic coordinate system can be calculated according to course angle, pitch angle and roll angle data of each road section in a target driving route, the gradient, curvature and course information of each road section in the target driving route can be predicted, the ADAS system can control ECUs such as VCUs, MCUs and ESPs of a vehicle according to the gradient, curvature and course information of each road section to achieve advanced speed planning and energy recovery of a self-adaptive cruise function, and driving safety and comfort are improved.
The data transmission relationship between the ADAS system controller and the private cloud is shown in FIG. 2, the IMU of the mobile terminal uploads the data information of the measured target driving route to the private cloud, and the vehicle-mounted T-BOX uploads the data information of the target driving route measured by the IMU of the airbag to the private cloud; the vehicle-mounted T-BOX is also used for downloading data information of a target driving route fed back by the private cloud according to the request and sending the data information to the ADAS system controller, so that the ADAS system controller can control ECUs such as a VCU, an MCU and an ESP of the vehicle according to the data information to realize the advance speed planning and the energy recovery of the self-adaptive cruise function.
As shown in fig. 3, an embodiment of the present invention provides a control apparatus of an ADAS system, including:
the first obtaining module 31 is configured to obtain a target driving route selected by a user;
in the embodiment, a user can establish a private cloud by using a mobile terminal with a 4G or 5G function and a vehicle-mounted T-BOX to realize data storage and real-time update, and a plurality of fixed routes of driving such as daily work, home and the like and driving data of a plurality of routes, which are established by the user according to requirements, are stored in the private cloud. The private cloud is only used for storing and updating the data of the own vehicle account, and a user can customize data of several common routes according to driving habits. When the vehicle is driven, a user can select a certain route as a target driving route of the vehicle through the developed mobile phone APP.
A first sending module 32, configured to send an acquisition request of driving data information of the target driving route to a private cloud, where the driving data information includes: course angle, pitch angle and roll angle data of each road section in the target driving route;
the first receiving module 33 is configured to receive the driving data information of the target driving route sent by the private cloud;
in the embodiment, after a user selects a target driving route, an ADAS system controller of a vehicle sends a request for acquiring driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, the private cloud end feeds the driving data information corresponding to the target driving route back to the vehicle-mounted T-BOX according to the request, and the vehicle-mounted T-BOX sends the driving data information to the ADAS system.
And the first control module 34 is used for planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route.
In this embodiment, the ADAS system of the vehicle processes the travel data information, and the ADAS system controller integrates data processing algorithms such as coordinate system conversion and kalman filtering, so that the gradient, curvature and course information of a certain route in the geodetic coordinate system can be calculated according to the travel data information, thereby facilitating the application of functions such as adaptive cruise in the ADAS system.
In the scheme, the vehicle-mounted ADAS system can download data of a certain fixed route stored in a private cloud in real time through the T-BOX, and predict the gradient, curvature and course information of the route. An algorithm of advance speed planning and energy recovery is added in an adaptive cruise software algorithm of an ADAS system controller, and the advance speed planning and the energy recovery of an adaptive cruise function are realized by controlling ECUs (electronic control units) such as a VCU (vehicle control Unit), an MCU (micro control unit), an ESP (electronic stability program) and the like of a vehicle, so that the driving safety and the comfort are improved. The user can realize customized and personalized services in the APP of the private cloud and the mobile terminal according to the own requirements; and the controllers required by the scheme are all standard allocation on the vehicle, other resources are not needed, an ADAS map is not needed to be configured, and the vehicle enterprise cost is reduced.
In the above embodiment of the present invention, the control device of the ADAS system further includes:
the second control module is used for controlling an inertial measurement unit IMU of a vehicle airbag and/or an inertial measurement unit IMU of the mobile terminal to respectively measure the course angle, the pitch angle and the roll angle data of the target driving route when the vehicle runs on the target driving route, wherein the mobile terminal is arranged at a fixed position in the vehicle;
and the second sending module is used for sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud.
In this embodiment, the user can be according to many fixed routes of the storage of self driving demand customization in mobile terminal's APP, and need store in the private cloud the data information of going that fixed route corresponds. The method for storing the driving data information corresponding to the fixed route comprises the following steps: firstly, selecting one customized fixed route in APP of a mobile terminal as a target driving route, driving a vehicle normally to drive the vehicle to the road section, controlling an inertial measurement unit IMU (inertial measurement unit) built in a vehicle airbag to measure a course angle, a pitch angle and a roll angle in the driving process in real time when the vehicle drives on the target driving route, transmitting data to a private cloud terminal for storage in real time through a vehicle-mounted T-BOX (T-BOX) and binding the data with an account of the road section. Preferably, in order to ensure data validity and accuracy, when a vehicle runs on the target driving route by means of a mobile terminal placed at a fixed position, the heading angle, the pitch angle and the roll angle data of the target driving route are measured by an inertial measurement unit IMU built in the mobile terminal, and are also transmitted to a private cloud terminal through 4G or 5G, the private cloud terminal processes and verifies the data transmitted by the inertial measurement unit IMU built in the airbag and the inertial measurement unit IMU built in the mobile terminal, valid data is obtained and then stored, and the valid data is driving data information corresponding to the target driving route.
