CN109334668B - Automatic doubling system based on V2X - Google Patents
Automatic doubling system based on V2X Download PDFInfo
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- CN109334668B CN109334668B CN201811448867.8A CN201811448867A CN109334668B CN 109334668 B CN109334668 B CN 109334668B CN 201811448867 A CN201811448867 A CN 201811448867A CN 109334668 B CN109334668 B CN 109334668B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
The invention provides an automatic doubling system based on V2X, which belongs to the technical field of automatic driving, wherein a doubling triggering module sends doubling triggering signals to a positioning module, a V2X short-range communication module and a strategy determining module when receiving a doubling instruction; the positioning module determines the position range of a dangerous area at the side of the vehicle when receiving the doubling trigger signal and sends the position range of the dangerous area to the strategy determination module; the strategy determining module receives the speed of the vehicle acquired by the sensor, determines a control strategy according to the speed of the vehicle, the position range of a dangerous area, the positions and speeds of other vehicles, the states of an accelerator pedal and the states of a brake pedal acquired by the V2X short-range communication module, and sends the control strategy to the control execution module; and when receiving the control strategy, the control execution module correspondingly controls the vehicle according to the control strategy. Therefore, when the doubling is needed, the safe and efficient automatic doubling is realized by utilizing various vehicle information of surrounding vehicles acquired by the V2X short-range communication module.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic doubling system based on V2X.
Background
The technical field related to the automatic driving of automobiles has become a research focus in recent years. From the strategic significance, the automatic driving automobile can effectively improve traffic safety, realize energy conservation and emission reduction, eliminate traffic jam and promote industrial transformation. Therefore, the technology of the automated driving automobile is paid unprecedented attention by governments of various countries, colleges and universities and research institutions at home and abroad invest a great deal of manpower and material resources in the technical field of the automated driving automobile, and various large automobile enterprises, scientific and technical companies, automobile part suppliers and automated driving automobile entrepreneurs are arranged in the field.
The automatic doubling system of the existing automatic driving vehicle can control the automatic doubling of the vehicle, and the automatic doubling operation of the vehicle is controlled when the distance is judged to meet the doubling condition according to the distance between the vehicle and the surrounding vehicles detected by a plurality of radar sensors arranged around the vehicle body.
In implementing the present disclosure, the inventors found that the related art has at least the following problems:
the existing automatic doubling system of the automatic driving vehicle can only detect the distance relationship between the surrounding vehicle and the vehicle by using a radar, can not acquire various vehicle information of the surrounding vehicle, and adopts different doubling strategies according to the various vehicle information of the surrounding vehicle, thereby realizing safe and efficient automatic doubling.
Disclosure of Invention
In view of this, embodiments of the present invention provide an automatic doubling system based on V2X, which can implement safe and efficient automatic doubling.
Specifically, the method comprises the following technical scheme:
the embodiment of the present disclosure provides an automatic doubling system based on V2X, the system includes a doubling triggering module, a positioning module, a V2X short-range communication module, a policy determining module, and a control executing module, wherein:
and the doubling triggering module is used for sending a doubling triggering signal to the positioning module, the short-range communication module and the strategy determining module when receiving the doubling instruction.
The positioning module is used for determining the position range of the dangerous area at the side of the vehicle when receiving the doubling trigger signal and sending the position range of the dangerous area to the strategy determining module.
The V2X short-range communication module is used for receiving the position, the speed, the accelerator pedal state and the brake pedal state of other vehicles within the range taking the vehicle as the center and the communication distance threshold as the radius when receiving the doubling trigger signal, and sending the positions, the speeds, the accelerator pedal states and the brake pedal states to the strategy determination module.
The strategy determining module is used for receiving the speed of the vehicle acquired by the sensor when receiving the doubling triggering signal, determining the control strategy to be one of a direct doubling strategy, a waiting strategy and a speed change doubling strategy according to the speed of the vehicle, the position range of a dangerous area, the position of the other vehicle, the speed of the other vehicle, the accelerator pedal state of the other vehicle and the brake pedal state of the other vehicle, and sending the control strategy to the control execution module.
And the control execution module is used for correspondingly controlling the vehicle according to the control strategy when receiving the control strategy.
Optionally, the doubling instruction and the doubling trigger signal both carry doubling directions, and the positioning module is specifically configured to:
and when the doubling trigger signal is received, determining the position of the vehicle, wherein the position of the vehicle refers to the central point position of the vehicle.
A rectangular coordinate system is established by taking the position of the vehicle as the origin of coordinates, the y axis of the rectangular coordinate is parallel to the advancing direction of the vehicle and the positive direction points to the advancing direction of the vehicle, and the x axis is perpendicular to the advancing direction of the vehicle and the positive direction points to the right side of the vehicle.
Obtaining the empirical vehicle width W, the empirical vehicle length L and the transverse safe distance threshold value delta1And a longitudinal safety distance threshold δ2。
When the merging direction is right, determining the position range of the dangerous area as { (x, y) | x ∈ (W + delta)1,2W+2δ1,y∈(-L-δ2，L+δ2)。
When the doubling direction is left, determining the position range of the danger area as { (x, y) | x belongs to (-2W-2 delta 1, -W-delta 1, y belongs to (-L-delta 2, L + delta 2).
