CN110015290A - A kind of control method for intelligent driving system - Google Patents
A kind of control method for intelligent driving system Download PDFInfo
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- CN110015290A CN110015290A CN201810015017.2A CN201810015017A CN110015290A CN 110015290 A CN110015290 A CN 110015290A CN 201810015017 A CN201810015017 A CN 201810015017A CN 110015290 A CN110015290 A CN 110015290A
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- 238000000034 method Methods 0.000 title claims abstract description 113
- 239000012556 adjustment buffer Substances 0.000 claims abstract description 23
- 239000000872 buffer Substances 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000004888 barrier function Effects 0.000 claims description 65
- 230000008569 process Effects 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 6
- 230000002045 lasting effect Effects 0.000 claims 2
- 238000007689 inspection Methods 0.000 claims 1
- 230000006399 behavior Effects 0.000 description 7
- 238000012546 transfer Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009191 jumping Effects 0.000 description 3
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- 230000003542 behavioural effect Effects 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
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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
- 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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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Abstract
A kind of control method for intelligent driving system, comprising: Step 1: under structuring straight-going state, whether the current driving environment of detection intelligent driving vehicle is in structured environment, if be not at, the state machine of intelligent driving system is switched to unstructured straight-going state by structuring straight-going state；Step 2: if the current driving environment of intelligent driving vehicle is in structured environment, then further whether detection intelligent driving vehicle travels to buffer area, wherein, if it is, the state machine of intelligent driving system is switched to adjustment buffer status by structuring straight-going state.This method can be improved the real-time of intelligent driving system, while enable to the control logic of intelligent driving system conciser.
Description
Technical field
The present invention relates to intelligent driving technical fields, specifically, being related to a kind of controlling party for intelligent driving system
Method.
Background technique
Intelligent driving vehicle relies primarily on vehicle-mounted sensor-based system perception road environment, can automatic planning travelling line simultaneously
It controls vehicle and reaches predeterminated target.Intelligent driving vehicle is to collect numerous technologies such as automatic control, vision calculating, architecture in one
The product of the high development of body is the important symbol for measuring national a research strength and industrial level, in national defence and national warp
Ji field has broad application prospects.
Intelligent driving system is the emphasis of currently all vehicle enterprise research, and general intelligence control loop contains perception, decision
With the system of execution.The research of vehicle enterprise mainly lays particular emphasis on decision system, for local decision control system in intelligent driving,
It needs according to real-time expected path, environmental information and vehicle body state, to make the best behavior for meeting present case, thus
Ensure vehicle safe driving and riding comfort.
Summary of the invention
To solve the above problems, the present invention provides a kind of control method for intelligent driving system, the method packet
It includes:
Step 1: whether the current driving environment of detection intelligent driving vehicle is in structure under structuring straight-going state
Change in environment, if be not at, the state machine of intelligent driving system is switched to by the structuring straight-going state non-structural
Change straight-going state；
Step 2: further detecting institute if the current driving environment of intelligent driving vehicle is in structured environment
State whether intelligent driving vehicle travels to buffer area, wherein if it is, by the state machine of intelligent driving system by the knot
Structure straight-going state is switched to adjustment buffer status.
According to one embodiment of present invention, in the step 2, if the intelligent driving vehicle does not travel to institute
Buffer area is stated, then is executed:
Step 3: detecting in first predeterminable area of intelligent driving vehicle front, whether there are obstacles, wherein if
There is no barriers, then the state machine of the intelligent driving system are remained the structuring straight-going state.
According to one embodiment of present invention, in the step 3, if the intelligent driving vehicle front first is pre-
If there are barriers in region, then execute:
Step 4: detecting whether the barrier is static-obstacle thing, wherein if it is, by the intelligent driving system
The state machine of system is switched to lane-change by the structuring straight-going state and overtakes other vehicles state.
It according to one embodiment of present invention,, will if the barrier is dynamic barrier in the step 4
The state machine of the intelligent driving system is switched to following state by the structuring straight-going state.
