CN109693669A - It is a kind of to determine recently in the method and system of diameter front truck - Google Patents
It is a kind of to determine recently in the method and system of diameter front truck Download PDFInfo
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- CN109693669A CN109693669A CN201811639283.9A CN201811639283A CN109693669A CN 109693669 A CN109693669 A CN 109693669A CN 201811639283 A CN201811639283 A CN 201811639283A CN 109693669 A CN109693669 A CN 109693669A
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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
- B60W30/14—Adaptive cruise control
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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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
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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
- B60W2554/801—Lateral distance
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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
- B60W2554/804—Relative longitudinal speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
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- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
It determines recently the invention discloses a kind of in the method and system of diameter front truck, when determining that the lane line information got is invalid, the motion information of the front truck of this vehicle is transformed under the coordinate system of Ben Cheding curvature driving path, obtain relative movement information of the front truck relative to Ben Cheding curvature driving path, to the relative movement information of travel speed and front truck relative to Ben Cheding curvature driving path based on this vehicle, the nearest in diameter front truck of this vehicle is determined, so that the longitudinal velocity to this vehicle controls.The present invention is by the way that the motion information of the front truck of this vehicle to be transformed under the coordinate system of Ben Cheding curvature driving path, it realizes in the case where lane line information is invalid, determine the nearest in diameter front truck of this vehicle, and it is suitable for the case where this vehicle is in straight line and bend track simultaneously, therefore the present invention, which substantially increases, determines recently in the reliability of diameter front truck, to which to improve the control precision to this vehicle, the risk of collision reduced between vehicle provides foundation.
Description
Technical field
The present invention relates to automatic driving technical fields, more specifically, being related to a kind of determine recently in diameter front truck
Method and system.
Background technique
Adaptive learning algorithms (Adaptive Cruise Control, ACC) system is one and controls base in conventional cruise
The DAS (Driver Assistant System) of new generation to grow up on plinth, it not only has the repertoire of automatic cruising, can also be by vehicle-mounted
The road traffic environment of the sensors such as radar monitoring vehicle front.Once it was found that having in front of current driving lane apart from this spacing
From other closer preceding vehicles, by according to the relative distance and the information such as relative velocity between Ben Che and front truck, pass through control
The throttle of automobile and brake carry out longitudinal velocity control to vehicle, and Ben Che and front truck is made to keep suitable safe spacing.
Currently, when this vehicle is straight-line travelling path, in the case where there is lane line information, can it is simple according to Ben Che with
The fore-and-aft distance of front truck in same path, accurate this vehicle of determination it is nearest in diameter front truck.But when the traveling road of this vehicle
Diameter is without lane line information and in the case where being straight line or when the driving path of this vehicle is bend track, it is simple according to Ben Che with
The fore-and-aft distance of front truck determines that the nearest of this vehicle will have biggish deviation in diameter front truck.
Summary of the invention
In view of this, the present invention discloses a kind of determine recently in the method and system of diameter front truck, to realize in lane line letter
In the case that breath is invalid, can still determine the nearest in diameter front truck of this vehicle, and the program be suitable for simultaneously this vehicle be in straight line with
The case where bend track.
A method of it determines recently in diameter front truck, comprising:
Obtain the motion information of this vehicle, and be denoted as the first motion information, first motion information include: travel speed and
Yaw rate, obtains the motion information of the front truck of this vehicle, and is denoted as the second motion information, and second motion information includes:
Fore-and-aft distance, lateral distance and the longitudinally relative speed of the front truck and this vehicle, and obtain lane line information；
Judge whether the lane line information is effective；
If it is not, then obtaining the radius of curvature of Ben Cheding curvature driving path based on first motion information；
Based on the radius of curvature, second motion information is transformed into the coordinate of the Ben Cheding curvature driving path
Under system, relative movement information of the front truck relative to the Ben Cheding curvature driving path, the relative movement information are obtained
It include: Vertical Curve distance, lateral linear distance and longitudinal velocity；
The travel speed and the relative movement information based on this vehicle determine the nearest in diameter front truck of this vehicle.
Optionally, the mistake of the radius of curvature R that Ben Cheding curvature driving path is obtained based on first motion information
Journey are as follows:
R=VehSpd/Yawrate；
Wherein, VehSpd is the travel speed, and Yawrate is the yaw rate.
Optionally, it is based on the radius of curvature, second motion information is transformed into the Ben Cheding curvature and travels road
Under the coordinate system of diameter, relative movement information of the front truck relative to the Ben Cheding curvature driving path is obtained, is specifically included:
The lateral position deviation y of this vehicle and the front truck in Ben Cheding curvature driving path is calculatedoffset, process are as follows:
y。ffset=abs (R-y)；
Wherein, abs (R-y) is the function to take absolute value to the difference of (R-y), y be the front truck and this vehicle laterally away from
From；
The line and horizontal direction at the center of the front truck and the center of circle of the Ben Cheding curvature driving path is calculated
Angle theta, process are as follows:
θ=arctan (x/yoffset)；
Wherein, x is the fore-and-aft distance of the front truck and this vehicle；
Vertical Curve distance x of the front truck relative to the Ben Cheding curvature driving path is calculatedalign, process
Are as follows:
xalign=abs (R) × θ；
Wherein, abs (R) is the function to take absolute value to R；
Lateral linear distance y of the front truck relative to the Ben Cheding curvature driving path is calculatedalign, process
Are as follows:
Wherein, sign (R) is the sign function of radius of curvature R；
Longitudinal velocity v of the front truck relative to the Ben Cheding curvature driving path is calculatedx_align, process are as follows:
vx_align=vx·cosθ+vy·sinθ·sign(R)；
Wherein, vxFor the longitudinally relative speed of the front truck and this vehicle, vyFor the laterally opposed speed of the front truck and this vehicle
Degree.