Optionally, the doubling triggering module is specifically configured to:
and when receiving a doubling instruction carrying the doubling direction, sending a doubling trigger signal carrying the doubling direction to the positioning module, the V2X short-range communication module and the strategy determination module according to the doubling instruction carrying the doubling direction.
Alternatively,
the V2X short-range communication module is further configured to:
when receiving the doubling trigger signal, receiving the size information of other vehicles in the range taking the vehicle as the center and taking the communication distance threshold as the radius, sending the size information of other vehicles to the positioning module,
the positioning module is further configured to:
the empirical vehicle width W and the empirical vehicle length L are corrected based on the other vehicle size information.
Optionally, the policy determination module is specifically configured to:
and judging whether the position of the other vehicle is within the position range of the dangerous area, wherein the position of the other vehicle refers to the position of the central point of the other vehicle.
And when the position of the other vehicle does not fall within the position range of the dangerous area, determining the control strategy as a direct merging strategy.
And when the position of the other vehicle is within the position range of the dangerous area, judging the relationship between the speed of the other vehicle and the speed of the vehicle.
And when the speed of the other vehicle is greater than or less than the speed of the vehicle, determining the control strategy as a waiting strategy.
And when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the opening of the accelerator pedal of the other vehicle is increased, determining the control strategy as a waiting strategy.
And when the speed of the other vehicle is equal to the speed of the vehicle, and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is smaller or the brake pedal state of the other vehicle indicates that the brake pedal opening of the other vehicle is larger, determining the control strategy as a waiting strategy.
And when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is unchanged, determining the control strategy to be a speed change and wire combination strategy.
Optionally, the policy determination module is further configured to:
and when the control strategy is determined to be a speed change and combination strategy, acquiring an overtaking speed threshold value, and acquiring the highest speed limit corresponding to the road section where the position of the vehicle is located from the navigation system.
And when the speed of the vehicle plus the overtaking speed threshold is smaller than the highest speed limit, modifying the speed change doubling strategy into an acceleration doubling strategy.
And when the speed of the vehicle plus the overtaking speed threshold is greater than the highest speed limit, modifying the speed change doubling strategy into a speed reduction doubling strategy.
Optionally, the control execution module is specifically configured to:
and when the direct doubling strategy is received, controlling the opening degree of an accelerator pedal of the vehicle according to the direct doubling strategy so as to enable the vehicle to keep running at a constant speed, controlling the steering wheel to rotate by a first angle in the doubling direction, and controlling the steering wheel to return to the normal state after a second time threshold value is passed.
And when the waiting strategy is received, controlling the opening degree of an accelerator pedal of the vehicle to enable the vehicle to keep running at a constant speed and controlling a steering wheel to keep the current angle according to the waiting strategy.
Optionally, the control execution module is further configured to:
when an acceleration doubling strategy is received, the opening degree of an accelerator pedal of the vehicle is increased according to the acceleration doubling strategy, the position range of a dangerous area determined in real time by a positioning module and the position of the other vehicle received by a V2X short-range communication module in real time are obtained, when the position of the other vehicle leaves the dangerous area range and passes a first time threshold, a steering wheel is controlled to rotate by a first angle in the doubling direction, and after a second time threshold, the steering wheel is controlled to return to the right.
When a deceleration and doubling strategy is received, the opening degree of an accelerator pedal of the vehicle is adjusted to be zero according to the deceleration and doubling strategy, the opening degree of a brake pedal of the vehicle is increased, a dangerous area position range determined in real time by a positioning module and the positions of other vehicles received by a V2X short-range communication module in real time are obtained, when the positions of other vehicles leave the dangerous area range and pass a first time threshold, a steering wheel is controlled to rotate by a first angle in the doubling direction, and after a second time threshold, the steering wheel is controlled to return to be positive.
Optionally, the control execution module is further configured to:
and when the acceleration doubling strategy or the deceleration doubling strategy is received, receiving the speed of the vehicle acquired by the sensor in real time.
And substituting the vehicle speed into a corresponding relation between the vehicle speed and a first angle, a first time threshold and a second time threshold which are stored in advance to obtain the first angle, the first time threshold and the second time threshold, wherein the first angle is in negative correlation with the vehicle speed, and the first time threshold and the second time threshold are in positive correlation with the vehicle speed.
Optionally, the control execution module is further configured to:
and after the steering wheel is controlled to return to the right, the speed of the vehicle acquired by the sensor in real time is received.
When the speed of the vehicle is less than the highest speed limit, the opening of the accelerator pedal of the vehicle is increased, and when the speed of the vehicle is increased to be equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed.
When the speed of the vehicle is greater than the highest speed limit, the opening of the accelerator pedal of the vehicle is reduced, and when the speed of the vehicle is reduced to be equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed.
When the speed of the vehicle is equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled so that the vehicle keeps running at a constant speed.