According to one embodiment of present invention, under the following state, the intelligent driving vehicle front is persistently detected
Whether the barrier in the first predeterminable area disappears, wherein if disappeared, by the state machine of the intelligent driving system by institute
It states following state and is switched to structuring straight-going state.
According to one embodiment of present invention, under the following state, if the intelligent driving vehicle front first
Barrier in predeterminable area does not disappear, then further whether detection barrier is static-obstacle thing, wherein
If barrier is static-obstacle thing, the state machine of the intelligent driving system is switched by the following state
It overtakes other vehicles state for lane-change；
If barrier is dynamic barrier, the state machine of the intelligent driving system is maintained at described and follows shape
State.
According to one embodiment of present invention, it overtakes other vehicles under state in the lane-change, whether persistently detects the driving vehicle
Complete lane-change overtaking process, wherein if completed, the state machine of the intelligent driving system is overtaken other vehicles state by the lane-change
It is switched to structuring straight-going state, the state machine of the intelligent driving system is otherwise maintained at the lane-change and is overtaken other vehicles state.
According to one embodiment of present invention, under the unstructured straight-going state, the intelligent driving vehicle is detected
Whether preset structureization straight trip condition is met, wherein if it is satisfied, then by the state machine of the intelligent driving system by described non-
Structuring straight-going state is switched to the structuring straight-going state.
According to one embodiment of present invention, if lane line mark is effectively and/or in GPS data current lane line,
Determine that the intelligent driving vehicle meets preset structureization straight trip condition.
According to one embodiment of present invention, if the intelligent driving vehicle is unsatisfactory for preset structureization and executes condition,
Then detect in second predeterminable area of intelligent driving vehicle periphery that whether there are obstacles, wherein
If barrier is not present in second predeterminable area, the state machine of the intelligent driving system is maintained at
Unstructured straight-going state；
If in second predeterminable area, there are barriers, by the state machine of the intelligent driving system by non-structural
Change straight-going state and is switched to unstructured searching avoidance state.
According to one embodiment of present invention, in the unstructured searching avoidance state, it is pre- persistently to detect described second
If whether the barrier in region disappears, wherein if barrier disappears, by the state machine of the intelligent driving system by institute
It states unstructured searching avoidance state and is switched to unstructured straight-going state, otherwise keep the state of the intelligent driving system
In the unstructured searching avoidance state.
According to one embodiment of present invention, under the adjustment buffer status, whether the intelligent driving vehicle is detected
Into special road section, wherein if it is, the state machine of the intelligent driving system is switched to by the adjustment buffer status
Special road section state.
According to one embodiment of present invention, under the special road section state, whether the intelligent driving vehicle is detected
Sail out of the special road section, wherein
If the intelligent driving vehicle sails out of the special road section, by the state machine of the intelligent driving system by institute
It states special road section state and is switched to adjustment buffer status, the state machine of the intelligent driving system is otherwise maintained at described special
Block status.
According to one embodiment of present invention, under the adjustment buffer status, if the intelligent driving vehicle not into
Enter the special road section, detects whether that receiving buffer area exits mark, wherein if received, the intelligence is driven
The state machine for sailing system is switched to structuring straight-going state by the adjustment buffer status, otherwise by the intelligent driving system
State machine is maintained at the adjustment buffer status.
Method provided by the present invention is divided according to top level status of the driving environment to intelligent driving system (i.e. will
Driving phase divided for vehicle launch stage, vehicle journeys stage and vehicle parking stage), exist further according to intelligent driving vehicle
The behavioural characteristic of travel phase constructs the bottom state space (such as State Tree) of intelligent driving system.This Sample Method
The different movements of intelligent driving system can be projected bottom state space, carry out the conversion of state machine, also just mention in this way
The high real-time of intelligent driving system, while enabling to the control logic of intelligent driving system conciser.