In the above embodiment of the present invention, the first control module 34 is specifically configured to:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
In the embodiment, data stored in a private cloud is downloaded to a vehicle-mounted ADAS system controller through a T-BOX for data processing, data processing algorithms such as coordinate system conversion and Kalman filtering are integrated in the ADAS system controller, the gradient, curvature and course information of each road section in a geodetic coordinate system can be calculated according to course angle, pitch angle and roll angle data of each road section in a target driving route, the gradient, curvature and course information of each road section in the target driving route can be predicted, the ADAS system can control ECUs such as VCUs, MCUs and ESPs of a vehicle according to the gradient, curvature and course information of each road section to achieve advanced speed planning and energy recovery of a self-adaptive cruise function, and driving safety and comfort are improved.
The data transmission relationship between the ADAS system controller and the private cloud is shown in FIG. 2, the IMU of the mobile terminal uploads the data information of the measured target driving route to the private cloud, and the vehicle-mounted T-BOX uploads the data information of the target driving route measured by the IMU of the airbag to the private cloud; the vehicle-mounted T-BOX is also used for downloading data information of a target driving route fed back by the private cloud according to the request and sending the data information to the ADAS system controller, so that the ADAS system controller can control ECUs such as a VCU, an MCU and an ESP of the vehicle according to the data information to realize the advance speed planning and the energy recovery of the self-adaptive cruise function.
It should be noted that the apparatus is an apparatus corresponding to the individual recommendation method, and all implementation manners in the method embodiments are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
An embodiment of the present invention further provides a control device of an ADAS system, including a processor, a memory, and a computer program stored on the memory and operable on the processor, where the computer program, when executed by the processor, implements the steps of the control method of the ADAS system described above.
As shown in fig. 4, an embodiment of the present invention provides a control method for an ADAS system, which is applied to a private cloud, and includes:
in this embodiment, the private cloud end is established for the user by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, so that data storage and real-time update can be realized, the user can store a plurality of fixed routes in the APP of the mobile terminal in a customized manner according to the driving demand of the user, and driving data information corresponding to the fixed routes needs to be stored in the private cloud end. The method for storing the driving data information corresponding to the fixed route comprises the following steps: firstly, selecting one customized fixed route in APP of a mobile terminal as a target driving route, driving the road section by a user normally, controlling an inertial measurement unit IMU (inertial measurement Unit) built in a vehicle airbag to measure a course angle, a pitch angle and a roll angle in the driving process in real time when the vehicle drives on the target driving route, transmitting data to a private cloud terminal for storage through a vehicle-mounted T-BOX (T-BOX) in real time, and binding the data with an account of the road section. Preferably, in order to ensure data validity and accuracy, when the vehicle runs on the target driving route by means of the mobile terminal placed at a fixed position, the heading angle, the pitch angle and the roll angle data of the target driving route are measured by using an inertial measurement unit IMU (inertial measurement unit) built in the mobile terminal, and are transmitted to the private cloud end through 4G or 5G.
And 42, checking the course angle, the pitch angle and the roll angle data of the target driving route to obtain and store the driving data information of the target driving route.
In this embodiment, the private cloud performs processing and verification on data transmitted by the inertial measurement unit IMU built in the airbag and the inertial measurement unit IMU built in the mobile terminal, and stores the obtained valid data, where the valid data is the driving data information corresponding to the target driving route. Therefore, the driving data corresponding to the driving routes and the plurality of driving routes can be stored in the private cloud according to the user requirements, the cloud privatization is realized, namely a private 'ADAS map' of the vehicle is established, namely the lane course, curvature and gradient data of the front road section can be predicted in advance without purchasing the ADAS map, the driving safety and comfort are improved, and the vehicle enterprise cost is reduced.
In the above embodiment of the present invention, the method for controlling an ADAS system further includes:
receiving an acquisition request of the running data information of the target driving route sent by the vehicle-mounted T-BOX;
and sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX.