The technical scheme provided by the embodiment of the disclosure at least comprises the following beneficial effects:
the invention provides an automatic merging system based on V2X, which comprises a merging triggering module, a positioning module, a V2X short-range communication module, a strategy determining module and a control executing module, wherein: the doubling triggering module is used for sending a doubling triggering signal to the positioning module, the V2X short-range communication module and the strategy determining module when receiving a doubling instruction; the positioning module is used for determining the position range of a dangerous area at the side of the vehicle when receiving the doubling trigger signal and sending the position range of the dangerous area to the strategy determining module; the V2X short-range communication module is used for receiving the position, the speed, the accelerator pedal state and the brake pedal state of other vehicles within the range taking the vehicle as the center and taking the communication distance threshold as the radius when receiving the doubling trigger signal, and sending the positions, the speeds, the accelerator pedal states and the brake pedal states to the strategy determination module; the strategy determining module is used for receiving the speed of the vehicle acquired by the sensor when receiving the doubling triggering signal, determining the control strategy to be one of a direct doubling strategy, a waiting strategy and a speed change doubling strategy according to the speed of the vehicle, the position range of a dangerous area, the position of the other vehicle, the speed of the other vehicle, the accelerator pedal state of the other vehicle and the brake pedal state of the other vehicle, and sending the control strategy to the control executing module; and the control execution module is used for correspondingly controlling the vehicle according to the control strategy when receiving the control strategy. Since the V2X technology is integrated into the traditional automatic doubling system, when the host vehicle needs to be doubled, the V2X short-range communication module is used for acquiring various vehicle information of surrounding vehicles, and different doubling strategies are adopted according to the various vehicle information of the surrounding vehicles, so that safe and efficient automatic doubling is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of an automatic doubling system based on V2X according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a location range of a dangerous area lateral to a host vehicle according to a first embodiment of the present disclosure;
fig. 3 is a flowchart of a scheme for implementing the automatic doubling system based on V2X according to the first embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following will describe embodiments of the present invention in further detail with reference to the accompanying drawings.
Example one
The embodiment provides an automatic doubling system based on V2X, as shown in fig. 1, the system includes a doubling triggering module 101, a positioning module 102, a V2X short-range communication module 103, a policy determining module 104, and a control executing module 105, which will be described in detail below.
The doubling trigger module is configured to send a doubling trigger signal to the positioning module 102, the short-range communication module, and the policy determination module 104 when receiving a doubling instruction.
The doubling instruction and the doubling trigger signal both carry doubling directions, and the doubling directions have a left direction or a right direction.
Specifically, the triggering manner of the doubling instruction may be the following two manners:
the first method comprises the following steps: the remote server or the vehicle-mounted navigation system judges according to the real-time position of the vehicle, the global planned route and the local planned route of the automatic driving, generates a first parallel instruction and sends the first parallel instruction to the parallel triggering module 101 when judging that the vehicle needs to be parallel.
And the second method comprises the following steps: when recognizing that the steering lamp shift lever is shifted, the vehicle control unit generates a second doubling instruction and sends the second doubling instruction to the doubling triggering module 101.
It will be appreciated that although a vehicle incorporating the present system is capable of autonomous driving, an operator such as a turn signal lever is retained in the vehicle to enable the vehicle to be merged as intended by an occupant when the occupant wishes to manually make a temporary change in the lane of travel of the vehicle. Different priorities may be set for the first and second doubling instructions, the priority relationship may be that the priority of the second doubling instruction is higher than that of the first doubling instruction, and when the doubling direction carried in the second doubling instruction is different from the doubling direction in the first doubling instruction, the doubling direction carried in the second doubling instruction is preferentially determined as the final doubling direction.
In this embodiment, the doubling triggering module 101 is specifically configured to:
when receiving a doubling instruction carrying a doubling direction, sending a doubling trigger signal carrying the doubling direction to the positioning module 102, the V2X short-range communication module 103 and the policy determination module 104 according to the doubling instruction carrying the doubling direction.
The positioning module 102 is configured to determine a dangerous area position range on a side of the host vehicle when receiving the merging trigger signal, and send the dangerous area position range to the policy determining module 104.
The positioning module 102 is specifically configured to:
and when the doubling trigger signal is received, determining the position of the vehicle, wherein the position of the vehicle refers to the central point position of the vehicle.
Specifically, the manner of determining the host vehicle position may be: at least one of a global navigation satellite system determination, a trajectory estimation determination, and an environmental feature matching determination.
As shown in fig. 2, a rectangular coordinate system is established with the vehicle position as the origin of coordinates, the y-axis of the rectangular coordinate system is parallel to the vehicle advancing direction and the positive direction is directed to the vehicle advancing direction, and the x-axis is perpendicular to the vehicle advancing direction and the positive direction is directed to the right side of the vehicle.
Obtaining the empirical vehicle width W, the empirical vehicle length L and the transverse safe distance threshold value delta1And a longitudinal safety distance threshold δ2。
Specifically, the empirical vehicle width W, the empirical vehicle length L, and the lateral safe distance threshold δ1And a longitudinal safety distance threshold δ2May be preset and stored in the data storage unit of the vehicle so that the location module 102 is ready to retrieve.
Fig. 2 shows a special case where the empirical vehicle width W is equal to the vehicle width of the host vehicle, the empirical vehicle length L is equal to the vehicle length of the host vehicle, and the other vehicles and the host vehicle have the same length and width.
The empirical vehicle width W refers to the average width of a common household vehicle, the empirical vehicle length L refers to the average length of the common household vehicle, and the transverse safe distance threshold value delta1Is the transverse safe distance between two vehicles and the longitudinal safe distance threshold delta2Refers to the safety distance between the front and the back of the two vehicles.