Control method provided by the present invention for intelligent driving system can be applied to intelligent driving vehicle in structure
Change the intelligent driving process with unstructured road, the real-time road data of acquisition can be carried out the pretreatment such as screening, point
Analysis and processing current vehicle driving behavior, and then solve under complicated road environment intelligent driving system to driving behavior most
Excellent decision.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
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 required attached drawing in technical description to do simple introduction:
Fig. 1 is that State Tree used in the control method according to an embodiment of the invention for intelligent driving system is shown
It is intended to；
Fig. 2 is the implementation process signal of the control method according to an embodiment of the invention for intelligent driving system
Figure；
Fig. 3 is according to an embodiment of the invention when the state machine of intelligent driving system is in unstructured straight-going state
When state machine branch mode；
Fig. 4 is according to an embodiment of the invention when the state machine of intelligent driving system is in unstructured searching avoidance
State machine branch mode when state；
Fig. 5 is according to an embodiment of the invention when the state machine of intelligent driving system is in adjustment buffer status
State machine branch mode；
Fig. 6 is the state according to an embodiment of the invention when the state machine of intelligent driving system is in following state
Machine branch mode；
Fig. 7 be it is according to an embodiment of the invention when the state machine of intelligent driving system be in lane-change overtake other vehicles state when
State machine branch mode；
Fig. 8 is state machine transfer schematic diagram according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
For the behaviour decision making module of intelligent driving system, although detailed State Tree can improve the intelligence of system
Degree, but this also increases the complexities of system.If system is excessively complicated, state trigger condition will be made to produce
Raw overlapping phenomenon, while also will increase the design difficulty of system.
In view of the above-mentioned problems, can be the present invention provides a kind of new control method for intelligent driving system
Intelligent driving system lays the foundation to the optimizing decision of driving behavior under complicated road environment.
Due to being inevitably mingled with unstructured road in daily road, method provided by the present invention will
The driving scene of intelligent driving vehicle has been divided into structured road and unstructured road.Specifically, as shown in Figure 1, this implementation
In example, under structured road and unstructured road, vehicle-state applied by this method preferably specifically includes that structuring
Straight trip, unstructured straight trip, unstructured avoidance, front truck follow, lane-change is overtaken other vehicles, adjustment buffers and seven parts of special road section.
Fig. 2 shows the implementation process schematic diagrames for the control method that intelligent driving system is used for provided by the present embodiment.
As shown in Fig. 2, in the present embodiment, after intelligent driving vehicle launch, this method can in step s 201 will be intelligent
The state for driving vehicle is set as structuring straight-going state, i.e., the default conditions of oneself state machine after intelligent driving vehicle launch
For structuring straight-going state.
Under structuring straight-going state, this method can judge the current driving environment of intelligent driving vehicle in step S202
Whether in structured environment.Specifically, in the present embodiment, this method preferably passes through detection lane line in step S202
State judges whether current driving environment is in structured environment.Wherein, if it is possible to detect lane line (i.e. lane line
Identification is effective), then this method is in step S202 also it is determined that the current driving environment of intelligent driving vehicle is in knot
In structure environment；And if lane line (i.e. Lane detection is invalid) can not be detected, this method is in step S202
It is determined that the current driving environment of intelligent driving vehicle is in unstructured moving grids.
Certainly, in other embodiments of the invention, this method can also judge that intelligence is driven using other rational methods
Whether the current driving environment for sailing vehicle is in structured environment, and the invention is not limited thereto.
If the current driving environment of intelligent driving vehicle is in unstructured moving grids, as shown in Fig. 2, the present embodiment
In, the state machine of intelligent driving system will be switched to by structuring straight-going state unstructured by this method in step S203
Straight-going state.
And if the current driving environment of intelligent driving vehicle is in structured environment, this method will be at this time
Further detect whether intelligent driving vehicle travels to buffer area in step S204.Wherein, if intelligent driving vehicle driving
To buffer area, then party's rule can be cut the state machine of intelligent driving system by structuring straight-going state in step S205
It is changed to adjustment buffer status.
In the present embodiment, if intelligent driving vehicle does not travel to buffer area, party's rule can be in step S206
In further detect in the first predeterminable area of intelligent driving vehicle front that whether there are obstacles.It specifically, should in the present embodiment
Method can be examined by related sensor provisioned in intelligent driving vehicle (such as trailer-mounted radar or vehicle-mounted pick-up head etc.)