Optionally, the travel speed based on this vehicle and the relative movement information, determine the nearest of this vehicle
In diameter front truck, specifically include:
When the travel speed of this vehicle is located at pre-set velocity interval, by the front truck relative to the Ben Cheding curvature
Driving path Vertical Curve distance carry out size comparison, by Vertical Curve apart from shortest front truck be determined as this vehicle it is nearest
Diameter front truck, wherein the speed maximum value in the pre-set velocity interval is threshold speed.
Optionally, the travel speed based on this vehicle and the relative movement information, determine the nearest of this vehicle
In diameter front truck, specifically include:
When the travel speed of this vehicle is greater than the threshold speed, the front truck of this vehicle is calculated relative to described
Vehicle determines the longitudinal impact time of curvature driving path, process are as follows:
ttcx=xalign/vx_align；
Wherein, ttcxFor the longitudinal impact time, xalignIt is the front truck relative to Ben Cheding curvature driving path
Vertical Curve distance, vx_alignLongitudinal velocity for the front truck relative to Ben Cheding curvature driving path；
The size for comparing each longitudinal impact time being calculated determines longitudinal impact time shortest front truck
For the nearest in diameter front truck of this vehicle.
Optionally, the travel speed based on this vehicle and the relative movement information, determine the nearest of this vehicle
Include: in diameter front truck
The travel speed and the relative movement information according to this vehicle, by the longitudinal impact time shortest front truck
The default amplitude of characteristic value increase, while the characteristic value of the shortest front truck of non-longitudinal collision time is reduced into the default amplitude；
Selected characteristic is worth the maximum front truck as the nearest in diameter front truck of this vehicle.
Optionally, the selected characteristic is worth the maximum front truck as the nearest of this vehicle and includes: in diameter front truck
After the adjacent periods of preset quantity, counting each front truck in each adjacent periods becomes this vehicle
The nearest number in diameter front truck, reject frequency of occurrence be lower than preset times and the adjacent periods knot in the preset quantity
Characteristic value after beam is not the front truck of maximum value in the characteristic value of each front truck；
After the adjacent periods for being chosen at the preset quantity, the maximum front truck of characteristic value is as this vehicle
Recently in diameter front truck.
It is a kind of to determine recently in the system of diameter front truck, comprising:
Acquiring unit for obtaining the motion information of this vehicle, and is denoted as the first motion information, the first motion information packet
Include: travel speed and yaw rate obtain the motion information of the front truck of this vehicle, and are denoted as the second motion information, and described second
Motion information includes: fore-and-aft distance, lateral distance and the longitudinally relative speed of the front truck and this vehicle, and obtains lane line letter
Breath；
First judging unit, for judging whether the lane line information is effective；
Radius of curvature acquiring unit, for being based on described first in the case where first judging unit is judged as NO
Motion information obtains the radius of curvature of Ben Cheding curvature driving path；
Second motion information is transformed into institute for being based on the radius of curvature by relative movement information acquiring unit
Under the coordinate system for stating Ben Cheding curvature driving path, the front truck is obtained relative to the opposite of the Ben Cheding curvature driving path
Motion information, the relative movement information include: Vertical Curve distance, lateral linear distance and longitudinal velocity；
First recently in diameter front truck determination unit, for the travel speed and relative motion letter based on this vehicle
Breath, determines the nearest in diameter front truck of this vehicle.
Optionally, described to be specifically used for recently in diameter front truck determination unit:
When the travel speed of this vehicle is located at pre-set velocity interval, by the front truck relative to the Ben Cheding curvature
The Vertical Curve distance of driving path carries out size comparison, and Vertical Curve is determined as the nearest of this vehicle apart from shortest front truck
In diameter front truck, wherein the speed maximum value in the pre-set velocity interval is threshold speed.
Optionally, described first includes: in diameter front truck determination unit recently
Numerical value adjust subelement, for according to this vehicle the travel speed and the relative movement information, will it is described indulge
To the default amplitude of the characteristic value of the shortest front truck of collision time increase, while by the feature of the shortest front truck of non-longitudinal collision time
Value reduces the default amplitude；
Subelement is chosen, is worth the maximum front truck as the nearest in diameter front truck of this vehicle for selected characteristic.
From above-mentioned technical solution it is found that determining recently the invention discloses a kind of in the method and system of diameter front truck,
When determining that the lane line information got is invalid, the motion information of the front truck of this vehicle is transformed into Ben Cheding curvature driving path
Under coordinate system, relative movement information of the front truck relative to Ben Cheding curvature driving path is obtained, thus the speed of the traveling based on this vehicle
Relative movement information relative to Ben Cheding curvature driving path of degree and front truck determines the nearest in diameter front truck of this vehicle, so as to
The longitudinal velocity of this vehicle is controlled.It can thus be seen that the present invention is by the way that the motion information of the front truck of this vehicle to be transformed into
Under the coordinate system of Ben Cheding curvature driving path, realizes in the case where lane line information is invalid, determine the nearest in diameter of this vehicle
Front truck, and the program is suitable for the case where this vehicle is in straight line and bend track simultaneously, relative to traditional scheme merely according to this
The fore-and-aft distance of vehicle and front truck determines the nearest for diameter front truck of this vehicle, and the present invention substantially increases determines recently before diameter
The reliability of vehicle, so that the risk of collision reduced between vehicle provides foundation to improve the control precision to this vehicle.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
Disclosed attached drawing obtains other attached drawings.