When the merging direction is right, determining the position range of the dangerous area as { (x, y) | x ∈ (W + delta)1,2W+2δ1,y∈(-L-δ2，L+δ2)。
When the doubling direction is left, determining the position range of the danger area as { (x, y) | x belongs to (-2W-2 delta 1, -W-delta 1, y belongs to (-L-delta 2, L + delta 2).
The hazardous area location range is indicated by the shaded portion in fig. 2. The dangerous area range refers to an area which can affect safe merging of the vehicle, and if other vehicles exist in the dangerous area, the vehicle cannot safely complete merging.
In the dangerous area position range, the minimum distance between the side parts of other vehicles and the side part of the vehicle is larger than a transverse safety distance threshold value delta1. The side part of the vehicle body of the vehicle is also provided with a plurality of radar sensors, and when the transverse distance between other vehicles and the vehicle is smaller than a transverse safe distance threshold value delta1When the vehicle is in a collision state, the radar sensor on the side of the vehicle body detects an obstacle, and preferentially determines that the vehicle is in a collision danger at the moment and cannot be subjected to merging, the radar sensor generates a collision early warning signal and sends the collision early warning signal to the positioning module 102, the positioning module 102 receives the collision early warning signal and forwards the collision early warning signal to the strategy determining module 104, and the strategy determining module 104 determines that the control strategy is a danger avoiding strategy when receiving the collision early warning signal.
The maximum relative distance between the side portion of the other vehicle and the side portion of the host vehicle in the dangerous area position range is 2W +2 δ1In practical situations, two wheels of another vehicle close to the vehicle press on an outer lane of a lane which the vehicle wants to enter, or the other vehicle runs across the outer lane of the lane which the vehicle wants to enter, and at this time, the other vehicle cannot be safely merged to merge into the adjacent lane.
The V2X short-range communication module 103 is configured to receive, when receiving the merging trigger signal, other vehicle positions, other vehicle speeds, other vehicle accelerator pedal states, and other vehicle brake pedal states of other vehicles within a range centered on the vehicle and having a communication distance threshold as a radius, and send the received signals to the policy determination module 104.
In particular, V2X refers to Vehicle to evolution, i.e., the exchange of information between a Vehicle and the outside world, and thus the V2X short-range communication module 103 can receive various types of information from other vehicles on the road surface or various types of servers at remote locations. The communication distance threshold refers to the radius of the maximum range that can be received by the V2X short-range communication module 103, and other vehicles outside the range with the communication distance threshold as the radius default to not being in danger of colliding with the host vehicle.
Other vehicle positions may be determined by at least one of global navigation satellite system determination, dead reckoning determination, and environmental feature matching determination. The speed of the vehicle, the accelerator pedal state of the vehicle and the brake pedal state of the vehicle can be detected by using sensors arranged on the vehicle.
As an alternative embodiment, the V2X short-range communication module 103 is further configured to:
when the doubling trigger signal is received, the size information of other vehicles in the range with the vehicle as the center and the communication distance threshold as the radius is received, and the size information of other vehicles is sent to the positioning module 102.
The positioning module 102 is further configured to:
the empirical vehicle width W and the empirical vehicle length L are corrected based on the other vehicle size information.
It can be understood that, because various types of vehicles have different sizes, vehicles such as trucks, buses and road emergency repair cleaning vehicles are larger than a common car, when automatic merging is needed, other vehicle size information of other vehicles can be obtained, and the empirical vehicle width W and the empirical vehicle length L can be corrected, so that the vehicle can be safely merged when various types of vehicles are dealt with. This correction may be temporary, and the vehicle width W and the vehicle length L may be changed back to the initial default values when the vehicle completes the automatic merging process.
The strategy determining module 104 is configured to receive the speed of the vehicle acquired by the sensor when receiving the doubling trigger signal, determine that the control strategy is one of a direct doubling strategy, a waiting strategy and a speed change doubling strategy according to the speed of the vehicle, the location range of the dangerous area, the location of another vehicle, the speed of another vehicle, the accelerator pedal state of another vehicle and the brake pedal state of another vehicle, and send the control strategy to the control executing module 105.
Optionally, the policy determining module 104 is specifically configured to:
and judging whether the position of the other vehicle is within the position range of the dangerous area, wherein the position of the other vehicle refers to the position of the central point of the other vehicle.
And when the position of the other vehicle does not fall within the position range of the dangerous area, determining the control strategy as a direct merging strategy. That is, it is determined that there is no vehicle in the dangerous area position range at this time, and the merging can be directly performed while ensuring safety.
And when the position of the other vehicle is within the position range of the dangerous area, judging the relationship between the speed of the other vehicle and the speed of the vehicle. That is, it is determined that there are other vehicles within the dangerous area position range, and at this time, it is necessary to further determine the state of the vehicle within the dangerous area.
And when the speed of the other vehicle is greater than or less than the speed of the vehicle, namely the speed of the other vehicle is not equal to the speed of the vehicle, determining the control strategy as a waiting strategy.
