CN110203206A - A kind of automobile driving running deviation detection method and device - Google Patents
A kind of automobile driving running deviation detection method and device Download PDFInfo
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- CN110203206A CN110203206A CN201910486038.7A CN201910486038A CN110203206A CN 110203206 A CN110203206 A CN 110203206A CN 201910486038 A CN201910486038 A CN 201910486038A CN 110203206 A CN110203206 A CN 110203206A
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- 238000012360 testing method Methods 0.000 claims description 20
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of automobile driving running deviation detection method and device, applied to automobile technical field, this method is realized based on the forward sight camera system of distance between available vehicle course angle to be measured and vehicle to be measured and lane line, in the case that vehicle online and to be measured is in straight travel state in the crosswise joint function of vehicle to be measured, the course changing control torque of lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration is obtained.If the vehicle shift direction to be measured that lateral displacement is characterized is contrary with the vehicle shift that course changing control torque is characterized, and the absolute value of lateral displacement is greater than the first pre-determined distance threshold value, then determine automobile driving running deviation to be measured, detection method and device provided by the invention, vehicle be can detecte with the presence or absence of driving running deviation failure, debugs in time for driver or maintenance personal, ensures that traffic safety provides reference information.
Description
Technical field
The invention belongs to intelligent automobile technical field more particularly to a kind of automobile driving running deviation detection method and device.
Background technique
When automobile driving running deviation refers to vehicle along straight-line travelling, the phenomenon that voluntarily offset to a side direction.Cause vehicle row
There are many reason of sailing sideslip, such as vehicular four wheels position error, left and right brake pressure unevenness and chassis suspension system and steering
There is interference etc. between system.
Have the intelligent driving automobile of crosswise joint function, vehicle travel can be acquired by forward sight camera system
Lane line information, and then according to lane line information under the action of crosswise joint function along lane center travel.If intelligence
It can drive a car there are driving running deviation, controller is needed through crosswise joint function, constantly applies course changing control to steering system
Torque corrects vehicle heading, to keep vehicle to travel along lane center as far as possible, if sideslip is serious, will lead to
Traveling that vehicle is amesiality, brings great security risk.
Therefore, vehicle how is detected with the presence or absence of driving running deviation failure, debug in time for driver or maintenance personal,
Ensure that traffic safety provides reference information, becomes those skilled in the art's one of the technical problems that are urgent to solve.
Summary of the invention
In view of this, detecting vehicle the purpose of the present invention is to provide a kind of automobile driving running deviation detection method and device
With the presence or absence of driving running deviation, debugs in time for driver or maintenance personal, ensures that traffic safety provides reference information, specifically
Scheme is as follows:
In a first aspect, automobile driving running deviation detection method provided by the invention, applied to being provided with forward sight camera system
Vehicle, which comprises
In the case that in the crosswise joint function of vehicle to be measured, the online and described vehicle to be measured is in straight travel state, obtain
Take the course changing control torque of lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration；Its
In, the lateral displacement is that the position that the vehicle to be measured occurs perpendicular to lane center is mobile；
If the vehicle shift direction that the lateral displacement is characterized and the vehicle shift that the course changing control torque is characterized
It is contrary, and the absolute value of the lateral displacement is greater than the first pre-determined distance threshold value, determines the automobile driving running deviation to be measured.
Optionally, the lateral displacement for obtaining the vehicle to be measured in the first preset duration, comprising:
In the first preset duration, the vehicle to be measured is obtained perpendicular to the offset of the lane center by predetermined period
Amount；Wherein, the offset is provided with positive negative direction by the first preset rules；
Calculate the offset average value of all offsets in first preset duration；
Determine that the offset average value is lateral displacement of the vehicle to be measured in the first preset duration.
Optionally, the course changing control for obtaining vehicle to be measured crosswise joint fuction output in the first preset duration
Torque, comprising:
In the first preset duration, the steering of the vehicle lateral control fuction output to be measured is obtained by the predetermined period
Control torque；Wherein, the course changing control torque is provided with positive negative direction by the second preset rules；
Calculate the torque average value of all course changing control torques in first preset duration；
Determine that the torque average value is turn of the vehicle to be measured crosswise joint fuction output in the first preset duration
To control torque.
Optionally, the vehicle to be measured is provided with steering wheel torque sensor, the vehicle row that first aspect present invention provides
Sail sideslip detection method, further includes:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, described in acquisition
The vehicle to be measured steering hand-power square that driver applies in the second preset duration；
If the steering hand-power square is greater than default hand torque threshold, the automobile driving running deviation to be measured is determined.
Optionally, the automobile driving running deviation detection method that first aspect present invention provides, further includes:
In the case that the offline and described vehicle to be measured is in straight travel state in the crosswise joint function, third is calculated
Course angle variable quantity in preset duration；
If the course angle variable quantity is greater than predetermined angle threshold value, the automobile driving running deviation to be measured is determined.