Survey itself front the first predeterminable area in whether there are obstacles.Certainly, in other embodiments of the invention, this method may be used also
To be detected using other rational methods, whether there are obstacles in the first predeterminable area of intelligent driving vehicle front, and the present invention is not
It is limited to this.Meanwhile in different embodiments of the invention, the size of above-mentioned first predeterminable area can configure according to actual needs
For different reasonable values, the present invention is not defined the specific value of above-mentioned first predeterminable area.
If the first predeterminable area of intelligent driving vehicle front in be not present barrier, so if indicate intelligent driving vehicle
It can continue to travel along locating lane, therefore this method at this time also will be in step S207 by the state machine of intelligent driving system
Remain structuring straight-going state.
And if there are barriers in the first predeterminable area of intelligent driving vehicle front, this method is also with regard to needing to be directed to
The barrier is responded.Specifically, as shown in Fig. 2, in the present embodiment, this method can further be examined in step S208 at this time
Survey whether the barrier is static-obstacle thing.Specifically, in the present embodiment, this method preferably passes through detection in step S208
Whether the speed of the barrier is less than pre-set velocity threshold value to judge whether the barrier is static-obstacle thing.It wherein, if should
The speed of barrier is less than pre-set velocity threshold value, then this method can also determine the barrier for static state in step S208
Otherwise barrier can then determine that the barrier is non-static barrier (i.e. dynamic barrier).
In the present embodiment, above-mentioned pre-set velocity threshold value is preferably 1m/s.Certainly, in other embodiments of the invention,
According to actual needs, above-mentioned pre-set velocity threshold value is also configured as other reasonable values, and the invention is not limited thereto.
In the present embodiment, if the barrier in the first predeterminable area of intelligent driving vehicle front is dynamic barrier, that
The state machine of intelligent driving system can be switched to following state by structuring straight-going state in step S209 by party's rule；
And if the barrier in the first predeterminable area of intelligent driving vehicle front is static-obstacle thing, party's rule can be in step
The state machine of intelligent driving system is switched to lane-change by structuring straight-going state in S210 to overtake other vehicles state, is driven to control intelligence
Sailing vehicle is more than above-mentioned barrier by lane-change.
It should be pointed out that in other embodiments of the invention, when detecting intelligent driving vehicle in step S206
There are when barrier in the first predeterminable area of front, this method can also be controlled using other rational methods according to actual needs
State machine transfer, the invention is not limited thereto.
Fig. 3 shows the state in the present embodiment when the state machine of intelligent driving system is in unstructured straight-going state
Machine branch mode.
As shown in figure 3, this method can be in step when the state machine of intelligent driving system is in unstructured straight-going state
Detect whether intelligent driving vehicle meets preset structureization straight trip condition in S301.Specifically, in the present embodiment, this method is in step
Preferably judge whether intelligent driving vehicle meets preset structure by detection lane line and/or GPS data in rapid S301
Straight trip condition.Wherein, if this method detect lane line mark effectively and vehicle GPS data it is most of (such as 70% with
On) in current lane line, then this method is also it is determined that intelligent driving vehicle meets structuring straight trip condition at this time.
Certainly, in other embodiments of the invention, according to actual needs, this method both can according to lane line index or
Vehicle GPS data judge intelligent driving vehicle whether structuring straight trip condition, can also be sentenced using other rational methods
Whether disconnected intelligent driving vehicle meets structuring straight trip condition, and the invention is not limited thereto.
In the present embodiment, if intelligent driving vehicle meets preset structureization straight trip condition, party's rule can be in step
The state machine of intelligent driving system is switched to structuring straight-going state by unstructured straight-going state in rapid S302.
