CN110007669A - A kind of intelligent driving barrier-avoiding method for automobile - Google Patents
A kind of intelligent driving barrier-avoiding method for automobile Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a kind of intelligent driving barrier-avoiding methods for automobile.When into intelligent driving mode, car running computer establishes environment sensing receiving module, data processing module, sensing data Fusion Module and intelligent decision module, and environment sensing receiving module receives the one or more sensors data from onboard sensor system；The various obstacle information data that each sensor reports in data processing module synchronous environment perception receiving module；Sensing data Fusion Module merges temporally aligned obstacle information data；Whether intelligent decision module opens vehicle when determining that intelligent driving automobile encounters front and has and separate car and obstruction or disappearance whether are stopped and stopped when barrier situation based on Fusion Strain data.Multiple types sensor combinations are used, so that multiple types sensing data is carried out fusion treatment, overcomes the limitation of single-sensor, realize the purpose of safe avoidance during intelligent driving.
Description
Technical field
The present invention relates to the intelligent driving field of automobile more particularly to a kind of intelligent driving avoidances based on multi-sensor fusion
Method.
Background technique
With the rapid development of technology, automobile, household electrical appliances, machine-building etc. are more and more intelligent, such as in automotive field now
There is obstacle avoidance system, the detection unit generally used includes bearing base, laser ranging system, supersonic range finder, infrared people
Body sensor surveys wide device, monitoring camera group and data acquisition circuit.The locating piece inner wall side surface sets at least two cunnings
Rail, the laser ranging system, supersonic range finder, infrared human body sensor, monitoring camera group and data processing circuit
It is slidably connected in locating piece, and through sliding rail and locating piece.But prior art can only detect pedestrian, vehicle-mounted detection sensing
Device type is single, and the data of sensor cannot efficiently use, and cannot achieve the accurate judgement to barrier.Therefore, the prior art
It needs further improvement and develops.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of intelligence based on multi-sensor fusion to drive
Barrier-avoiding method is sailed, the level of security of vehicle during intelligent driving is improved.
In order to solve the above technical problems, the present invention program includes:
A kind of intelligent driving barrier-avoiding method for automobile comprising:
When into intelligent driving mode, car running computer establishes environment sensing receiving module, data processing module, sensing data fusion
Module and intelligent decision module；
Environment sensing receiving module receives the one or more sensors data for coming from onboard sensor system (equipment)；At data
The various obstacle information data that each sensor reports in reason module synchronization environment sensing receiving module；Sensing data merges mould
Block merges temporally aligned obstacle information data；Intelligent decision module determines intelligence based on Fusion Strain data
It drives a car to have in front of encountering and whether stop when barrier situation, and stop whether opening vehicle when separate car and obstruction or disappearance.
The intelligent driving barrier-avoiding method, wherein the sensor receiving module receives what each sensing equipment uploaded
Data；
Above-mentioned each sensing equipmentIncluding but not limited toFront camera, millimetre-wave radar and laser radar；
The front camera is mounted at the windshield rearview mirror of vehicle, uploads obstacle species to environment sensing receiving module
Not, relative velocity, this lane line width, this lane line curvature, the left and right lane line width of obstacle distance, barrier and this vehicle
Etc. information；
Millimetre-wave radar is mounted at vehicle front bumper, uploads obstacle distance, vehicle and barrier to environment sensing receiving module
Hinder the information such as the relative velocity of object；
Laser radar is mounted on the roof center of vehicle, to environment sensing receiving module upload but be not limited to barrier classification,
The information such as barrier shape information, obstacle distance；
The data that each sensor uploads are sent to data processing module by environment sensing receiving module.
The intelligent driving barrier-avoiding method, wherein above-mentioned data processing module receives in environment sensing receiving module
The various obstacle information data that each sensor reports；Data processing module extracts each sensing data of needs
Come, and each sensor is detected that respective sensor flag bit is arranged in barrier, and each sensor of setting detects obstacle
The sensor probability of object.