In this embodiment, when driving, the user can select a certain route as the target driving route of this driving through the developed APP of the mobile terminal. After a user selects a target driving route, an ADAS system controller of a vehicle sends a request for acquiring driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, the private cloud end feeds the driving data information corresponding to the target driving route back to the vehicle-mounted T-BOX according to the request, and the vehicle-mounted T-BOX sends the driving data information to the ADAS system. The ADAS system controller integrates data processing algorithms such as coordinate system conversion, Kalman filtering and the like, and can calculate the gradient, curvature and course information of a certain section of route under a geodetic coordinate system according to the running data information so as to be convenient for application of functions such as adaptive cruise and the like in the ADAS system.
As shown in fig. 5, an embodiment of the present invention provides a control apparatus of an ADAS system, including:
the second receiving module 51 is configured to receive heading angle, pitch angle and roll angle data of a target driving route, which are respectively measured by an inertial measurement unit IMU of a vehicle airbag and/or an inertial measurement unit IMU of a mobile terminal;
in this embodiment, the private cloud end is established for the user by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, so that data storage and real-time update can be realized, the user can store a plurality of fixed routes in the APP of the mobile terminal in a customized manner according to the driving demand of the user, and driving data information corresponding to the fixed routes needs to be stored in the private cloud end. The method for storing the driving data information corresponding to the fixed route comprises the following steps: firstly, selecting one customized fixed route in APP of a mobile terminal as a target driving route, driving the road section by a user normally, controlling an inertial measurement unit IMU (inertial measurement Unit) built in a vehicle airbag to measure a course angle, a pitch angle and a roll angle in the driving process in real time when the vehicle drives on the target driving route, transmitting data to a private cloud terminal for storage through a vehicle-mounted T-BOX (T-BOX) in real time, and binding the data with an account of the road section. Preferably, in order to ensure data validity and accuracy, when the vehicle runs on the target driving route by means of the mobile terminal placed at a fixed position, the heading angle, the pitch angle and the roll angle data of the target driving route are measured by using an inertial measurement unit IMU (inertial measurement unit) built in the mobile terminal, and are transmitted to the private cloud end through 4G or 5G.
The first processing module 52 is configured to perform verification processing on the course angle, the pitch angle, and the roll angle data of the target driving route, obtain driving data information of the target driving route, and store the driving data information.
In this embodiment, the private cloud performs processing and verification on data transmitted by the inertial measurement unit IMU built in the airbag and the inertial measurement unit IMU built in the mobile terminal, and stores the obtained valid data, where the valid data is the driving data information corresponding to the target driving route. Therefore, the driving data corresponding to the driving routes and the plurality of driving routes can be stored in the private cloud according to the user requirements, the cloud privatization is realized, namely a private 'ADAS map' of the vehicle is established, namely the lane course, curvature and gradient data of the front road section can be predicted in advance without purchasing the ADAS map, the driving safety and comfort are improved, and the vehicle enterprise cost is reduced.
In the above embodiment of the present invention, the control device of the ADAS system further includes:
the third receiving module is used for receiving a request for acquiring the running data information of the target driving route sent by the vehicle-mounted T-BOX;
and the third sending module is used for sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX.
In this embodiment, when driving, the user can select a certain route as the target driving route of this driving through the developed APP of the mobile terminal. After a user selects a target driving route, an ADAS system controller of a vehicle sends a request for acquiring driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, the private cloud end feeds the driving data information corresponding to the target driving route back to the vehicle-mounted T-BOX according to the request, and the vehicle-mounted T-BOX sends the driving data information to the ADAS system. The ADAS system controller integrates data processing algorithms such as coordinate system conversion, Kalman filtering and the like, and can calculate the gradient, curvature and course information of a certain section of route under a geodetic coordinate system according to the running data information so as to be convenient for application of functions such as adaptive cruise and the like in the ADAS system.
It should be noted that the apparatus is an apparatus corresponding to the individual recommendation method, and all implementation manners in the method embodiments are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
An embodiment of the present invention further provides a network device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the computer program is executed by the processor, the steps of the control method of the ADAS system are implemented.
