CN109955848A - A kind of vehicle parking website and automatic running control method and control system - Google Patents
A kind of vehicle parking website and automatic running control method and control system Download PDFInfo
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- CN109955848A CN109955848A CN201711420110.3A CN201711420110A CN109955848A CN 109955848 A CN109955848 A CN 109955848A CN 201711420110 A CN201711420110 A CN 201711420110A CN 109955848 A CN109955848 A CN 109955848A
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- vehicle
- website
- relative distance
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Classifications
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
Abstract
The present invention relates to a kind of vehicle parking website and automatic running control methods and control system, vehicle parking website and automatic running control method are the following steps are included: first, detect the positional relationship between vehicle and front obstacle and front stop website, if front obstacle, which does not influence vehicle safety, rests in front stop website, front stop website is then set as virtual obstacles, relative distance and relative velocity control vehicle deceleration of the website in vehicle forward direction are then stopped according to vehicle and front and rests in front and stops at website.So can be realized vehicle speed when traveling to front stops website according to above-mentioned control process is just zero, and then realizes that vehicle accurately rests in and stop at website.
Description
Technical field
The present invention relates to a kind of vehicle parking website and automatic running control methods and control system.
Background technique
Intelligent vehicle ordinary circumstance is exactly to increase advanced sensor, controller in the foundation structure of common vehicle and hold
Luggage is set, and the intelligent information exchange of vehicle, road and driver etc. are realized by vehicle-mounted sensor-based system and information system, has vehicle
Standby certain intelligent environment sensing capability, identifies path, analyzes present road situation, in conjunction with vehicle location, detects barrier, real
Existing real-time early warning stops, avoidance in time according to reality, improves the safety of traveling and according to path and driver's wish
The reasonable traveling strategy of configuration.But stop website can how decision vehicle slows down at website for the route of passenger up and down for having
To zero, the starting acceleration after how realizing switch gate and closing the door is research emphasis.
Summary of the invention
The object of the present invention is to provide a kind of vehicle parking website and automatic running control methods and control system.
To achieve the above object, the present invention includes following technical scheme.
Scheme one: this programme provides a kind of vehicle parking website and automatic running control method, comprising the following steps: detection
The positional relationship between website is stopped in vehicle and front obstacle and front, if front obstacle does not influence vehicle safety stop
Website is stopped in front, then front stop website is set as virtual obstacles, then according to vehicle and front bus stop
Relative distance and relative velocity of the point in vehicle forward direction calculate the deceleration of vehicle, according to obtained deceleration-based controller
Vehicle deceleration rests in the front and stops at website.
The positional relationship between vehicle and front obstacle and front stop website is detected first, if front obstacle is not
It influences vehicle safety and rests in front stop website, then, front stop website is just set as virtual obstacles, according to vehicle
Relative distance and relative velocity control vehicle deceleration of the website in vehicle forward direction is stopped with front to rest in front and stop
At website, so, can be realized vehicle speed when traveling to front stops website according to above-mentioned control process is just zero,
And then it realizes that vehicle accurately rests in and stops at website.
Scheme two: on the basis of scheme one, detect vehicle and front obstacle in vehicle forward direction it is opposite away from
From being denoted as the first relative distance, relative distance of the website in vehicle forward direction is stopped in detection vehicle and front, is denoted as second
Relative distance, if the first relative distance is greater than the second relative distance, then it represents that front obstacle does not influence vehicle safety and rests in
Stop website in front.
Scheme three: on the basis of scheme one, the calculation formula of the deceleration are as follows: a=V2/2(S1-S2), wherein a is
The deceleration, S1For the relative distance, S2For the safe distance of setting, then stopped in front of vehicle distances the operation of website away from
From for S1-S2, V is the relative velocity.
Scheme four: on the basis of scheme one or two or three, in vehicle parking after stopping website, real-time detection vehicle
Speed and vehicle and stop website positional relationship, when vehicle speed be less than or equal to a low velocity threshold value, and
When vehicle is located at stop website, car door opening is controlled.
Scheme five: on the basis of scheme four, after car door opening, do not have at car door if detecting in the set time period
There is passenger getting on/off, then controls closing of the door.