It can be understood that when the speed of the other vehicle is greater than the speed of the vehicle, the other vehicle is considered to be overtaking the vehicle, and waiting is performed at this time, and the merging can be performed after the overtaking of the other vehicle is completed. When the speed of other vehicles is lower than the speed of the vehicle, the other vehicles can be considered to be overtaking by the vehicle, and waiting is needed to be carried out at the moment, and the merging can be carried out after the overtaking of the vehicle is finished.
And when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the opening of the accelerator pedal of the other vehicle is increased, determining the control strategy as a waiting strategy.
It is understood that, when the speed of another vehicle is equal to the speed of the own vehicle but the accelerator opening of the other vehicle is increased, the other vehicle may be considered to have the same speed as the own vehicle at the present time but have an acceleration intention to accelerate beyond the own vehicle, and at this time, it should wait until the overtaking of the other vehicle is completed, and then the merging may be performed.
And when the speed of the other vehicle is equal to the speed of the vehicle, and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is smaller or the brake pedal state of the other vehicle indicates that the brake pedal opening of the other vehicle is larger, determining the control strategy as a waiting strategy.
It is understood that, when the other vehicle speed of the other vehicle is equal to the vehicle speed, but the accelerator pedal opening of the other vehicle is smaller or the brake pedal opening of the other vehicle is larger, the other vehicle may be considered to have the same speed as the vehicle at the present time, but the other vehicle has an intention of deceleration, attempts to decelerate and preferentially pass the vehicle, and waits for the vehicle to overtake, and then the vehicle may be merged.
In summary, when the other vehicle speed of the other vehicle is equal to the vehicle speed, but the accelerator pedal opening of the other vehicle or the brake pedal opening of the other vehicle is changed, the control strategy is determined as the waiting strategy.
And when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is unchanged, determining the control strategy to be a speed change and wire combination strategy.
It is understood that when the other vehicle speed of the other vehicle is equal to the speed of the host vehicle and the accelerator opening of the other vehicle is unchanged, the speed of the other vehicle is considered to be stable and will be kept at the same speed as the host vehicle for a period of time, and at this time, the host vehicle can be controlled to perform appropriate speed change so as to pull away the distance from the other vehicle within the dangerous area position range for smooth merging.
In this embodiment, the policy determining module 104 is further configured to:
and when the control strategy is determined to be a speed change and combination strategy, acquiring an overtaking speed threshold value, and acquiring the highest speed limit corresponding to the road section where the position of the vehicle is located from the navigation system.
The overtaking speed threshold value can be determined according to the speed of the vehicle, the corresponding relation between the speed of the vehicle and the overtaking speed threshold value is stored in the data storage unit of the vehicle in advance, and the speed of the vehicle and the overtaking speed threshold value are in positive correlation, so that the faster speed is used for doubling when the speed of the vehicle is higher, the time of the whole doubling process is shortened, the relative speed between the vehicle and other vehicles in the position range of a dangerous area is pulled, the influence on the normal running of other vehicles is avoided, the running safety is improved, and the probability of accidents is reduced.
And when the speed of the vehicle plus the overtaking speed threshold is smaller than the highest speed limit, modifying the speed change doubling strategy into an acceleration doubling strategy.
And when the speed of the vehicle plus the overtaking speed threshold is greater than the highest speed limit, modifying the speed change doubling strategy into a speed reduction doubling strategy.
It can be understood that when the speed of the vehicle plus the overtaking speed threshold is less than the highest speed limit, the condition that the speed of the vehicle has an increasable space in the road safety speed limit at the moment is shown, and accelerated overtaking and merging can be carried out; when the speed of the vehicle plus the overtaking speed threshold is greater than the highest speed limit, the speed of the vehicle is higher, the speed of the vehicle does not have an increasable space in the road safety speed limit, the overspeed risk may occur if the vehicle is accelerated to overtake and the doubling is forced, the accident hidden danger is also increased, and the deceleration doubling is required to be performed at the moment, so that the doubling is safely completed.
The control execution module 105 is configured to, when receiving the control strategy, perform corresponding control on the host vehicle according to the control strategy.
In this embodiment, the control execution module 105 is specifically configured to:
and when the direct doubling strategy is received, controlling the opening degree of an accelerator pedal of the vehicle according to the direct doubling strategy so as to enable the vehicle to keep running at a constant speed, simultaneously controlling a steering wheel to rotate by a first angle in the doubling direction, and controlling the steering wheel to return to the normal state after a second time threshold value is passed so as to enable the vehicle to finish constant speed doubling.
And when the waiting strategy is received, controlling the opening degree of an accelerator pedal of the vehicle according to the waiting strategy to enable the vehicle to keep running at a constant speed, and controlling a steering wheel to keep a current angle to enable the vehicle to keep running at a constant speed in the original lane to continuously wait for a proper doubling opportunity.
In this embodiment, the control execution module 105 is further configured to:
when the acceleration doubling strategy is received, the opening degree of an accelerator pedal of the vehicle is increased according to the acceleration doubling strategy, the position range of the dangerous area determined in real time by the positioning module 102 and the position of the other vehicle received in real time by the V2X short-range communication module 103 are obtained, when the position of the other vehicle leaves the dangerous area range and passes a first time threshold, the steering wheel is controlled to rotate by a first angle in the doubling direction, and after a second time threshold, the steering wheel is controlled to return to the right, so that overtaking doubling can be safely accelerated.