And if intelligent driving vehicle is unsatisfactory for structuring straight trip condition, as shown in figure 3, this method will in the present embodiment
It can further detect in the second predeterminable area of intelligent driving vehicle periphery that whether there are obstacles in step S303.Wherein, such as
Barrier is not present in the second predeterminable area of fruit intelligent driving vehicle periphery, then party's rule can in step s 304 will be intelligent
The state machine of control loop is maintained at unstructured straight-going state；And if intelligent driving vehicle periphery the second predeterminable area memory
In barrier, then party's rule can be cut the state machine of intelligent driving system by unstructured straight-going state in step S305
It is changed to unstructured searching avoidance state, hides above-mentioned barrier to control intelligent driving vehicle.
Fig. 4 is shown in the present embodiment when the state machine of intelligent driving system is in unstructured searching avoidance state
State machine branch mode.
As shown in figure 4, when the state machine of intelligent driving system is in unstructured searching avoidance state, this method can be
Persistently detect in the second predeterminable area of intelligent driving vehicle periphery whether there are still barrier, i.e., above-mentioned second is pre- in step S401
If whether the barrier in region disappears.Wherein, if the barrier in above-mentioned second predeterminable area disappears, then this is indicated
When intelligent driving vehicle avoided above-mentioned barrier, therefore party's rule can be in step S402 by intelligent driving system at this time
State machine unstructured straight-going state is switched to by unstructured searching avoidance state；And if in above-mentioned second predeterminable area
Barrier do not disappear yet, then then indicating that intelligent driving vehicle is thought to avoid above-mentioned barrier at this time, therefore this method at this time
Then the state machine of intelligent driving system can be maintained at unstructured searching avoidance state in step S305, be driven with control intelligence
It sails vehicle and continues avoidance traveling.
Certainly, in other embodiments of the invention, when the state machine of intelligent driving system is kept away in unstructured searching
When barrier state, this method can also control jumping for intelligent driving system state machine using other rational methods, and the present invention is not
It is limited to this.
Simultaneously, it should be pointed out that when, in other embodiments of the invention, when intelligent driving system state machine be in it is non-
When structuring straight-going state, this method can also control jumping for intelligent driving system state machine using other rational methods,
The present invention is similarly not so limited to.
The state machine that Fig. 5 shows in the present embodiment when the state machine of intelligent driving system is in adjustment buffer status turns
Shifting mode.
As shown in figure 5, this method can be in step S501 when the state machine of intelligent driving vehicle is in adjustment buffer status
Whether middle detection intelligent driving vehicle enters special road section.In the present embodiment, above-mentioned special road section preferably include bend and
The sections such as ring road.
When intelligent driving vehicle enters special road section, party's rule can be in step S502 by the state of intelligent driving system
Machine is switched to special road section state by adjustment buffer status.Under special road section state, this method, which preferably passes through, calls GPS number
According to come the driving status that controls intelligent driving vehicle.
In step S503, this method can continue whether detection intelligent driving vehicle sails out of above-mentioned special road section.Wherein, such as
Fruit intelligent driving vehicle sails out of above-mentioned special road section, then party's rule can be in step S504 by the state of intelligent driving system
Machine is switched to adjustment buffer status by special road section state；And if intelligent driving vehicle does not sail out of above-mentioned special road section,
The state machine of intelligent driving system can be maintained at special road section state in step S505 by party's rule.
As shown in figure 5, in the present embodiment, if intelligent driving vehicle does not drive into spy to this method at judgement in step S501
Different section, then party's rule can detect whether that receiving buffer area exits mark in step S506.In the present embodiment, delay
The entrance and exit position for rushing region is respectively arranged with that buffer area enters mark and mark is exited in buffer area, and this method can be with
Judge whether intelligent driving vehicle enters or exit buffer area by detecting above-mentioned mark.
In the present embodiment, if this method detects that mark is exited in buffer area in step S506, then intelligence is indicated
Vehicle can be driven and sail out of buffer area at this time, therefore this method at this time can be in step s 507 by the state machine of intelligent driving system
Structuring straight-going state is switched to by adjustment buffer status；And it is moved back if buffer area is not detected in step S506 in this method
Indicate out, then then indicating that intelligent driving vehicle does not go out in buffer area yet at this time, then this method can be in step S508 at this time
It is middle that the state machine of intelligent driving system is maintained at adjustment buffer status.