Scheme six: on the basis of scheme five, after closing of the door, website will be stopped as virtual obstacles by cancelling
Then setting detects the relative distance of vehicle and front real obstruction, if meeting safe starting condition, control vehicle and rise
Step.
Scheme seven: on the basis of scheme six, when detecting that vehicle and the relative distance of front real obstruction gradually increase
When big, it is judged as and meets safe starting condition.
Scheme eight: this programme provides a kind of vehicle parking website and automatic operation control system, comprising:
Detection module, for detecting the positional relationship between vehicle and front obstacle and front stop website；
Control module, for executing following control strategy: if front obstacle do not influence vehicle safety rest in front stop
By website, then front stop website is set as virtual obstacles, website is then stopped in vehicle according to vehicle and front
Relative distance and relative velocity in direction of advance calculate the deceleration of vehicle, according to obtained deceleration-based controller vehicle deceleration
The front is rested in stop at website.
Scheme nine: on the basis of scheme eight, detect vehicle and front obstacle in vehicle forward direction it is opposite away from
From being denoted as the first relative distance, relative distance of the website in vehicle forward direction is stopped in detection vehicle and front, is denoted as second
Relative distance, if the first relative distance is greater than the second relative distance, then it represents that front obstacle does not influence vehicle safety and rests in
Stop website in front.
Scheme ten: on the basis of scheme eight, the calculation formula of the deceleration are as follows: a=V2/2(S1-S2), wherein a is
The deceleration, S1For the relative distance, S2For the safe distance of setting, then stopped in front of vehicle distances the operation of website away from
From for S1-S2, V is the relative velocity.
Scheme 11: on the basis of scheme eight or nine or ten, in vehicle parking after stopping website, real-time detection vehicle
Speed and vehicle and stop website positional relationship, when vehicle speed be less than or equal to a low velocity threshold value,
And vehicle controls car door opening positioned at when stopping website.
Scheme 12: on the basis of scheme 11, the control system further includes for detecting at car door above and below passenger
The passenger getting on/off detection unit of vehicle situation does not multiply at car door after car door opening if detecting in the set time period
Visitor gets on or off the bus, then controls closing of the door.
Scheme 13: on the basis of scheme 12, the passenger getting on/off detection unit is that surpassing at car door is arranged in
Sonic sensor.
Scheme 14: on the basis of scheme 12 or 13, after closing of the door, website will be stopped as void by cancelling
The setting of quasi- barrier, the relative distance for then detecting vehicle and front real obstruction are controlled if meeting safe starting condition
Vehicle start processed.
Scheme 15: on the basis of scheme 14, when detect the relative distance of vehicle and front real obstruction by
When cumulative big, it is judged as and meets safe starting condition.
Detailed description of the invention
Fig. 1 is that intelligent vehicle stops website running track schematic diagram；
Fig. 2 is vehicle parking website and automatic operation control system comprising modules schematic diagram；
Fig. 3 is vehicle parking website and automatic running control method flow diagram.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
Under normal conditions, intelligent vehicle knows the position coordinates and vehicle of current vehicle by inertial navigation sensor (i.e. GPS)
Course information, while in intelligent vehicle travel and route stop website stop line coordinate information storage control in the car
In device processed.As shown in Figure 1, intelligent vehicle is realized according to the route being collected travels the bus stop in front of website, vehicle distances
The distance of point stop line is calculated by coordinate difference.
In vehicle parking website provided by the invention and automatic running control method, the control of vehicle parking website is being carried out
When, the positional relationship between vehicle and front obstacle and front stop website is detected, judges whether front obstacle influences
Vehicle safety rests in front and stops website.Due to being adjusted between the two to the position of front obstacle come corresponding according to vehicle
Distance is to achieve the purpose that safe avoidance belongs to routine techniques in automatic Pilot field, therefore, is given below and a kind of judged
The specific embodiment of journey, specifically: let it be assumed, for the purpose of illustration, that website is stopped at one in vehicle, front obstacle and front
On straight line, and the straight line is straight line where vehicle forward direction, detects vehicle and front obstacle in vehicle forward direction
Relative distance is denoted as the first relative distance, is indicated with relative distance S, and website is stopped before vehicle in detection vehicle and front
Into the relative distance on direction, the second relative distance is obtained, with relative distance S1It is indicated, wherein vehicle and preceding object
The relative distance S of object can be detected by radar equipment, by fusion radar equipment detection data obtain, and vehicle with
The relative distance S of front stop website1It can be obtained by calculating the two coordinate difference, wherein above-mentioned two for convenience of calculation
Relative distance is the linear distance in vehicle forward direction.If S > S1, i.e., stopping between website in vehicle and front does not have
Other barriers, vehicle are first and reach the vehicle for stopping website, indicate that front obstacle does not influence vehicle safety stop
Website is stopped in front；Correspondingly, if S < S1, i.e., stopping between website in vehicle and front has other barriers, then controls
Vehicle is slowed down accordingly, with avoiding obstacles.In addition, obtaining relative distance S and relative distance S1While can be with
Obtain: the relative velocity and vehicle and front of vehicle and front obstacle in vehicle forward direction stop website in vehicle
Relative velocity in direction of advance.