Fig. 1 is disclosed by the embodiments of the present invention a kind of determines recently in the method flow diagram of diameter front truck；
Fig. 2 is one kind disclosed by the embodiments of the present invention in the case where this vehicle is in bend track, and the distance of front truck is converted
Schematic diagram；
Fig. 3 is disclosed by the embodiments of the present invention a kind of determines recently in the structural schematic diagram of the system of diameter front truck.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It determines recently the embodiment of the invention discloses a kind of in the method and system of diameter front truck, is determining the lane got
When line information is invalid, the motion information of the front truck of this vehicle is transformed under the coordinate system of Ben Cheding curvature driving path, before obtaining
Relative movement information of the vehicle relative to Ben Cheding curvature driving path, thus travel speed and front truck based on this vehicle relative to
The relative movement information of Ben Cheding curvature driving path determines the nearest in diameter front truck of this vehicle, so as to the longitudinal velocity to this vehicle
It is controlled.It can thus be seen that the present invention travels road by the way that the motion information of the front truck of this vehicle is transformed into Ben Cheding curvature
Under the coordinate system of diameter, realizes in the case where lane line information is invalid, determine the nearest in diameter front truck of this vehicle, and the program is simultaneously
The case where being in straight line and bend track suitable for this vehicle, relative to the simple fore-and-aft distance according to Ben Che and front truck of traditional scheme
Determine the nearest for diameter front truck of this vehicle, the present invention substantially increases determines recently in the reliability of diameter front truck, to be
The control precision to this vehicle is improved, the risk of collision reduced between vehicle provides foundation.
Referring to Fig. 1, one embodiment of the invention discloses a kind of determine recently in the method flow diagram of diameter front truck, this method packet
Include step:
Step S101, the motion information of this vehicle is obtained, and is denoted as the first motion information, the motion information of the front truck of this vehicle,
And it is denoted as the second motion information and lane line information；
It should be noted that " in " first " and " the second motion information " in this step in " the first motion information "
Two " are used merely to distinguish the motion information of the motion information of this vehicle and front truck, are not to require or imply this vehicle
There are any this actual relationship or sequences between motion information and the motion information of front truck.
Specifically, first motion information of this vehicle includes: travel speed and yaw rate.It in practical applications, can be with
The travel speed that this vehicle is obtained using the velocity sensor installed on this vehicle is obtained using the angular-rate sensor installed on this vehicle
The yaw rate of this vehicle.
Second operation information of front truck includes: fore-and-aft distance, lateral distance and the longitudinally relative speed of front truck and this vehicle.
Lane line information includes: Lane detection degree, lane line position, deflection, curvature and curvature variation.
In practical applications, it can use the camera installed on this vehicle and radar obtain the motion information and vehicle of front truck
Diatom information, for details, reference can be made to mature schemes in the prior art, and details are not described herein again.
Step S102, whether effective lane line information is judged, if not, thening follow the steps S103；
It should be noted that whether lane line information effectively refers to: lane line information whether there is, is complete and quasi-
Really, when lane line information exists, is complete and accurate, then determine that lane line information is effective；Conversely, when lane line information meets:
Be not present, in imperfect and inaccurate three conditions any one or it is multiple when, then determine that lane line information is invalid.
Step S103, the radius of curvature of Ben Cheding curvature driving path is obtained based on the first motion information；
It should be noted that in practical applications, this vehicle driving path can regard one as and determine curvature driving path, because
This, can be based on the radius of curvature for the Ben Cheding curvature driving path that the motion information of this vehicle is estimated.
The radius of curvature R of Ben Cheding curvature driving path is calculated in (1) according to the following formula, and formula (1) is as follows:
R=VehSpd/Yawrate (1)；
In formula, VehSpd is the travel speed of this vehicle, and Yawrate is the yaw rate of this vehicle.
Step S104, it is based on radius of curvature, the second motion information is transformed into the coordinate system of Ben Cheding curvature driving path
Under, obtain relative movement information of the front truck relative to Ben Cheding curvature driving path；
It should be noted that front truck includes: Vertical Curve relative to the relative movement information of Ben Cheding curvature driving path
Distance, lateral linear distance and longitudinal velocity.
Specifically, referring to fig. 2, one kind disclosed in one embodiment of the invention is preceding in the case where this vehicle is in bend track
Vehicle 1 is this vehicle in transition diagram, Fig. 2, and 2 be front truck, and black overstriking curve is the travel speed according to this vehicle
The vehicle that the yaw rate Yawrate of VehSpd and this vehicle is estimated determines curvature driving path, and vehicle determines curvature traveling road
The calculation formula of the radius of curvature R of diameter is referring to formula (1).
It is assumed that the fore-and-aft distance of front truck 2 and this vehicle 1 is x, lateral distance y, longitudinally relative speed vx, laterally opposed
Speed is vy；
It is x that front truck, which includes: Vertical Curve distance relative to the motion information of Ben Cheding curvature driving path,align, it is laterally straight
Linear distance is yalignIt is v with longitudinal velocityx_align。
The lateral position deviation y of this vehicle and front truck in Ben Cheding curvature driving path is calculated according to formula (2)offset,
Formula (2) is as follows:
yoffser=abs (R-y) (2)；
In formula, abs (R-y) is the function to take absolute value to the difference of (R-y).
Line and the level side at the center of front truck and the center of circle of Ben Cheding curvature driving path are calculated according to formula (3)
To angle theta, formula (3) is as follows:
θ=arctan (x/yoffset)(3)；
Vertical Curve distance x of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (4)align, public
Formula (4) is as follows:
xalign=abs (R) × θ (4)；
In formula, abs (R) is the function to take absolute value to R.
Lateral linear distance y of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (5)align, public
Formula (5) is as follows:
In formula, sign (R) is the sign function of radius of curvature R.
Longitudinal velocity v of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (6)x_align, formula
(6) as follows:
vx_align=vx·cosθ+vy·sinθ·sign(R) (6)。
Although it should be strongly noted that Fig. 2 shows, in the case where this vehicle is in bend track, front truck away from
From transition diagram, but figure shown in Fig. 2 is not only applicable in the case that this vehicle is in bend track, equally applicable
In this vehicle is in straight way track the case where, when this vehicle is in straight way track, the yaw rate of this vehicle is a very small value,
It is so a great value according to the radius of curvature R that formula (1) is calculated, so that the black overstriking curve in Fig. 2
It is approximately straight line.
Step S105, the relative motion of travel speed and front truck relative to Ben Cheding curvature driving path based on this vehicle
Information determines the nearest in diameter front truck of this vehicle.