It may be noted that when, in other embodiments of the invention, when to be in adjustment slow for the state machine of intelligent driving system
When rushing state, this method can also control jumping for intelligent driving system state machine using other rational methods, and the present invention is same
Sample is without being limited thereto.
Fig. 6 shows the state machine transfer side in the present embodiment when the state machine of intelligent driving system is in following state
Formula.
As shown in fig. 6, this method can be held in step s 601 when the state machine of intelligent driving vehicle is in following state
Whether the barrier in continuous detection the first predeterminable area of intelligent driving vehicle front disappears.Wherein, if before intelligent driving vehicle
Barrier in the first predeterminable area of side disappears, then then indicating that intelligent driving vehicle can continue to keep straight on, therefore this method meeting
The state machine of intelligent driving system is switched to structuring straight-going state by following state in step S602.
If the barrier in the first predeterminable area of intelligent driving vehicle front does not disappear, in the present embodiment, the party
Rule can further detect the whether non-static-obstacle thing of the barrier in step S603.Specifically, in the present embodiment, this method
Preferably pass through and detects the speed of the barrier and judge that the speed whether less than the second pre-set velocity threshold value, judges the barrier nextly
Hinder the whether non-static-obstacle thing of object.
It may be noted that when, in different embodiments of the invention, the specific value of above-mentioned second pre-set velocity threshold value can
To be configured to different reasonable values according to actual needs, the present invention is not limited the specific value of the second pre-set velocity threshold value
It is fixed.
If the barrier is static-obstacle thing, party's rule can be in step s 604 by the shape of intelligent driving system
State machine is switched to lane-change by following state and overtakes other vehicles state；And if the barrier is non-static barrier, party's rule meeting
The state machine of intelligent driving system is maintained at following state in step s 605.
Fig. 7 show in the present embodiment when the state machine of intelligent driving system be in lane-change overtake other vehicles state when state machine turn
Shifting mode.
As shown in fig. 7, when the state machine of intelligent driving vehicle be in lane-change overtake other vehicles state when, this method can be in step S701
Whether middle detection intelligent driving vehicle completes lane-change overtaking process.Specifically, in the present embodiment, the lane-change of intelligent driving vehicle is super
Vehicle process preferably includes lane-change, overtake other vehicles and returns three processes.Wherein, intelligent driving vehicle switchs to back road mistake by overtaking process
Journey needs to consider side vehicle-state, and when only when side, vehicle-state meets back road condition, intelligent driving system can just be controlled
The vehicle switchs to back road process by overtaking process.
In the present embodiment, this method is by the lane-change terminal during detection intelligent driving vehicle and vehicle time road apart from it
Between spacing judge whether intelligent driving vehicle completes overtaking process.Wherein, if intelligent driving vehicle and vehicle return road mistake
The spacing between lane-change terminal distance in journey is less than designated length (such as 1m etc.), then this method is also it is determined that at this time
Intelligent driving vehicle completes lane-change overtaking process.
It should be pointed out that in different embodiments of the invention, above-mentioned designated length can configure according to actual needs
For different reasonable values, the present invention is not repeated the specific value of above-mentioned designated length.
In the present embodiment, if intelligent driving vehicle completes lane-change overtaking process, party's rule can be in step S702
The middle state machine by intelligent driving system is switched to structuring straight-going state by the lane-change state of overtaking other vehicles；And if intelligent driving vehicle
Lane-change overtaking process is not completed, then the state machine of intelligent driving system can be maintained at lane-change in step S703 by party's rule
It overtakes other vehicles state, so that intelligent driving vehicle continues lane-change overtaking process.
In summary content, the provided control method for intelligent driving system of the present embodiment can also control intelligence
Energy control loop forms state machine transfer schematic diagram as shown in Figure 8.In fig. 8, number 1,2,3 is for indicating cis-position, numerical value
The priority that smaller state machine jumps is also higher.Check zone indicates the second predeterminable area, is preferably vehicle rail
2m range at left and right sides of mark.