The first angle, the first time threshold, and the second time threshold can be adjusted in real time according to the speed of the host vehicle to implement safe merging, and therefore, in this embodiment, the control execution module 105 is further configured to:
and when the acceleration doubling strategy or the deceleration doubling strategy is received, receiving the speed of the vehicle acquired by the sensor in real time.
And substituting the vehicle speed into the corresponding relation between the vehicle speed and the first angle, the first time threshold and the second time threshold which are stored in advance to obtain the first angle, the first time threshold and the second time threshold. The higher the vehicle speed, the smaller the angle of the steering wheel that needs to be rotated to safely and smoothly complete the merging, so the first angle is inversely related to the vehicle speed. And the higher the vehicle speed is, the higher the risk of accident is, and enough safety time should be reserved, so the first time threshold and the second time threshold are positively correlated with the vehicle speed.
As an optional embodiment, the control execution module 105 is further configured to obtain the outside temperature collected by the temperature sensor and the outside rainfall collected by the rainfall sensor, and use the V2X short-range communication module 103 as a relay to obtain the weather information of the current time period stored in the remote weather server, when any one of the conditions that the outside temperature is less than the temperature threshold, the outside rainfall is greater than the rainfall threshold, the weather information indicates that the current time period weather is rainy, and the weather information indicates that the current time period weather is snowy is satisfied, correct the first angle, reduce the value of the first angle, so as to avoid vehicle skidding or even runaway caused by a large instantaneous change of the front wheel angle under the condition of low road adhesion, and correct the first time threshold and the second time threshold at the same time, increase the first time threshold and the second time threshold, enough safety time is reserved under the condition of low road surface adhesive force, driving safety is guaranteed, and safe doubling is achieved.
When a deceleration and merging strategy is received, the opening degree of an accelerator pedal of the vehicle is adjusted to be zero according to the deceleration and merging strategy, the opening degree of a brake pedal of the vehicle is increased, a dangerous area position range determined in real time by the positioning module 102 and other vehicle positions of other vehicles received by the V2X short-range communication module 103 in real time are obtained, when the other vehicle positions leave the dangerous area range and a first time threshold value is passed, the steering wheel is controlled to rotate by a first angle in the merging direction, and after a second time threshold value is passed, the steering wheel is controlled to return to be right, so that safe deceleration and merging are realized.
As an optional embodiment, if the vehicle equipped with the system is a pure electric vehicle, when the control execution module 105 receives the deceleration and merge strategy, it may further select to adjust the opening of the accelerator pedal of the vehicle to zero and increase the power recovery level of the vehicle according to the deceleration and merge strategy, so as to save energy consumption on the premise of implementing safe merge.
As an optional embodiment, the control execution module 105 is further configured to, when receiving the risk avoidance policy, adjust the opening degree of the accelerator pedal of the vehicle to zero and increase the opening degree of the brake pedal of the vehicle according to the risk avoidance policy, so that the vehicle avoids risks by decelerating.
In this embodiment, in order to enable the host vehicle to restore the speed of the host vehicle to a speed suitable for the link after the completion of the merging, the control execution module 105 is further configured to:
and after the steering wheel is controlled to return to the right, the speed of the vehicle acquired by the sensor in real time is received.
When the speed of the vehicle is less than the highest speed limit, the opening of the accelerator pedal of the vehicle is increased, and when the speed of the vehicle is increased to be equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed.
When the speed of the vehicle is greater than the highest speed limit, the opening of the accelerator pedal of the vehicle is reduced, and when the speed of the vehicle is reduced to be equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed.
When the speed of the vehicle is equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled so that the vehicle keeps running at a constant speed.
As an alternative embodiment, if the vehicle equipped with the system is a pure electric vehicle, when the speed of the vehicle is greater than the highest speed limit, the opening degree of an accelerator pedal of the vehicle is reduced, and the power recovery level of the vehicle can be increased, and when the speed of the vehicle is reduced to be equal to the highest speed limit, the power recovery level of the vehicle is reduced, and the opening degree of the accelerator of the vehicle is controlled to keep the vehicle running at a constant speed, so that the energy consumption is saved on the premise of ensuring the safety.
It can be understood that, although the automatic doubling system based on V2X provided in the embodiment of the present invention mainly controls the vehicle to perform doubling according to the relative positions of the vehicle and other vehicles and the relative states of the vehicle and other vehicles, a plurality of sensors installed around the vehicle body may be combined at the same time, and in the whole doubling process, when the sensors detect that an obstacle is too close, the doubling process is stopped in time to ensure the driving safety.
The scheme flow for realizing the automatic doubling system based on V2X provided by the embodiment of the invention is shown in FIG. 3.