It should be noted that in practical applications, the Vertical Curve distance of the front truck and this vehicle that can use this vehicle determines
This vehicle it is nearest in diameter front truck；Also it can use longitudinal impact time of the front truck of this vehicle relative to Ben Cheding curvature driving path
To determine the nearest in diameter front truck of this vehicle.
In summary, determination disclosed by the invention is determining the lane line information got recently in the method for diameter front truck
When invalid, the motion information of the front truck of this vehicle be transformed under the coordinate system of Ben Cheding curvature driving path, it is opposite to obtain front truck
In the relative movement information of Ben Cheding curvature driving path, so that travel speed and front truck based on this vehicle are relative to Ben Cheding
The relative movement information of curvature driving path determines the nearest in diameter front truck of this vehicle, so that the longitudinal velocity to this vehicle is controlled
System.It can thus be seen that the motion information of the front truck of this vehicle by being transformed into the seat of Ben Cheding curvature driving path by the present invention
Under mark system, realizes in the case where lane line information is invalid, determine the nearest in diameter front truck of this vehicle, and the program is suitable for simultaneously
This vehicle is in the case where straight line and bend track, determines according to the fore-and-aft distance of Ben Che and front truck merely relative to traditional scheme
This vehicle it is nearest for diameter front truck, the present invention substantially increase determine recently in the reliability of diameter front truck, thus for improve pair
The control precision of this vehicle, the risk of collision reduced between vehicle provide foundation.
Based on above-mentioned discussion it is found that in practical applications, can use the front truck of this vehicle and the Vertical Curve distance of this vehicle
Determine the nearest in diameter front truck of this vehicle；Also it can use longitudinal impact of the front truck of this vehicle relative to Ben Cheding curvature driving path
Time determines the nearest in diameter front truck of this vehicle, and therefore, step S105 can specifically include:
(1) when the travel speed of this vehicle is located at pre-set velocity interval, the speed maximum value in pre-set velocity interval is speed
Threshold value is spent, the Vertical Curve distance of the front truck of this vehicle is subjected to size comparison, and Vertical Curve is determined apart from shortest front truck
For the nearest in diameter front truck of this vehicle.
In the present embodiment, depending on pre-set velocity interval foundation actual demand, such as [0,10] m/s.
According to step S104 it is found that the second operation information of all front trucks of this vehicle has all been transformed into Ben Cheding by the present invention
Under the coordinate system of curvature driving path, so that the relative motion for obtaining all front trucks relative to Ben Cheding curvature driving path is believed
Breath, therefore, by the way that the Vertical Curve distance of the front truck of this vehicle to be compared, that is, can determine each front truck to longitudinal prestige of this vehicle
Side of body degree, when some front truck and this vehicle Vertical Curve distance most in short-term, show the threat maximum that the front truck constitutes this vehicle,
In this case, Vertical Curve is determined as the nearest in diameter front truck of this vehicle apart from shortest front truck.In practical applications, can lead to
It crosses and the longitudinal velocity of this vehicle is controlled, make Ben Che and keep default safe distance in diameter front truck recently.
It wherein, then will be before this when the front truck that the travel speed of this vehicle is located at pre-set velocity interval and this vehicle only has one
Vehicle is determined as the nearest in diameter front truck of this vehicle.
(2) when the travel speed of this vehicle is greater than threshold speed, the front truck of this vehicle is calculated relative to this vehicle according to formula (7)
Determine the longitudinal impact time ttc of curvature driving pathx, formula (7) is as follows:
ttcx=xalign/vx_align(7)；
In formula, xalignVertical Curve distance for front truck relative to Ben Cheding curvature driving path, vx_alignFor front truck phase
For the longitudinal velocity of Ben Cheding curvature driving path.
The longitudinal impact time being calculated is subjected to size comparison, and longitudinal impact time shortest front truck is determined as this
Vehicle it is nearest in diameter front truck.
Wherein, when the travel speed of this vehicle only has one greater than the front truck of threshold speed and this vehicle, then the front truck is true
It is set to the nearest in diameter front truck of this vehicle.
It should be noted that when the travel speed of this vehicle is very fast, it, will not be simple according to this to improve travel safety
The Vertical Curve distance of the front truck of vehicle and this vehicle determines the nearest in diameter front truck of this vehicle, but utilize the front truck of this vehicle relative to
The longitudinal impact time of Ben Cheding curvature driving path determines the nearest in diameter front truck of this vehicle.
Wherein, the value depend on the actual needs of threshold speed, such as 10m/s, the present invention is it is not limited here.
In summary, the present invention be directed to this vehicle in friction speed section use different this vehicle of determination it is nearest
The scheme of diameter front truck, when the speed of this vehicle is slower, the Vertical Curve distance of the front truck and this vehicle using this vehicle that can be simple
Determine the nearest in diameter front truck of this vehicle；Conversely, to improve travel safety, the present invention utilizes this when the fast speed of this vehicle
The front truck of vehicle determines the nearest in diameter front truck of this vehicle relative to the longitudinal impact time of Ben Cheding curvature driving path, both
Scheme is suitable for the case where this vehicle is in straight line and bend track, relative to traditional scheme merely according to the vertical of Ben Che and front truck
Determining the nearest for diameter front truck of this vehicle to distance, the present invention, which substantially increases, to be determined recently in the reliability of diameter front truck,
To which to improve the control precision to this vehicle, the risk of collision reduced between vehicle provides foundation.
It, can be with when lane line information is effective, namely when lane line information exists, is complete and accurate in above-described embodiment
The nearest in diameter front truck of this vehicle is determined based on lane line information.
Therefore, in order to further optimize the above embodiments, when step S102 be judged to no namely lane line information it is invalid when, vehicle
Choosing method can with comprising steps of
Step S106, the nearest in diameter front truck of this vehicle is determined based on lane line information.
Specifically, when this vehicle is straight-line travelling path, it, can be merely according to this vehicle in the case where there is lane line information
With the fore-and-aft distance of front truck, the nearest in diameter front truck of this vehicle is determined, for details, reference can be made to existing mature schemes, and details are not described herein again.