If front obstacle, which does not influence vehicle safety, rests in front stop website, front stop website is set as empty
Quasi- barrier, the forefront due to stopping website are to stop stop line, and vehicle cannot cross the stop line, so, the present embodiment
In, stop line will be stopped as website is stopped, by the position where stop stop line as the position for stopping website.So, will
Stop stop line and be set as virtual obstacles, then according to vehicle and front stop website in vehicle forward direction it is opposite away from
From S1And relative velocity calculates the deceleration a of vehicle, controls vehicle deceleration according to vehicle deceleration a and rests in front stop
Website, when reaching stop stop line, the speed of vehicle is just kept to 0, realizes accurate stop.
The present embodiment provides a kind of calculation of vehicle deceleration a, are as follows: a=V2/2(S1-S2), wherein S1It can be by
Vehicle location coordinate information is stopped stopping line coordinates with record and is calculated in real time；It does not require sometimes vehicle that must be parked in stop to stop
Only at line, then, it is desirable to there are certain distance between the stop position and stop stop line of vehicle, which is exactly to set
Safe distance S2, which can be set according to actual requirement, certainly, be stopped if vehicle is required just to be parked in stop
Only line, then S2Just it is set as 0, therefore, website is stopped in front of vehicle distances, i.e., it is S that distance, which stops the range ability of stop line,1-
S2；V is car speed, and it is static for stopping website due to front, then, the speed V of vehicle is exactly vehicle and front bus stop
The relative velocity of point.
In order to implement above-mentioned control method, the present embodiment also provides a kind of hardware system, including two large divisions, data
Collecting part and data processing section, wherein part of data acquisition is for acquiring entire vehicle parking website and automatic running control
Involved various data informations in method processed.As shown in Fig. 2, part of data acquisition corresponds to information Fusion Module, this reality
Apply a kind of concrete composition that example provides the information Fusion Module, including ZigBee module, a line laser radar, ultrasonic radar,
Traffic light signal radio frequency receiver, inertial navigation GPS, Lane detection video camera and millimetre-wave radar etc. also include certainly other
Other detection devices relevant to upper control method.Data processing section includes three modules, is decision-making module, longitudinal control respectively
Molding block and crosswise joint module, decision-making module are the control core of whole system, receive what information Fusion Module detected
Various data informations can obtain the relative distance of vehicle and front obstacle and opposite according to the correlation radar information received
Speed, also, also receive the relevant informations such as lane line information, vehicle coordinate and course information, to the various information received into
Row processing and analysis.Decision-making module executes the corresponding software program of above-mentioned control process, and by the relevant control of generation instruct to
To longitudinally controlled module and crosswise joint module, longitudinally controlled module realizes above-mentioned accurate stop control process, then, decision model
Root tuber, to the corresponding control instruction of longitudinally controlled module, is controlled by EBS and is executed according to the deceleration a being calculated, and is permitting vehicle
Perhaps smooth within the scope of deceleration to be accommodated at website.And decision-making module judges that vehicle is according to the overall situation after merging by information
Route still will avoid front obstacle lane-change traveling, such as: if necessary to lane-change traveling, to crosswise joint mould
Block exports corresponding control instruction, and crosswise joint module controls lateral direction of car movement, realizes lane-change traveling, this part is automatic
Belong to routine techniques in driving technology, just no longer illustrates here.Therefore, the inventive point of system is decision-making module and longitudinal direction
The function of control module.