The technical scheme provided by the embodiment of the disclosure at least comprises the following beneficial effects:
the invention provides an automatic merging system based on V2X, which comprises a merging triggering module 101, a positioning module 102, a V2X short-range communication module 103, a strategy determining module 104 and a control executing module 105, wherein: the doubling trigger module 101 is configured to send a doubling trigger signal to the positioning module 102, the V2X short-range communication module 103, and the policy determination module 104 when receiving a doubling instruction; the positioning module 102 is configured to determine a dangerous area position range on a side of the vehicle when receiving the doubling trigger signal, and send the dangerous area position range to the policy determining module 104; the V2X short-range communication module 103 is configured to, when receiving the parallel line trigger signal, receive the other vehicle position, the other vehicle speed, the other vehicle accelerator pedal state, and the other vehicle brake pedal state of the other vehicle within a range that the own vehicle is taken as a center and a communication distance threshold is taken as a radius, and send the other vehicle position, the other vehicle speed, the other vehicle accelerator pedal state, and the other vehicle brake pedal state to the policy determination module 104; the strategy determining module 104 is configured to receive the speed of the vehicle acquired by the sensor when receiving the doubling trigger signal, determine that the control strategy is one of a direct doubling strategy, a waiting strategy and a speed change doubling strategy according to the speed of the vehicle, the position range of the dangerous area, the position of another vehicle, the speed of another vehicle, the accelerator pedal state of another vehicle and the brake pedal state of another vehicle, and send the control strategy to the control executing module 105; the control execution module 105 is configured to, when receiving the control strategy, perform corresponding control on the host vehicle according to the control strategy. The V2X technology is integrated into the traditional automatic doubling system, so that when the vehicle needs to be doubled, the V2X short-range communication module 103 is used for acquiring various abundant vehicle information of surrounding vehicles, different automatic doubling strategies are flexibly adopted according to the various abundant vehicle information of the surrounding vehicles, safe automatic doubling can be guaranteed, automatic doubling can be completed as fast as possible, and the driving efficiency is improved on the basis of guaranteeing the driving safety and reducing the possibility of accidents.
Those skilled in the art will appreciate that the implementation schemes of the above embodiments can be implemented by hardware, or by hardware related to the instructions of the program, and the program can be stored in a computer readable storage medium, and the above mentioned storage medium can be read only memory, magnetic or optical disk, etc.
In the present application, it is to be understood that the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.
The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An automatic doubling system based on V2X, which is characterized by comprising a doubling triggering module, a positioning module, a V2X short-range communication module, a strategy determining module and a control execution module, wherein:
the doubling triggering module is used for sending doubling triggering signals to the positioning module, the short-range communication module and the strategy determining module when receiving a doubling instruction;
the positioning module is used for determining a dangerous area position range at the side of the vehicle when receiving the doubling trigger signal and sending the dangerous area position range to the strategy determining module;
the V2X short-range communication module is used for receiving the position, the speed, the accelerator pedal state and the brake pedal state of other vehicles within the range taking the vehicle as the center and taking the communication distance threshold as the radius when receiving the doubling trigger signal, and sending the positions, the speeds, the accelerator pedal states and the brake pedal states to the strategy determination module;
the strategy determining module is used for receiving the speed of the vehicle acquired by the sensor when the doubling triggering signal is received, determining a control strategy to be one of a direct doubling strategy, a waiting strategy and a speed change doubling strategy according to the speed of the vehicle, the position range of the dangerous area, the position of the other vehicle, the speed of the other vehicle, the accelerator pedal state of the other vehicle and the brake pedal state of the other vehicle, and sending the control strategy to the control executing module;
the control execution module is used for correspondingly controlling the vehicle according to the control strategy when receiving the control strategy;
the doubling instruction and the doubling trigger signal both carry doubling directions, and the positioning module is specifically configured to:
when the doubling trigger signal is received, determining the position of the vehicle, wherein the position of the vehicle refers to the central point position of the vehicle;
establishing a rectangular coordinate system by taking the vehicle position as a coordinate origin, wherein the y axis of the rectangular coordinate is parallel to the vehicle advancing direction and the positive direction points to the vehicle advancing direction, and the x axis is perpendicular to the vehicle advancing direction and the positive direction points to the right side of the vehicle;
obtaining the empirical vehicle width W, the empirical vehicle length L and the transverse safe distance threshold value delta1And a longitudinal safety distance threshold δ2；
When the merging direction is right, determining the position range of the dangerous area as { (x, y) | x ∈ (W + delta)1,2W+2δ1),y∈(-L-δ2，L+δ2)}；
When the doubling direction is left, determining the position range of the dangerous area as { (x, y) | x ∈ (-2W-2 δ)1,-W-δ1),y∈(-L-δ2，L+δ2)}。
2. The system of claim 1, wherein the doubling trigger module is specifically configured to:
and when the doubling instruction carrying the doubling direction is received, sending a doubling trigger signal carrying the doubling direction to the positioning module, the V2X short-range communication module and the strategy determination module according to the doubling instruction carrying the doubling direction.
3. The system of claim 1,
the V2X short-range communication module is further configured to:
when the doubling trigger signal is received, other vehicle size information of other vehicles in the range taking the vehicle as the center and taking the communication distance threshold as the radius is received and sent to the positioning module,
the positioning module is further configured to:
and correcting the empirical vehicle width W and the empirical vehicle length L according to the other vehicle size information.