Driving phase is divided by the control method provided by the present invention for intelligent driving system in implementation process
Three phases, it may be assumed that vehicle launch (Launch) stage, vehicle journeys (Travel) stage and vehicle parking (Park) stage.
Wherein, what the vehicle launch stage characterized is the process that vehicle is imported from bus stop to given route, herein mistake
Cheng Zhong, this method will close lane-change obstacle avoidance module (i.e. can not normally according to condition shown in Fig. 8 carry out state machine jump) and
Speed allotment module, vehicle will be travelled with constant speed (such as 2.5m/s).
Travelling stage characterization is that vehicle successfully imports the travel phase after given route, and decision condition is track and road
The average transverse error of diameter is less than specification error (such as 30cm), and in the process, this method will open lane-change Robot dodge strategy
(normally can carry out state machine according to condition shown in Fig. 8 to jump) and Speed allotment strategy, while the lane GPS- (i.e. gps-
Lane) switch mode is followed to start.
Vehicle parking stage characterization is that vehicle enters near land, and decision condition is to receive global transmission
Post signal.In the vehicle parking stage, intelligent driving system will open terminal parking function.In this way when stop line is identified
Afterwards, this method can calculate vehicle at a distance from stop line, if the distance is less than the first distance to a declared goal threshold value (such as 4m), we
Rule can issue slow cutoff command；And if stop line can not be identified, this method will be mark with GPS terminal at this time,
When GPS terminal distance is less than second distance to a declared goal threshold value (such as 10m), this method will issue slow cutoff command.In vehicle
Shutdown phase, this method can preferably close lane-change obstacle avoidance module and Speed allotment module, thus with constant speed (such as 2.5m/
S) it travels.
Method provided by the present embodiment be can be seen that from foregoing description according to driving environment to intelligent driving system
Top level status, which is divided, (to be divided driving phase for vehicle launch stage, vehicle journeys stage and vehicle parking rank
Section), the bottom state space of intelligent driving system is constructed in the behavioural characteristic of travel phase further according to intelligent driving vehicle
(such as State Tree).The different movements of intelligent driving system can also be projected bottom state space by this Sample Method, into
The conversion of row state machine, also just improves the real-time of intelligent driving system in this way, while enabling to intelligent driving system
Control logic is conciser.
Control method provided by the present invention for intelligent driving system can be applied to intelligent driving vehicle in structure
Change the intelligent driving process with unstructured road, the real-time road data of acquisition can be carried out the pretreatment such as screening, point
Analysis and processing current vehicle driving behavior, and then solve under complicated road environment intelligent driving system to driving behavior most
Excellent decision.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (14)
1. a kind of control method for intelligent driving system, which is characterized in that the described method includes:
Step 1: whether the current driving environment of detection intelligent driving vehicle is in structuring ring under structuring straight-going state
In border, if be not at, the state machine of intelligent driving system is switched to by the structuring straight-going state unstructured straight
Row state；
Step 2: further detecting the intelligence if the current driving environment of intelligent driving vehicle is in structured environment
It can drive whether vehicle travels to buffer area, wherein if it is, by the state machine of intelligent driving system by the structuring
Straight-going state is switched to adjustment buffer status.
2. the method as described in claim 1, which is characterized in that in the step 2, if the intelligent driving vehicle is not
Traveling is then executed to the buffer area:
Step 3: detecting in first predeterminable area of intelligent driving vehicle front, whether there are obstacles, wherein if do not deposited
In barrier, then the state machine of the intelligent driving system is remained into the structuring straight-going state.
3. method according to claim 2, which is characterized in that in the step 3, if before the intelligent driving vehicle
There are barriers in the first predeterminable area of side, then execute:
Step 4: detecting whether the barrier is static-obstacle thing, wherein if it is, by the intelligent driving system
State machine is switched to lane-change by the structuring straight-going state and overtakes other vehicles state.
4. method as claimed in claim 3, which is characterized in that in the step 4, if the barrier is that dynamic hinders
Hinder object, then the state machine of the intelligent driving system is switched to following state by the structuring straight-going state.