Therefore, it let us say that, on the one hand it is longitudinally controlled module pair why vehicle, which may be implemented accurately to stop website,
On the other hand the control of longitudinal velocity is the relative distance and relative velocity of bus stop dotted line virtual obstacles.
After accurately resting at stop website stop line, the vehicle velocity V and vehicle of decision-making module real-time monitoring vehicle
With the positional relationship for stopping website stop line, when the speed V of vehicle is less than or equal to a low velocity threshold value, and vehicle is located at
When stopping website stop line, indicates that vehicle has come to a complete stop and stopping website, can control car door opening.Wherein, in order to utmostly
Guarantee passenger safety, above-mentioned low velocity threshold value is 0, i.e., corresponding Rule of judgment is V=0；Whether vehicle, which is located at stop website, is stopped
Only line can detecte and compare vehicle at a distance from stop website stop line to realize, such as: by coordinate setting or pass through
Detections of radar, when vehicle and stop website stop line distance S3When less than a distance threshold, indicate that vehicle is located at bus stop
Point stop line, further, which is set as 5m.Therefore, if V=0, and S3< 5m indicates that vehicle has come to a complete stop and is stopping
By website, decision-making module issues car door opening by CAN network and instructs, and two car doors of control front and back open simultaneously.
After car door opening, passenger will get on the bus or get off as needed, during this, at real-time detection car door
The case where passenger getting on/off, indicates passenger getting on/off knot if detect does not have passenger getting on/off in the set time period at car door
Beam then controls closing of the door.In the present embodiment, the case where passenger getting on/off, is detected by passenger getting on/off detection unit, into
One step, passenger getting on/off detection unit is the ultrasonic sensor installed in car door inner side.If there is passenger getting on/off,
Then ultrasound examination to range information irregular change can occur, on the contrary, if without passenger getting on/off, ultrasonic wave inspection
The range information measured with regard to constant, then, if (such as 3s) ultrasonic sensor detects front and back vehicle in the set time period
Door is without any signal intensity, then it is assumed that passenger getting on/off terminates, and decision-making module issues instruction of closing the door by CAN network, before control
Rear door simultaneously closes off.
During passenger getting on/off, decision-making module assert that always stopping website stop line is virtual obstacles, then, when
When car door is changed by reaching pass, if being further continued for assert that stopping website stop line is virtual obstacles, vehicle is located always
In on-position, can not travel, then, after closing of the door, decision-making module, which is cancelled, will stop website stop line as virtual
The setting of barrier, it is then detected that the relative distance and opposite speed of vehicle and front real obstruction, if meeting safe starting
Condition, such as: when longitudinally controlled ACC logic detection to the relative distance is changed from small to big, indicate that barrier is gradually far gone, that
, control vehicle start, vehicle according to storage route running.
The whole flow process of vehicle parking website and automatic running control method is as shown in Figure 3.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.Base of the invention
This thinking is above-mentioned basic scheme, and for those of ordinary skill in the art, various changes are designed in introduction according to the present invention
The model of shape, formula, parameter do not need to spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment carries out are still fallen in protection scope of the present invention.
Vehicle parking website and automatic operation control system embodiment
The present embodiment provides a kind of vehicle parking website and automatic operation control systems, including following two module:
Detection module, for detecting the positional relationship between vehicle and front obstacle and front stop website.
Control module, for executing following control strategy: if front obstacle do not influence vehicle safety rest in front stop
By website, then front stop website is set as virtual obstacles, website is then stopped according to vehicle and front and is advanced in vehicle
Relative distance and relative velocity on direction calculate the deceleration of vehicle, are stopped according to obtained deceleration-based controller vehicle deceleration
It is stopped at website in the front.
Therefore, vehicle parking website and automatic operation control system provided in this embodiment substantially with vehicle parking website
And the inventive point of automatic running control method is identical, due in above-mentioned control method embodiment to the function of above-mentioned two module
Effect is described in detail, and the present embodiment just no longer illustrates.
Claims (10)
1. a kind of vehicle parking website and automatic running control method, which comprises the following steps: detection vehicle is with before
The positional relationship between website is stopped in square barrier and front, is rested in front if front obstacle does not influence vehicle safety and is stopped
By website, then front stop website is set as virtual obstacles, website is then stopped in vehicle according to vehicle and front
Relative distance and relative velocity in direction of advance calculate the deceleration of vehicle, according to obtained deceleration-based controller vehicle deceleration
The front is rested in stop at website.