Optionally, the automobile driving running deviation detection method that first aspect present invention provides, further includes:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, described in acquisition
Vehicle to be measured is after traveling preset travel distance perpendicular to the lateral position variable quantity of driving direction；
If the lateral position variable quantity is greater than the second pre-determined distance threshold value, the automobile driving running deviation to be measured is determined.
Optionally, the automobile driving running deviation detection method that first aspect present invention provides, further includes:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, described in acquisition
Vehicle to be measured in the second preset duration driver apply steering hand-power square and traveling preset travel distance after perpendicular to
The lateral position variable quantity of driving direction, and calculate the course angle variable quantity in third preset duration；
If the steering hand-power square is greater than default hand torque threshold, alternatively, the lateral position variable quantity is greater than second in advance
If distance threshold, or, the course angle variable quantity is greater than predetermined angle threshold value, determines the automobile driving running deviation to be measured.
Optionally, if the judgement result under various judgment modes is the automobile driving running deviation to be measured, judgement is sent
The testing result of the automobile driving running deviation to be measured.
Optionally, the automobile driving running deviation detection method that any one of above-mentioned first aspect of the present invention provides, further includes:
Save the judgement result determined every time under each decision procedure；
If the judgement result more than predetermined number is in the judgement result for presetting read-around ratio under at least one decision procedure
The automobile driving running deviation to be measured then sends the testing result for determining the automobile driving running deviation to be measured.
Second aspect, the present invention provide a kind of automobile driving running deviation detection device, comprising:
First acquisition unit, for the crosswise joint function in vehicle to be measured, the online and described vehicle to be measured is in linear rows
In the case where sailing state, lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration are obtained
Course changing control torque；Wherein, the lateral displacement is that the position that the vehicle to be measured occurs perpendicular to lane center is mobile；
First judging unit, if the vehicle shift direction characterized for the lateral displacement and the course changing control torque
The vehicle shift characterized is contrary, and the absolute value of the lateral displacement is greater than the first pre-determined distance threshold value, described in judgement
Automobile driving running deviation to be measured.
Optionally, the first acquisition unit, for obtaining lateral position of the vehicle to be measured in the first preset duration
When shifting, specifically include:
In the first preset duration, the vehicle to be measured is obtained perpendicular to the offset of the lane center by predetermined period
Amount；Wherein, the offset is provided with positive negative direction by the first preset rules；
Calculate the offset average value of all offsets in first preset duration；
Determine that the offset average value is lateral displacement of the vehicle to be measured in the first preset duration.
Optionally, the first acquisition unit, for obtaining the vehicle to be measured crosswise joint in the first preset duration
When the course changing control torque of fuction output, specifically include:
In the first preset duration, the steering of the vehicle lateral control fuction output to be measured is obtained by the predetermined period
Control torque；Wherein, the course changing control torque is provided with positive negative direction by the second preset rules；
Calculate the torque average value of all course changing control torques in first preset duration；
Determine that the torque average value is turn of the vehicle to be measured crosswise joint fuction output in the first preset duration
To control torque.
Optionally, the vehicle to be measured is provided with steering wheel torque sensor, the vehicle row that second aspect of the present invention provides
Sail deviation detecting device, further includes:
Second acquisition unit, for the offline and described vehicle to be measured to be in straight travel state in the crosswise joint function
In the case where, obtain the vehicle to be measured steering hand-power square that driver applies in the second preset duration；
Second judging unit determines the vehicle to be measured if being greater than default hand torque threshold for the steering hand-power square
Driving running deviation.
Optionally, the automobile driving running deviation detection device that second aspect of the present invention provides, further includes:
Third acquiring unit, for the offline and described vehicle to be measured to be in straight travel state in the crosswise joint function
In the case where, calculate the course angle variable quantity in third preset duration；
Third judging unit determines the vehicle to be measured if being greater than predetermined angle threshold value for the course angle variable quantity
Driving running deviation.
Optionally, the automobile driving running deviation detection device that second aspect of the present invention provides, further includes:
4th acquiring unit, for the offline and described vehicle to be measured to be in straight travel state in the crosswise joint function
In the case where, the vehicle to be measured is obtained after traveling preset travel distance perpendicular to the lateral position variable quantity of driving direction；
4th judging unit, if being greater than the second pre-determined distance threshold value for the lateral position variable quantity, determine it is described to
Survey automobile driving running deviation.
Optionally, the automobile driving running deviation detection device that second aspect of the present invention provides, further includes:
Many reference amounts acquiring unit, for the offline and described vehicle to be measured to be in straight-line travelling shape in the crosswise joint function
In the case where state, obtains the vehicle to be measured steering hand-power square that driver applies in the second preset duration and travelling in advance
If perpendicular to the lateral position variable quantity of driving direction after operating range, and calculating the variation of the course angle in third preset duration
Amount；
Many reference amounts judging unit, if being greater than default hand torque threshold for the steering hand-power square, alternatively, the transverse direction position
Variable quantity is set greater than the second pre-determined distance threshold value, or, the course angle variable quantity is greater than predetermined angle threshold value, described in judgement
Automobile driving running deviation to be measured.