The intelligent driving barrier-avoiding method, wherein sensing data Fusion Module is by the data of each sensor in the time
It is proofreaded, it is ensured that the timestamp that multiple sensors upload data is consistent；Each biography that data processing module outflow is come
Sensor output treated information carries out data fusion.
The intelligent driving barrier-avoiding method, wherein sensing data Fusion Module is for strategy at a distance are as follows: preposition to take the photograph
It is 0 when laser radar detects obstruction marker position as head and the remote obstacle information of millimetre-wave radar measurement, camera barrier
Hinder analyte detection flag bit and when millimetre-wave radar detection of obstacles flag bit is 1 simultaneously, by camera obstacle information and millimeter
Wave radar obstacle information is merged.Camera can provide obstacle identity, and millimetre-wave radar cannot provide barrier
Type information, whether camera identification front has barrier than millimetre-wave radar effect stability, but camera ranging effect and survey
There is no the advantages of millimetre-wave radar is accurate, and the two data are combined, two kinds of sensors can be given full play to away from stability, mentions
The range information (including X value and Y value, barrier classification) for taking camera obstacle information is believed according to the distance that camera provides
Breath finds an information point nearest with camera range information, this information in all range data of millimetre-wave radar
Point is just the range information of the barrier, and the barrier classification of camera identification is exactly the classification of the barrier.
The intelligent driving barrier-avoiding method, wherein sensing data Fusion Module is for strategy at a distance are as follows: preposition to take the photograph
It is 0 when laser radar detects obstruction marker position as head and the remote obstacle information of millimetre-wave radar measurement, camera barrier
Hinder analyte detection flag bit and when millimetre-wave radar detection of obstacles flag bit is 1 simultaneously, by camera obstacle information and millimeter
Wave radar obstacle information is merged.The obstacle distance information that laser radar is obtained is believed as the distance of the barrier
The barrier classification of breath, camera identification is exactly the classification of the barrier, thus more stable, more accurately disturbance in judgement object.
The intelligent driving barrier-avoiding method, wherein sensing data Fusion Module is directed to the strategy of short distance are as follows: works as laser
Detections of radar obstruction marker position, camera detection of obstacles flag bit and millimetre-wave radar detection of obstacles flag bit are simultaneously
When 1, then vehicle front closely has barrier, and three kinds of sensor obstacle informations are merged.
The intelligent driving barrier-avoiding method, wherein intelligent decision module is according to most threatening obstacle information and GPS
Information carries out decision, and when distance of the obstacle information apart from vehicle is lower than deceleration setting value, vehicle slows down；When spacing is low
In stop threshold value when, intelligent decision module control vehicle parking；After parking, discovery barrier disappears or obstacle distance
When higher than parking threshold value, it is not necessarily to any manual operation, vehicle will carry out intelligent driving mode automatically.
The present invention provides a kind of intelligent driving barrier-avoiding methods for automobile, and multiple types sensor combinations are used, are made
Multiple types sensing data carries out fusion treatment, overcomes the limitation of single-sensor, realizes peace during intelligent driving
The purpose of full avoidance, such as front camera best on the market closely can generate blind area, and barrier suddenly appears in blind area
Interior, camera thinks that vehicle front does not have any barrier, causes intelligent driving vehicle to continue to travel, collides, camera
By image ranging, it is inadequate there are range accuracy the disadvantages of；When laser radar and camera are due to illumination or dust is former
When because causing no obstacle information to input, millimetre-wave radar shows that always there is obstacle information in front, which remains unchanged
Barrier can be recognized；Millimetre-wave radar cognitive disorders object range accuracy is high, but identifies the type and barrier less than barrier
Hinder the width of object；Laser radar does not have a defect of above-mentioned camera and millimetre-wave radar, but the ranging of laser radar is apart from short,
The barrier of vehicle distant place cannot be recognized, intelligent driving Warning for vehicle information cannot be given, easily causes vehicle brake distance not
It is enough, it collides；The advantages of these three sensors, is extracted, effective integration goes out the obstacle information of vehicle front, carries out
Effective avoidance.It can not only carry out closely stopping in emergency, Warning for vehicle long-distance barrier object can also be given, in advance reduction of speed,
Vehicle is prevented because inertia collides；Not only ensure front vehicles, pedestrains safety, can also ensure this vehicle operator and
The safety of passenger reduces this vehicle due to the loss for the generation that collides, improves the safety of vehicle during intelligent driving
It is horizontal.