2. vehicle parking website according to claim 1 and automatic running control method, which is characterized in that detection vehicle with
Relative distance of the front obstacle in vehicle forward direction, is denoted as the first relative distance, and website is stopped in detection vehicle and front
Relative distance in vehicle forward direction is denoted as the second relative distance, if the first relative distance is greater than the second relative distance,
Indicate that front obstacle does not influence vehicle safety and rests in front stop website.
3. vehicle parking website according to claim 1 and automatic running control method, which is characterized in that the deceleration
Calculation formula are as follows: a=V2/2(S1-S2), wherein a is the deceleration, S1For the relative distance, S2For the safety of setting
Distance, then the range ability that website is stopped in front of vehicle distances is S1-S2, V is the relative velocity.
4. vehicle parking website according to claim 1 or 2 or 3 and automatic running control method, which is characterized in that in vehicle
It rests in after stopping website, the speed and vehicle of real-time detection vehicle and the positional relationship for stopping website, when vehicle
Speed is less than or equal to a low velocity threshold value, and vehicle controls car door opening positioned at when stopping website.
5. vehicle parking website according to claim 4 and automatic running control method, which is characterized in that in car door opening
Later, if detecting do not have passenger getting on/off at car door in the set time period, closing of the door is controlled.
6. a kind of vehicle parking website and automatic operation control system characterized by comprising
Detection module, for detecting the positional relationship between vehicle and front obstacle and front stop website；
Control module, for executing following control strategy: if front obstacle does not influence vehicle safety and rests in front bus stop
Front stop website is then set as virtual obstacles by point, is then stopped website according to vehicle and front and is advanced in vehicle
Relative distance and relative velocity on direction calculate the deceleration of vehicle, are stopped according to obtained deceleration-based controller vehicle deceleration
It is stopped at website in the front.
7. vehicle parking website according to claim 6 and automatic operation control system, which is characterized in that detection vehicle with
Relative distance of the front obstacle in vehicle forward direction, is denoted as the first relative distance, and website is stopped in detection vehicle and front
Relative distance in vehicle forward direction is denoted as the second relative distance, if the first relative distance is greater than the second relative distance,
Indicate that front obstacle does not influence vehicle safety and rests in front stop website.
8. vehicle parking website according to claim 6 and automatic operation control system, which is characterized in that the deceleration
Calculation formula are as follows: a=V2/2(S1-S2), wherein a is the deceleration, S1For the relative distance, S2For the safety of setting
Distance, then the range ability that website is stopped in front of vehicle distances is S1-S2, V is the relative velocity.
9. vehicle parking website and automatic operation control system described according to claim 6 or 7 or 8, which is characterized in that in vehicle
It rests in after stopping website, the speed and vehicle of real-time detection vehicle and the positional relationship for stopping website, when vehicle
Speed is less than or equal to a low velocity threshold value, and vehicle controls car door opening positioned at when stopping website.
10. vehicle parking website according to claim 9 and automatic operation control system, which is characterized in that the control
System further includes the passenger getting on/off detection unit for detecting passenger getting on/off situation at car door, after car door opening, if
Detecting in the set time period does not have passenger getting on/off at car door, then controls closing of the door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420110.3A CN109955848B (en) | 2017-12-25 | 2017-12-25 | Automatic operation control method and system for vehicle parking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420110.3A CN109955848B (en) | 2017-12-25 | 2017-12-25 | Automatic operation control method and system for vehicle parking |
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| Publication Number | Publication Date |
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| CN109955848A true CN109955848A (en) | 2019-07-02 |
| CN109955848B CN109955848B (en) | 2021-06-11 |
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ID=67020936
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| CN201711420110.3A Active CN109955848B (en) | 2017-12-25 | 2017-12-25 | Automatic operation control method and system for vehicle parking |
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Address after: 450061 Yutong Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co., Ltd Address before: 450016 shibalihe Yutong Industrial Park, Zhengzhou City, Henan Province Patentee before: Zhengzhou Yutong Bus Co., Ltd |
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