5. method as claimed in claim 4, which is characterized in that under the following state, persistently detect the intelligent driving
Whether the barrier in the first predeterminable area of vehicle front disappears, wherein if disappeared, by the shape of the intelligent driving system
State machine is switched to structuring straight-going state by the following state.
6. method as claimed in claim 5, which is characterized in that under the following state, if the intelligent driving vehicle
Barrier in the first predeterminable area of front does not disappear, then further whether detection barrier is static-obstacle thing, wherein
If barrier is static-obstacle thing, the state machine of the intelligent driving system is switched to by the following state and is changed
Road is overtaken other vehicles state；
If barrier is dynamic barrier, the state machine of the intelligent driving system is maintained at the following state.
7. the method as described in any one of claim 3~6, which is characterized in that it overtakes other vehicles under state in the lane-change, it is lasting to examine
Survey whether the driving vehicle completes lane-change overtaking process, wherein if completed, by the state machine of the intelligent driving system
Structuring straight-going state is switched to by the lane-change state of overtaking other vehicles, the state machine of the intelligent driving system is otherwise maintained at institute
Lane-change is stated to overtake other vehicles state.
8. such as method according to any one of claims 1 to 7, which is characterized in that under the unstructured straight-going state, inspection
Survey whether the intelligent driving vehicle meets preset structureization straight trip condition, wherein if it is satisfied, then by the intelligent driving system
The state machine of system is switched to the structuring straight-going state by the unstructured straight-going state.
9. method according to claim 8, which is characterized in that if lane line mark effectively and/or GPS data current lane
In line, then determine that the intelligent driving vehicle meets preset structureization straight trip condition.
10. method as claimed in claim 8 or 9, which is characterized in that if the intelligent driving vehicle is unsatisfactory for preset structure
Change execution condition, then detect in second predeterminable area of intelligent driving vehicle periphery that whether there are obstacles, wherein
If barrier is not present in second predeterminable area, the state machine of the intelligent driving system is maintained at non-knot
Structure straight-going state；
If there are barriers in second predeterminable area, by the state machine of the intelligent driving system by unstructured straight
Row state is switched to unstructured searching avoidance state.
11. method as claimed in claim 10, which is characterized in that lasting to detect in the unstructured searching avoidance state
Whether the barrier in second predeterminable area disappears, wherein if barrier disappears, by the intelligent driving system
State machine is switched to unstructured straight-going state by the unstructured searching avoidance state, otherwise by the intelligent driving system
State be maintained at the unstructured searching avoidance state.
12. the method as described in any one of claim 1~11, which is characterized in that under the adjustment buffer status, detection
Whether the intelligent driving vehicle enters special road section, wherein if it is, by the state machine of the intelligent driving system by institute
It states adjustment buffer status and is switched to special road section state.
13. method as claimed in claim 12, which is characterized in that under the special road section state, detect the intelligence and drive
Sail whether vehicle sails out of the special road section, wherein
If the intelligent driving vehicle sails out of the special road section, by the state machine of the intelligent driving system by the spy
Different block status is switched to adjustment buffer status, and the state machine of the intelligent driving system is otherwise maintained at the special road section
State.
14. method as described in claim 12 or 13, which is characterized in that under the adjustment buffer status, if the intelligence
Vehicle can be driven and do not enter the special road section, detect whether that receiving buffer area exits mark, wherein if received,
The state machine of the intelligent driving system is then switched to structuring straight-going state by the adjustment buffer status, it otherwise will be described
The state machine of intelligent driving system is maintained at the adjustment buffer status.
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| CN111338361A (en) * | 2020-05-22 | 2020-06-26 | 浙江远传信息技术股份有限公司 | Obstacle avoidance method, device, equipment and medium for low-speed unmanned vehicle |
| CN111409630A (en) * | 2020-04-13 | 2020-07-14 | 新石器慧通（北京）科技有限公司 | Vehicle obstacle avoidance method, system and device |
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| CN110015290B (en) | 2020-12-01 |
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