According to the embodiment of the invention, data stored in a private cloud is downloaded to a vehicle-mounted ADAS system controller through a T-BOX for data processing, data processing algorithms such as coordinate system conversion, Kalman filtering and the like are integrated in the ADAS system controller, the gradient, curvature and course information of each road section under a geodetic coordinate system can be calculated according to course angle, pitch angle and roll angle data of each road section in a target driving route, the gradient, curvature and course information of each road section in the target driving route can be predicted, the ADAS system can control ECUs such as VCUs, MCUs and ESPs of a vehicle according to the gradient, curvature and course information of each road section to realize the advance speed planning and energy recovery of the self-adaptive cruise function, and the driving safety and comfort are improved.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (8)
1. A control method of an ADAS system is applied to an advanced driving assistance system ADAS, and is characterized by comprising the following steps:
acquiring a target driving route selected by a user;
sending an acquisition request of driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, wherein the driving data information comprises: course angle, pitch angle and roll angle data of each road section in the target driving route;
receiving the driving data information of the target driving route sent by the private cloud through a vehicle-mounted T-BOX;
planning a speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route;
wherein, before the step of obtaining the target driving route selected by the user, the method further comprises:
when the vehicle runs on the target driving route, an inertia measurement unit IMU of a vehicle airbag and an inertia measurement unit IMU of a mobile terminal are controlled to respectively measure course angle, pitch angle and roll angle data of the target driving route, wherein the mobile terminal is arranged at a fixed position in the vehicle;
sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud end;
the private cloud end carries out verification processing on the course angle, the pitch angle and the roll angle data of the target driving route to obtain driving data information of the target driving route;
the user establishes a private cloud by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, and a plurality of fixed routes established by the user according to requirements and driving data of the plurality of routes are stored in the private cloud.
2. The method of controlling an ADAS system according to claim 1, wherein the step of planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route comprises:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
3. A control method of an ADAS system is applied to a private cloud and is characterized by comprising the following steps:
receiving course angle, pitch angle and roll angle data of a target driving route respectively measured by an inertial measurement unit IMU of a vehicle airbag and the inertial measurement unit IMU of a mobile terminal;
checking course angle, pitch angle and roll angle data of the target driving route to obtain driving data information of the target driving route, and storing the driving data information;
the control method of the ADAS system further comprises the following steps: receiving an acquisition request of the running data information of the target driving route sent by the vehicle-mounted T-BOX;
sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX;
the user establishes a private cloud by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, and a plurality of fixed routes established by the user according to requirements and driving data of the plurality of routes are stored in the private cloud.
4. A control apparatus of an ADAS system, comprising:
the first acquisition module is used for acquiring a target driving route selected by a user;
the first sending module is used for sending a request for acquiring the driving data information of the target driving route to a private cloud end through a vehicle-mounted T-BOX, and the driving data information comprises: course angle, pitch angle and roll angle data of each road section in the target driving route;
the first receiving module is used for receiving the driving data information of the target driving route sent by the private cloud end through a vehicle-mounted T-BOX;
the first control module is used for planning the speed and/or energy recovery strategy of the target driving route according to the driving data information of the target driving route;
wherein, the control device of the ADAS system further comprises:
the second control module is used for controlling an inertia measurement unit IMU of a vehicle airbag and an inertia measurement unit IMU of the mobile terminal to respectively measure course angle, pitch angle and roll angle data of the target driving route when the vehicle runs on the target driving route, wherein the mobile terminal is arranged at a fixed position in the vehicle;
the second sending module is used for sending the course angle, the pitch angle and the roll angle data of the target driving route to a pre-established private cloud end;
the private cloud end carries out verification processing on the course angle, the pitch angle and the roll angle data of the target driving route to obtain driving data information of the target driving route;
the user establishes a private cloud by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, and a plurality of fixed routes established by the user according to requirements and driving data of the plurality of routes are stored in the private cloud.
5. The control device of an ADAS system according to claim 4, wherein the first control module is specifically configured to:
calculating the gradient, curvature and course information of each road section according to the course angle, pitch angle and roll angle data of each road section in the target driving route;
and planning the speed and/or energy recovery strategy of the target driving route according to the gradient, the curvature and the course information of each road section.
6. A control apparatus of an ADAS system, comprising:
the second receiving module is used for receiving course angle, pitch angle and roll angle data of a target driving route, which are respectively measured by an inertial measurement unit IMU (inertial measurement unit) of a vehicle airbag and the inertial measurement unit IMU of the mobile terminal;
the first processing module is used for verifying the course angle, the pitch angle and the roll angle data of the target driving route to obtain and store driving data information of the target driving route;
wherein, the control device of the ADAS system further comprises:
the third receiving module is used for receiving a request for acquiring the running data information of the target driving route sent by the vehicle-mounted T-BOX;
the third sending module is used for sending the running data information of the target driving route corresponding to the acquisition request to the vehicle-mounted T-BOX;
the user establishes a private cloud by using the mobile terminal with the 4G or 5G function and the vehicle-mounted T-BOX, and a plurality of fixed routes established by the user according to requirements and driving data of the plurality of routes are stored in the private cloud.
7. A control device of an ADAS system, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the control method of an ADAS system as claimed in any one of claims 1-2.
8. A network device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling an ADAS system as claimed in claim 3.
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