4. The system of claim 1, wherein the policy determination module is specifically configured to:
judging whether the other vehicle position of the other vehicle is within the position range of the dangerous area, wherein the other vehicle position refers to the central point position of the other vehicle;
when the position of the other vehicle does not fall within the position range of the dangerous area, determining the control strategy as a direct merging strategy;
when the position of the other vehicle is within the position range of the dangerous area, judging the relationship between the speed of the other vehicle and the speed of the vehicle;
when the speed of the other vehicle is greater than or less than the speed of the vehicle, determining a control strategy as a waiting strategy;
when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the opening of the accelerator pedal of the other vehicle is increased, determining a control strategy as a waiting strategy;
when the speed of the other vehicle is equal to the speed of the vehicle, and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is smaller or the brake pedal state of the other vehicle indicates that the brake pedal opening of the other vehicle is larger, determining that a control strategy is a waiting strategy;
and when the speed of the other vehicle is equal to the speed of the vehicle and the accelerator pedal state of the other vehicle indicates that the accelerator pedal opening of the other vehicle is unchanged, determining that the control strategy is a speed-changing and wire-combining strategy.
5. The system of claim 4, wherein the policy determination module is further configured to:
when the control strategy is determined to be a variable speed doubling strategy, acquiring an overtaking speed threshold value, and acquiring the highest speed limit corresponding to the road section where the position of the vehicle is located from a navigation system;
when the speed of the vehicle plus the overtaking speed threshold is smaller than the highest speed limit, modifying the speed change doubling strategy into an acceleration doubling strategy;
and when the speed of the vehicle plus the overtaking speed threshold is greater than the highest speed limit, modifying the speed change doubling strategy into a speed reduction doubling strategy.
6. The system of claim 4, wherein the control execution module is specifically configured to:
when the direct doubling strategy is received, controlling the opening degree of an accelerator pedal of the vehicle according to the direct doubling strategy so as to enable the vehicle to keep running at a constant speed, controlling a steering wheel to rotate towards the doubling direction by a first angle, and controlling the steering wheel to return to the normal state after a second time threshold value is passed;
and when the waiting strategy is received, controlling the opening degree of an accelerator pedal of the vehicle to enable the vehicle to keep running at a constant speed according to the waiting strategy, and controlling a steering wheel to keep a current angle.
7. The system of claim 5, wherein the control execution module is further configured to:
when the acceleration doubling strategy is received, according to the acceleration doubling strategy, the opening degree of an accelerator pedal of the vehicle is increased, the position range of the dangerous area determined in real time by the positioning module and the position of the other vehicle received by the V2X short-range communication module in real time are obtained, when the position of the other vehicle leaves the dangerous area range and a first time threshold value is passed, the steering wheel is controlled to rotate by a first angle in the doubling direction, and after a second time threshold value is passed, the steering wheel is controlled to return to the right;
when the deceleration and doubling strategy is received, the opening degree of an accelerator pedal of the vehicle is adjusted to be zero according to the deceleration and doubling strategy, the opening degree of a brake pedal of the vehicle is increased, the dangerous area position range determined in real time by the positioning module and the position of the other vehicle received by the V2X short-range communication module in real time are obtained, when the position of the other vehicle leaves the dangerous area range and passes through the first time threshold, the steering wheel is controlled to rotate by a first angle in the doubling direction, and after the second time threshold, the steering wheel is controlled to return to be right.
8. The system of claim 6 or 7, wherein the control execution module is further configured to:
when the speed change doubling strategy is received, receiving the speed of the vehicle acquired by a sensor in real time;
substituting the vehicle speed into a corresponding relation between the vehicle speed and a first angle, a first time threshold and a second time threshold which are stored in advance to obtain the first angle, the first time threshold and the second time threshold, wherein the first angle and the vehicle speed are in negative correlation, and the first time threshold and the second time threshold and the vehicle speed are in positive correlation.
9. The system of claim 7, wherein the control execution module is further configured to:
after the steering wheel is controlled to return to the right, the speed of the vehicle acquired by the sensor in real time is received;
when the speed of the vehicle is less than the highest speed limit, the opening degree of an accelerator pedal of the vehicle is increased, and when the speed of the vehicle is increased to be equal to the highest speed limit, the opening degree of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed;
when the speed of the vehicle is greater than the highest speed limit, the opening of an accelerator pedal of the vehicle is reduced, and when the speed of the vehicle is reduced to be equal to the highest speed limit, the opening of the accelerator of the vehicle is controlled to enable the vehicle to keep running at a constant speed;
and when the speed of the vehicle is equal to the highest speed limit, controlling the opening of the accelerator of the vehicle to enable the vehicle to keep running at a constant speed.
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| CN111552302B (en) * | 2019-07-12 | 2021-05-28 | 西华大学 | Automatic driving and merging control method for automobiles in road with merging lanes |
| CN111063057B (en) * | 2019-11-25 | 2022-02-11 | 吉林大学 | Method for realizing SOTIF (soft inertial navigation function) based on historical data track planning |
| CN111231949A (en) * | 2020-02-27 | 2020-06-05 | 江苏大学 | Anti-collision system and method for side road vehicle in heavy rain and dense fog weather |
| CN111824307B (en) * | 2020-06-18 | 2021-08-24 | 北京骑胜科技有限公司 | Vehicle control method, device, equipment, vehicle and medium |
| CN117456753B (en) * | 2023-12-26 | 2024-03-08 | 山东高速信息集团有限公司 | Safety early warning method and system between vehicles |
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