Detailed description of the invention
Fig. 1 is the flow diagram of intelligent driving barrier-avoiding method in the present invention；
Fig. 2 is the schematic diagram of sensor receiving module in the present invention；
Fig. 3 is the schematic diagram of N kind sensor in the present invention；
Fig. 4 is the schematic diagram of the strategy of sensing data Fusion Module in the present invention；
Fig. 5 is the flow diagram that intelligent decision module is judged in the present invention.
Specific embodiment
The present invention provides a kind of intelligent driving barrier-avoiding methods for automobile, to make the purpose of the present invention, technical solution
And effect is clearer, clear, the present invention is described in more detail below.It should be appreciated that specific implementation described herein
Example is only used to explain the present invention, is not intended to limit the present invention.
It is specific as shown in Figure 1 the present invention provides a kind of intelligent driving barrier-avoiding method for automobile, into intelligence
When driving mode, car running computer establishes environment sensing receiving module, data processing module, sensing data Fusion Module and intelligence and determines
Plan module；
Environment sensing receiving module receives the one or more sensors data from onboard sensor system；Data processing module
The various obstacle information data that each sensor reports in synchronous environment perception receiving module；Sensing data Fusion Module will be
The obstacle information data being aligned on time are merged；Intelligent decision module determines intelligent driving vapour based on Fusion Strain data
Whether vehicle encounters front has and stops when barrier situation, and stops that car and obstruction is separate or whether while disappearing plays vehicle.
Further, as shown in Figure 2, above-mentioned environment sensing receiving module receives the number that each sensing equipment uploads
According to；Above-mentioned each sensing equipmentIncluding but not limited toFront camera, millimetre-wave radar and laser radar etc.,；The preposition camera shooting
Head is mounted at the windshield rearview mirror of vehicle, uploads barrier classification, obstacle distance, barrier to environment sensing receiving module
Hinder the information such as relative velocity, this lane line width, this lane line curvature, the left and right lane line width of object and this vehicle；Millimeter wave thunder
Up to being mounted at vehicle front bumper, obstacle distance information, the phase of vehicle and barrier are uploaded to environment sensing receiving module
To information such as velocity informations；Laser radar is mounted on the roof center of vehicle, uploads barrier to environment sensing receiving module
A variety of data informations of the barriers such as classification, barrier shape information, obstacle distance；Environment sensing receiving module is by each biography
The data that sensor uploads are sent to data processing module.
In another preferred embodiment of the present invention, above-mentioned data processing module receives each in environment sensing receiving module
The various obstacle information data that a sensor reports；Data processing module extracts each sensing data of needs,
And each sensor is detected that respective flag position is arranged in barrier, and each sensor of setting detects the sensor of barrier
Probability.
And sensing data Fusion Module proofreads the data of each sensor in the time, it is ensured that on multiple sensors
Pass the consistency of the timestamp of data；Each sensor output treated information that data processing module outflow is come carries out
Data fusion.
It is described in further detail, as shown in Figure 4, sensing data Fusion Module is for strategy at a distance are as follows: preposition to take the photograph
It is 0 when laser radar detects obstruction marker position as head and the remote obstacle information of millimetre-wave radar measurement, camera barrier
Hinder analyte detection flag bit and when millimetre-wave radar detection of obstacles flag bit is 1 simultaneously, by camera obstacle information and millimeter
Wave radar obstacle information is merged.
Certain sensing data Fusion Module is directed to the strategy of short distance are as follows: when laser radar detection obstruction marker position, takes the photograph
When as head detection of obstacles flag bit and millimetre-wave radar detection of obstacles flag bit being simultaneously 1, then vehicle front closely has
Barrier merges three kinds of sensor obstacle informations.