When this vehicle is bend track driving path, position in lane line information, deflection, curvature, song can use
Whether rate change rate and Lane detection degree and front truck are located at two boundaries of lane line relative to the lateral linear distance of this vehicle
Lateral distance among, to determine candidate front truck, then according to the first of the second motion information of candidate front truck and Ben Che the movement
Information determines the nearest in diameter front truck of this vehicle using the scheme in step S103~step S105 from candidate front truck.
It is appreciated that this vehicle is in the process of moving, unavoidable on driving path to have some disturbance vehicles, this is disturbed
Motor-car namely can cut repeatedly this vehicle sensor investigative range, make this vehicle accidentally by this repeatedly vehicle incision vehicle the most most
Closely in diameter front truck, so as to cause in diameter front truck frequent switching, making this vehicle frequently braking recently or frequently slowing down, thereby reduce
Driving comfort level.
Based on this, the present invention is determining the nearest after diameter front truck of this vehicle based on embodiment shown in FIG. 1, can also be into one
Step determines this in the riding stability of diameter front truck recently.
Therefore, specifically can also include: after step S105
According to the travel speed and relative movement information of this vehicle, the characteristic value of longitudinal impact time shortest front truck is increased
Default amplitude, while the characteristic value of the shortest front truck of non-longitudinal collision time is reduced into default amplitude；
Selected characteristic is worth maximum front truck as the nearest in diameter front truck of this vehicle.
Wherein, selected characteristic is worth maximum front truck as the nearest process in diameter front truck of this vehicle and may include:
After the adjacent periods of preset quantity, count each front truck in each adjacent periods become this vehicle it is nearest
The number of diameter front truck rejects frequency of occurrence lower than preset times and the characteristic value after adjacent periods of preset quantity is not
The front truck of maximum value in the characteristic value of each front truck；
After the adjacent periods for being chosen at preset quantity, the maximum front truck of characteristic value is as the nearest before diameter of this vehicle
Vehicle.
Wherein, adjacent periods refer to two adjacent sampling periods.
It illustrates, it is assumed that each is recently 0 in the initial value of the characteristic value of diameter front truck, and predetermined amplitude 2 is adjacent
The preset quantity in period is 5.
When a certain front truck of this vehicle is confirmed as the nearest in diameter front truck of this vehicle in first sampling period, then will
This adds 2 in the characteristic value of diameter front truck recently.
In second sampling period, using embodiment shown in FIG. 1, the nearest in diameter front truck of this vehicle has been determined again
When, then judge in nearest determining in diameter front truck and first sampling period nearest before diameter of determining of second sampling period
Whether vehicle is same front truck, if it is, the nearest characteristic value in diameter front truck that first sampling period determines is added 2 again；
If it is not, then the nearest characteristic value in diameter front truck that second sampling period determines is added 2, and first sampling period is determined
The nearest characteristic value in diameter front truck subtract 2.
Since adjacent periods refer to two adjacent sampling periods, the first sampling period in the present embodiment and
Second sampling period was properly termed as an adjacent periods.
Repeatedly, until the quantity of adjacent periods reaches 5, and using the maximum front truck of characteristic value as this vehicle it is nearest
Diameter front truck, so that this vehicle will carry out longitudinal speed control in diameter front truck recently based on the target.
In summary, therefore present invention effectively prevents in this vehicle driving process, the presence because disturbing vehicle causes most
Closely in diameter front truck frequent switching, the case where making this vehicle frequently braking or frequently slow down, to improve driving comfort level.
It is corresponding with above method embodiment, it determines recently the invention also discloses a kind of in the system of diameter front truck.
It is a kind of disclosed in one embodiment of the invention to determine recently in the structural schematic diagram of the system of diameter front truck referring to Fig. 3, it should
System includes:
Acquiring unit 201 for obtaining the motion information of this vehicle, and is denoted as the first motion information, the fortune of the front truck of this vehicle
Dynamic information, and the second motion information and lane line information will be denoted as；
It should be noted that in " first " and " the second motion information " in the present embodiment in " the first motion information "
" second " is used merely to distinguish the motion information of the motion information of this vehicle and front truck, is not to require or imply this vehicle
Motion information and front truck motion information between there are any this actual relationship or sequences.
Specifically, first motion information of this vehicle includes: travel speed and yaw rate.It in practical applications, can be with
The travel speed that this vehicle is obtained using the velocity sensor installed on this vehicle is obtained using the angular-rate sensor installed on this vehicle
The yaw rate of this vehicle.
Second operation information of front truck includes: fore-and-aft distance, lateral distance and the longitudinally relative speed of front truck and this vehicle.
Lane line information includes: Lane detection degree, lane line position, deflection, curvature and curvature variation.
In practical applications, it can use the camera installed on this vehicle and radar obtain the motion information and vehicle of front truck
Diatom information, for details, reference can be made to mature schemes in the prior art, and details are not described herein again.
First judging unit 202, for judging whether lane line information is effective；
It should be noted that whether lane line information effectively refers to: lane line information whether there is, is complete and quasi-
Really, when lane line information exists, is complete and accurate, then determine that lane line information is effective；Conversely, when lane line information meets:
Be not present, in imperfect and inaccurate three conditions any one or it is multiple when, then determine that lane line information is invalid.
Radius of curvature acquiring unit 203, for being transported based on first in the case where the first judging unit 202 is judged as NO
Dynamic information obtains the radius of curvature of Ben Cheding curvature driving path；
It should be noted that in practical applications, this vehicle driving path can regard one as and determine curvature driving path, because
This, can be based on the radius of curvature for the Ben Cheding curvature driving path that the motion information of this vehicle is estimated.
The radius of curvature R of Ben Cheding curvature driving path is calculated in (1) according to the following formula, and formula (1) is as follows:
R=VehSpd/Yawrate(1)；
In formula, VehSpd is the travel speed of this vehicle, and Yawrate is the yaw rate of this vehicle.