Above-mentioned data carry out after arranging fusion treatment comprehensively, as shown in Figure 5, intelligent decision module is according to most threatening
Obstacle information and GPS information carry out decision, when distance of the obstacle information apart from vehicle is lower than deceleration setting value, vehicle into
Row slows down；When spacing is lower than parking threshold value, intelligent decision module controls vehicle parking；After parking, discovery barrier disappears
When mistake or obstacle distance are higher than parking threshold value, vehicle will carry out intelligent driving mode automatically.
In order to which the present invention is further described, it is exemplified below more detailed embodiment and is illustrated.
It include: environment sensing receiving module, data processing module, sensing data Fusion Module and intelligent decision module.Such as
Shown in FIG. 1, sensor receiving module is used to receive the one or more sensors data from sensing system.Data processing
Module is responsible for multiple sensor status datas that environment sensing is temporally aligned.Sensing data Fusion Module will in time
The sensing data of alignment is merged.Intelligent decision module determines that intelligent driving automobile encounters front and has based on Fusion Strain data
Whether stop when barrier situation.
Environment sensing receiving module receives the data that each sensing equipment uploads, as shown in Fig. 2, the sensing that the module includes
Device equipment includes but is not limited to front camera, millimetre-wave radar and laser radar etc..Front camera is mounted on the gear of vehicle
At wind glass rearview mirror, barrier classification, the phase of obstacle distance, barrier and this vehicle can be uploaded to environment sensing receiving module
To information such as speed, this lane line width, this lane line curvature, left and right lane line widths.Before millimetre-wave radar is mounted on vehicle
At bumper, the relative velocity etc. of obstacle distance information, vehicle and barrier can recognize.Laser radar is mounted on vehicle
Roof center, the information such as barrier classification, barrier shape information, obstacle distance can be transmitted to environment sensing reception
Module.The data that each sensor uploads are sent to data processing module by environment sensing receiving module.
And data processing module receives the various barriers letter that each sensor reports in environment sensing receiving module
Cease data.There are many information that each sensor reports up, and each sensing data which needs Fusion Module extracts
Out, and by each sensor detect that a flag bit is arranged in barrier, and each sensor of setting detects the biography of barrier
Sensor probability.
The present invention can also be extended to using N kind sensor, as shown in Figure 3, wherein various sensors use (M1,
M2…, MN) a.When being merged, if using M1A sensor of the same race, each sensor detect there is obstacle in same direction
When object, confidence level 1/NM1.And so on, N kind sensor has used MNIt is a, then each sensor detects same side
When having barrier upwards, confidence level 1/NMN。
More specifically, sensing data Fusion Module is temporally aligned by the data of each sensor, it is ensured that Duo Gechuan
The timestamp for the data that sensor uploads simultaneously is consistent.As shown in Figure 4, each sensing that data processing module outflow is come
Device output treated information carries out data fusion.Be for remote strategy: front camera and millimetre-wave radar can
It is 0 when laser radar detects obstruction marker position to measure remote obstacle information, camera detection of obstacles flag bit
When with millimetre-wave radar detection of obstacles flag bit being simultaneously 1, camera obstacle information and millimetre-wave radar barrier are believed
Breath is merged；Strategy for short distance is: when laser radar detects obstruction marker position, camera detection of obstacles mark
When position and millimetre-wave radar detection of obstacles flag bit are 1 simultaneously, illustrate that vehicle front closely has barrier, three kinds are sensed
Device obstacle information is merged.
The fusions of above-mentioned data, analysis, processing provide data basis for intelligent decision module, as shown in Figure 5, intelligently determine
Plan module carries out decision according to most threatening obstacle information and GPS information, when distance of the obstacle information apart from vehicle is low
When deceleration setting value, vehicle slows down；When spacing is lower than parking threshold value, intelligent decision module controls vehicle parking.?
After parking, when discovery barrier disappears or obstacle distance is higher than parking threshold value, vehicle will carry out intelligent driving, nothing automatically
Manual control vehicle is needed to be again introduced into intelligent driving mode.The present invention carries out avoidance using Multi-sensor fusion, is not need
There are required, whether field experiment road, urban road, highway or field to road, as long as intelligence can be carried out
The vehicle that can be driven can just make vehicle encounter barrier and stop traveling using this Multi-sensor fusion scheme.
Certainly, described above is only that presently preferred embodiments of the present invention is answered the present invention is not limited to enumerate above-described embodiment
When explanation, anyone skilled in the art is all equivalent substitutes for being made, bright under the introduction of this specification
Aobvious variant, all falls within the essential scope of this specification, ought to be by protection of the invention.
Claims (7)
1. a kind of intelligent driving barrier-avoiding method for automobile, is characterized in that comprising:
When into intelligent driving mode, car running computer establishes environment sensing receiving module, data processing module, sensing data fusion
Module and intelligent decision module；
Environment sensing receiving module receives the one or more sensors data from onboard sensor system；Data processing module
The various obstacle information data that each sensor reports in synchronous environment perception receiving module；Sensing data Fusion Module will be
The obstacle information data being aligned on time are merged；Intelligent decision module determines intelligent driving vapour based on Fusion Strain data
Whether vehicle encounters front has and stops when barrier situation, and stops that car and obstruction is separate or whether while disappearing opens vehicle.
2. intelligent driving barrier-avoiding method according to claim 1, which is characterized in that the sensor receiving module receives each
The data that a sensing equipment uploads；
Above-mentioned each sensing equipmentIncluding but not limited toFront camera, millimetre-wave radar and laser radar；
The front camera is mounted at the windshield rearview mirror of vehicle, uploads obstacle species to environment sensing receiving module
Not, relative velocity, this lane line width, this lane line curvature, the left and right lane line width of obstacle distance, barrier and this vehicle
Etc. information；
Millimetre-wave radar is mounted at vehicle front bumper, uploads obstacle distance, vehicle and barrier to environment sensing receiving module
Hinder the information such as the relative velocity of object；
Laser radar is mounted on the roof center of vehicle, to environment sensing receiving module upload but be not limited to barrier classification,
The information of barrier shape information and obstacle distance；
The data that each sensor uploads are sent to data processing module by environment sensing receiving module.
3. intelligent driving barrier-avoiding method according to claim 1, which is characterized in that above-mentioned data processing module receives environment
The various obstacle information data that each sensor in perception receiving module reports；Data processing module is by each biography of needs
Sensor data extract, and respective sensor flag bit is arranged in the barrier that each sensor is detected, and setting is each
Sensor detects the sensor probability of barrier.
4. intelligent driving barrier-avoiding method according to claim 3, which is characterized in that sensing data Fusion Module is by each biography
The data of sensor are proofreaded in the time, it is ensured that the timestamp that multiple sensors upload data is consistent；By data processing mould
Each sensor output treated information that block outflow comes carries out data fusion.
5. intelligent driving barrier-avoiding method according to claim 4, which is characterized in that sensing data Fusion Module is directed to long distance
From strategy are as follows: front camera and millimetre-wave radar measure remote obstacle information, when laser radar detects barrier
Flag bit is 0, when camera detection of obstacles flag bit and millimetre-wave radar detection of obstacles flag bit are 1 simultaneously, will be imaged
Head obstacle information is merged with millimetre-wave radar obstacle information.
6. intelligent driving barrier-avoiding method according to claim 4, which is characterized in that sensing data Fusion Module is directed to low coverage
From strategy are as follows: when laser radar detects obstruction marker position, camera detection of obstacles flag bit and millimetre-wave radar obstacle
When analyte detection flag bit is 1 simultaneously, then vehicle front closely has barrier, and three kinds of sensor obstacle informations are melted
It closes.
7. intelligent driving barrier-avoiding method according to claim 1, which is characterized in that intelligent decision module is according to most threatening
Obstacle information and GPS information carry out decision, when distance of the obstacle information apart from vehicle be lower than deceleration setting value when, vehicle
Slow down；When spacing is lower than parking threshold value, intelligent decision module controls vehicle parking；After parking, barrier is found
When disappearance or obstacle distance are higher than parking threshold value, vehicle will carry out intelligent driving mode automatically.
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