Second motion information is transformed into described vehicle for being based on radius of curvature by relative movement information acquiring unit 204
Under the coordinate system for determining curvature driving path, relative movement information of the front truck relative to Ben Cheding curvature driving path is obtained；
Relative movement information includes: Vertical Curve distance, lateral linear distance and longitudinal velocity.
It should be noted that front truck includes: Vertical Curve relative to the relative movement information of Ben Cheding curvature driving path
Distance, lateral linear distance and longitudinal velocity.
Specifically, referring to fig. 2, one kind disclosed in one embodiment of the invention is preceding in the case where this vehicle is in bend track
Vehicle 1 is this vehicle in transition diagram, Fig. 2, and 2 be front truck, and black overstriking curve is the travel speed according to this vehicle
The vehicle that the yaw rate Yawrate of VehSpd and this vehicle is estimated determines curvature driving path, and vehicle determines curvature traveling road
The calculation formula of the radius of curvature R of diameter is referring to formula (1).
It is assumed that the fore-and-aft distance of front truck 2 and this vehicle 1 is x, lateral distance y, longitudinally relative speed vx, laterally opposed
Speed is vy；
It is x that front truck, which includes: Vertical Curve distance relative to the motion information of Ben Cheding curvature driving path,align, it is laterally straight
Linear distance is yalignIt is v with longitudinal velocityx_align。
The lateral position deviation y of this vehicle and front truck in Ben Cheding curvature driving path is calculated according to formula (2)offset,
Formula (2) is as follows:
yoffset=abs (R-y) (2)；
In formula, abs (R-y) is the function to take absolute value to the difference of (R-y).
Line and the level side at the center of front truck and the center of circle of Ben Cheding curvature driving path are calculated according to formula (3)
To angle theta, formula (3) is as follows:
θ=arctan (x/yoffset) (3)；
Vertical Curve distance x of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (4)align, public
Formula (4) is as follows:
xalign=abs (R) × θ (4)；
In formula, abs (R) is the function to take absolute value to R.
Lateral linear distance y of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (5)align, public
Formula (5) is as follows:
In formula, sign (R) is the sign function of radius of curvature R.
Longitudinal velocity v of the front truck relative to Ben Cheding curvature driving path is calculated according to formula (6)x_align, formula
(6) as follows:
vx_align=vx·cosθ+vy·sinθ·sign(R) (6)。
Although it should be strongly noted that Fig. 2 shows, in the case where this vehicle is in bend track, front truck away from
From transition diagram, but figure shown in Fig. 2 is not only applicable in the case that this vehicle is in bend track, equally applicable
In this vehicle is in straight way track the case where, when this vehicle is in straight way track, the yaw rate of this vehicle is a very small value,
It is so a great value according to the radius of curvature R that formula (1) is calculated, so that the black overstriking curve in Fig. 2
For straight line.
First recently in diameter front truck determination unit 205, for travel speed and relative movement information based on this vehicle, really
Ding Benche's is nearest in diameter front truck.
It should be noted that in practical applications, the Vertical Curve distance of the front truck and this vehicle that can use this vehicle determines
This vehicle it is nearest in diameter front truck；Also it can use longitudinal impact time of the front truck of this vehicle relative to Ben Cheding curvature driving path
To determine the nearest in diameter front truck of this vehicle.
In summary, determination disclosed by the invention is determining the lane line information got recently in the system of diameter front truck
When invalid, the motion information of the front truck of this vehicle be transformed under the coordinate system of Ben Cheding curvature driving path, it is opposite to obtain front truck
In the relative movement information of Ben Cheding curvature driving path, so that travel speed and front truck based on this vehicle are relative to Ben Cheding
The relative movement information of curvature driving path determines the nearest in diameter front truck of this vehicle, so that the longitudinal velocity to this vehicle is controlled
System.It can thus be seen that the motion information of the front truck of this vehicle by being transformed into the seat of Ben Cheding curvature driving path by the present invention
Under mark system, realizes in the case where lane line information is invalid, determine the nearest in diameter front truck of this vehicle, and the program is suitable for simultaneously
This vehicle is in the case where straight line and bend track, determines according to the fore-and-aft distance of Ben Che and front truck merely relative to traditional scheme
This vehicle it is nearest for diameter front truck, the present invention substantially increase determine recently in the reliability of diameter front truck, thus for improve pair
The control precision of this vehicle, the risk of collision reduced between vehicle provide foundation.
Based on above-mentioned discussion it is found that in practical applications, can use the front truck of this vehicle and the Vertical Curve distance of this vehicle
Determine the nearest in diameter front truck of this vehicle；Also it can use longitudinal impact of the front truck of this vehicle relative to Ben Cheding curvature driving path
Time determines that the nearest of this vehicle specifically can be used in diameter front truck determination unit 205 recently in diameter front truck, first: when this vehicle
When travel speed is located at pre-set velocity interval, the Vertical Curve distance by front truck relative to Ben Cheding curvature driving path is carried out greatly
Small comparison, and Vertical Curve is determined as the nearest in diameter front truck of this vehicle apart from shortest front truck；
Wherein, the speed maximum value in pre-set velocity interval is threshold speed.Pre-set velocity interval according to actual demand and
It is fixed, such as [0,10] m/s.
It wherein, then will be before this when the front truck that the travel speed of this vehicle is located at pre-set velocity interval and this vehicle only has one
Vehicle is determined as the nearest in diameter front truck of this vehicle.
First specifically can be also used in diameter front truck determination unit 205 recently:
When the travel speed of this vehicle is greater than threshold speed, the front truck of this vehicle is calculated relative to Ben Cheding according to formula (7)
The longitudinal impact time of curvature driving path, formula (7) are as follows:
ttcx=xalign/vx_align(7)；
In formula, ttcxFor longitudinal impact time, xalignVertical Curve for front truck relative to Ben Cheding curvature driving path
Distance, vx_alignLongitudinal velocity for front truck relative to Ben Cheding curvature driving path；
The longitudinal impact time being calculated is subjected to size comparison, and longitudinal impact time shortest front truck is determined as
This vehicle it is nearest in diameter front truck.
Wherein, when the travel speed of this vehicle only has one greater than the front truck of threshold speed and this vehicle, then the front truck is true
It is set to the nearest in diameter front truck of this vehicle.
It should be noted that when the travel speed of this vehicle is very fast, it, will not be simple according to this to improve travel safety
The Vertical Curve distance of the front truck of vehicle and this vehicle determines the nearest in diameter front truck of this vehicle, but utilize the front truck of this vehicle relative to
The longitudinal impact time of Ben Cheding curvature driving path determines the nearest in diameter front truck of this vehicle.
Wherein, the value depend on the actual needs of threshold speed, such as 10m/s, the present invention is it is not limited here.
In summary, the present invention be directed to this vehicle in friction speed section use different this vehicle of determination it is nearest
The scheme of diameter front truck, when the speed of this vehicle is slower, the Vertical Curve distance of the front truck and this vehicle using this vehicle that can be simple
Determine the nearest in diameter front truck of this vehicle；Conversely, to improve travel safety, the present invention utilizes this when the fast speed of this vehicle
The front truck of vehicle determines the nearest in diameter front truck of this vehicle relative to the longitudinal impact time of Ben Cheding curvature driving path, both
Scheme is suitable for the case where this vehicle is in straight line and bend track, relative to traditional scheme merely according to the vertical of Ben Che and front truck
Determining the nearest for diameter front truck of this vehicle to distance, the present invention, which substantially increases, to be determined recently in the reliability of diameter front truck,
To which to improve the control precision to this vehicle, the risk of collision reduced between vehicle provides foundation.
It, can be with when lane line information is effective, namely when lane line information exists, is complete and accurate in above-described embodiment
The nearest in diameter front truck of this vehicle is determined based on lane line information.
Therefore, in order to further optimize the above embodiments, determination can also include: in the system of diameter front truck recently
Second recently in diameter front truck determination unit 206, in the case where the first judging unit 202 is judged as NO, base
The nearest in diameter front truck of this vehicle is determined in lane line information.
Specifically, when this vehicle is straight-line travelling path, it, can be merely according to this vehicle in the case where there is lane line information
With the fore-and-aft distance of front truck, the nearest in diameter front truck of this vehicle is determined, for details, reference can be made to existing mature schemes, and details are not described herein again.
When this vehicle is bend track driving path, position in lane line information, deflection, curvature, song can use
Whether rate change rate and Lane detection degree and front truck are located at two boundaries of lane line relative to the lateral linear distance of this vehicle
Lateral distance among, to determine candidate front truck, then according to the first of the second motion information of candidate front truck and Ben Che the movement
Information is determined in diameter front truck single recently using radius of curvature acquiring unit 203, relative movement information acquiring unit 204 and first
Scheme in member 205 determines the nearest in diameter front truck of this vehicle from candidate front truck.
It is appreciated that this vehicle is in the process of moving, unavoidable on driving path to have some disturbance vehicles, this is disturbed
Motor-car namely can cut repeatedly this vehicle sensor investigative range, make this vehicle that this accidentally be cut to vehicle repeatedly as existing recently
Diameter front truck, so as to cause in diameter front truck frequent switching, making this vehicle frequently braking recently or frequently slowing down, thereby reduce driving
Comfort level.
Based on this, the present invention is determining the nearest after diameter front truck of this vehicle based on embodiment shown in Fig. 3, can also be into one
Step determines this in the riding stability of diameter front truck recently.
Therefore, first may include: in diameter front truck determination unit 205 recently
Numerical value adjusts subelement, for the travel speed and relative movement information according to this vehicle, most by the longitudinal impact time
The default amplitude of characteristic value increase of short front truck, while the characteristic value of the shortest front truck of non-longitudinal collision time is reduced into default width
Value；
Subelement is chosen, is worth maximum front truck as the nearest in diameter front truck of this vehicle for selected characteristic.
Wherein, subelement is chosen to be specifically used for:
After the adjacent periods of preset quantity, count each front truck in each adjacent periods become this vehicle it is nearest
The number of diameter front truck rejects frequency of occurrence lower than preset times and the characteristic value after adjacent periods of preset quantity is not
The front truck of maximum value in the characteristic value of each front truck；
After the adjacent periods for being chosen at preset quantity, the maximum front truck of characteristic value is as the nearest before diameter of this vehicle
Vehicle.
Wherein, adjacent periods refer to two adjacent sampling periods.
Therefore present invention effectively prevents in this vehicle driving process, the presence because disturbing vehicle causes recently in diameter front truck
Frequent switching, the case where making this vehicle frequently braking or frequently slow down, to improve driving comfort level.
It should be strongly noted that the concrete operating principle of each component part refers to embodiment of the method in system embodiment
Corresponding part, details are not described herein again.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of determine recently in the method for diameter front truck characterized by comprising
The motion information of this vehicle is obtained, and is denoted as the first motion information, first motion information includes: travel speed and yaw
Angular speed, obtains the motion information of the front truck of this vehicle, and is denoted as the second motion information, and second motion information includes: described
Fore-and-aft distance, lateral distance and the longitudinally relative speed of front truck and this vehicle, and obtain lane line information；
Judge whether the lane line information is effective；
If it is not, then obtaining the radius of curvature of Ben Cheding curvature driving path based on first motion information；
Based on the radius of curvature, second motion information is transformed into the coordinate system of the Ben Cheding curvature driving path
Under, obtain relative movement information of the front truck relative to the Ben Cheding curvature driving path, the relative movement information packet
It includes: Vertical Curve distance, lateral linear distance and longitudinal velocity；
The travel speed and the relative movement information based on this vehicle determine the nearest in diameter front truck of this vehicle.
2. the method according to claim 1, wherein described obtain Ben Cheding song based on first motion information
The process of the radius of curvature R of rate driving path are as follows:
R=VehSpd/Yawrate；
Wherein, VehSpd is the travel speed, and Yawrate is the yaw rate.
3. according to the method described in claim 2, it is characterized in that, the radius of curvature is based on, by second motion information
It is transformed under the coordinate system of the Ben Cheding curvature driving path, obtains the front truck relative to the Ben Cheding curvature and travel road
The relative movement information of diameter, specifically includes:
The lateral position deviation y of this vehicle and the front truck in Ben Cheding curvature driving path is calculatedoffset, process are as follows:
yoffset=abs (R-y)；
Wherein, abs (R-y) is the function to take absolute value to the difference of (R-y), and y is the lateral distance of the front truck and this vehicle；
The line at the center of the front truck and the center of circle of the Ben Cheding curvature driving path and the folder of horizontal direction is calculated
Angle θ, process are as follows:
θ=arctan (x/yoffset)；
Wherein, x is the fore-and-aft distance of the front truck and this vehicle；
Vertical Curve distance x of the front truck relative to the Ben Cheding curvature driving path is calculatedalign, process are as follows:
xalign=abs (R) × θ；
Wherein, abs (R) is the function to take absolute value to R；
Lateral linear distance y of the front truck relative to the Ben Cheding curvature driving path is calculatedalign, process are as follows:
Wherein, sign (R) is the sign function of radius of curvature R；
Longitudinal velocity v of the front truck relative to the Ben Cheding curvature driving path is calculatedx_align, process are as follows:
vx_align=vx·cosθ+vy·sinθ·sign(R)；
Wherein, vxFor the longitudinally relative speed of the front truck and this vehicle, vyFor the laterally relative speed of the front truck and this vehicle.
4. the method according to claim 1, wherein the travel speed and the phase based on this vehicle
To motion information, determines the nearest in diameter front truck of this vehicle, specifically includes:
When the travel speed of this vehicle is located at pre-set velocity interval, the front truck is travelled relative to the Ben Cheding curvature
The Vertical Curve distance in path carries out size comparison, and Vertical Curve is determined as the nearest before diameter of this vehicle apart from shortest front truck
Vehicle, wherein the speed maximum value in the pre-set velocity interval is threshold speed.
5. the method according to claim 3 or 4, which is characterized in that the travel speed and institute based on this vehicle
Relative movement information is stated, the nearest in diameter front truck of this vehicle is determined, specifically includes:
When the travel speed of this vehicle is greater than the threshold speed, the front truck of this vehicle is calculated relative to the Ben Cheding
The longitudinal impact time of curvature driving path, process are as follows:
ttcx=xalign/vx_align；
Wherein, ttcxFor the longitudinal impact time, xalignLongitudinal direction for the front truck relative to Ben Cheding curvature driving path
Curve distance, vx_alignLongitudinal velocity for the front truck relative to Ben Cheding curvature driving path；
Longitudinal impact time shortest front truck is determined as this by the size for comparing each longitudinal impact time being calculated
Vehicle it is nearest in diameter front truck.
6. according to the method described in claim 5, it is characterized in that, the travel speed and the phase based on this vehicle
To motion information, determine that the nearest of this vehicle includes: in diameter front truck
The travel speed and the relative movement information according to this vehicle, by the spy of the longitudinal impact time shortest front truck
The default amplitude of value indicative increase, while the characteristic value of the shortest front truck of non-longitudinal collision time is reduced into the default amplitude；
Selected characteristic is worth the maximum front truck as the nearest in diameter front truck of this vehicle.
7. according to the method described in claim 6, it is characterized in that, the selected characteristic is worth the maximum front truck as this vehicle
Nearest include: in diameter front truck
After the adjacent periods of preset quantity, counting each front truck in each adjacent periods becomes this vehicle most
Closely in the number of diameter front truck, frequency of occurrence is rejected lower than preset times and after the adjacent periods of the preset quantity
Characteristic value be not maximum value in the characteristic value of each front truck front truck；
After the adjacent periods for being chosen at the preset quantity, the maximum front truck of characteristic value is as the nearest of this vehicle
In diameter front truck.
8. a kind of determine recently in the system of diameter front truck characterized by comprising
Acquiring unit for obtaining the motion information of this vehicle, and is denoted as the first motion information, and first motion information includes:
Travel speed and yaw rate, obtain the motion information of the front truck of this vehicle, and are denoted as the second motion information, second movement
Information includes: fore-and-aft distance, lateral distance and the longitudinally relative speed of the front truck and this vehicle, and obtains lane line information；
First judging unit, for judging whether the lane line information is effective；
Radius of curvature acquiring unit, for being moved based on described first in the case where first judging unit is judged as NO
Information obtains the radius of curvature of Ben Cheding curvature driving path；
Second motion information is transformed into described for being based on the radius of curvature by relative movement information acquiring unit
Vehicle is determined to obtain relative motion of the front truck relative to the Ben Cheding curvature driving path under the coordinate system of curvature driving path
Information, the relative movement information include: Vertical Curve distance, lateral linear distance and longitudinal velocity；
First recently in diameter front truck determination unit, for based on this vehicle the travel speed and the relative movement information,
Determine the nearest in diameter front truck of this vehicle.
9. system according to claim 8, which is characterized in that described to be specifically used for recently in diameter front truck determination unit:
When the travel speed of this vehicle is located at pre-set velocity interval, the front truck is travelled relative to the Ben Cheding curvature
The Vertical Curve distance in path carries out size comparison, and Vertical Curve is determined as the nearest in diameter of this vehicle apart from shortest front truck
Front truck, wherein the speed maximum value in the pre-set velocity interval is threshold speed.
10. system according to claim 8, which is characterized in that described first includes: in diameter front truck determination unit recently
Numerical value adjust subelement, for according to this vehicle the travel speed and the relative movement information, the longitudinal direction is touched
The default amplitude of characteristic value increase of time shortest front truck is hit, while the characteristic value of the shortest front truck of non-longitudinal collision time being subtracted
The small default amplitude；
Subelement is chosen, is worth the maximum front truck as the nearest in diameter front truck of this vehicle for selected characteristic.
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