Optionally, the automobile driving running deviation detection device that second aspect of the present invention provides, further includes:
First transmission unit, if being the automobile driving running deviation to be measured for the judgement result under various judgment modes,
Then send the testing result for determining the automobile driving running deviation to be measured.
Optionally, the automobile driving running deviation detection device that any one of above-mentioned second aspect of the present invention provides, further includes:
Storage unit, for saving the judgement result determined every time under each decision procedure；
Second transmission unit, if being more than pre- in judgement result for presetting read-around ratio under at least one decision procedure
If the judgement result of number is the automobile driving running deviation to be measured, then the detection knot for determining the automobile driving running deviation to be measured is sent
Fruit.
The automobile driving running deviation detection method and device that aforementioned present invention provides are based on available vehicle course angle to be measured
And the forward sight camera system of distance is realized between vehicle to be measured and lane line, it is online in the crosswise joint function of vehicle to be measured
And in the case that vehicle to be measured is in straight travel state, lateral displacement of the vehicle to be measured in the first preset duration is obtained
With the course changing control torque of crosswise joint fuction output.Due to crosswise joint function can treat always the driving trace of measuring car into
Row amendment, if vehicle to be measured there are driving running deviation failure, vehicle shift direction that the lateral displacement acquired is characterized with
Vehicle shift direction inevitable direction that the course changing control torque of application is characterized on the contrary, therefore, if what lateral displacement was characterized
Vehicle shift direction is contrary with the vehicle shift that course changing control torque is characterized, and the absolute value of lateral displacement is greater than first
Pre-determined distance threshold value then determines automobile driving running deviation to be measured, and automobile driving running deviation detection method and device provided by the invention can
To detect vehicle with the presence or absence of driving running deviation failure, debugs in time for driver or maintenance personal, ensures that traffic safety mentions
Information for reference.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of automobile driving running deviation detection method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another automobile driving running deviation detection method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another automobile driving running deviation detection method provided in an embodiment of the present invention；
Fig. 4 is the flow chart of another automobile driving running deviation detection method provided in an embodiment of the present invention；
Fig. 5 is a kind of logic diagram of automobile driving running deviation testing result generation method provided in an embodiment of the present invention；
Fig. 6 is the logic diagram of another automobile driving running deviation testing result generation method provided in an embodiment of the present invention；
Fig. 7 is the structural block diagram of the first automobile driving running deviation detection device provided in an embodiment of the present invention；
Fig. 8 is the structural block diagram of second of automobile driving running deviation detection device provided in an embodiment of the present invention；
Fig. 9 is the structural block diagram of the third automobile driving running deviation detection device provided in an embodiment of the present invention；
Figure 10 is the structural block diagram of the 4th kind of automobile driving running deviation detection device provided in an embodiment of the present invention；
Figure 11 is the structural block diagram of the 5th kind of automobile driving running deviation detection device provided in an embodiment of the present invention；
Figure 12 is the structural block diagram of the 6th kind of automobile driving running deviation detection device provided in an embodiment of the present invention；
Figure 13 is the structural block diagram of the 7th kind of automobile driving running deviation detection device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The different kinds of parameters information of the available front part of vehicle of forward sight camera system, for example, front part of vehicle pedestrian information,
Obstacle information, and with pedestrian or the range information of barrier etc..More importantly forward sight camera system can also obtain
It picks up the car in the process of moving at a distance from the lane line of lane two sides and course angle, is intelligent driving function, for example lane occupies
Middle holding, super cruise, provide important control parameter.
In addition, driving function as advanced auxiliary particularly important in intelligent driving technology, crosswise joint function is same to be obtained
To extensive use.It is especially that by the crosswise joint function of lane centering holding, it can be according to aforementioned forward sight camera system
System provide at a distance from the lane line of lane two sides and the parameters such as course angle, course changing control torque is exported, in vehicle driving mistake
Cheng Zhong constantly corrects the driving direction of vehicle, and in the case where not influencing other normal vehicle operations, holding vehicle as far as possible is along vehicle
Road center line traveling, improves the safety of vehicle drive.
Further, crosswise joint function includes online and offline two states, driver select according to their needs be
No unlatching crosswise joint function.
Based on above-mentioned premise, the present patent application embodiment provides a kind of automobile driving running deviation detection method, referring to Fig. 1, Fig. 1
It is the flow chart of automobile driving running deviation detection method provided in an embodiment of the present invention, this method can be applied to be provided with forward sight camera shooting
Entire car controller or car running computer of the vehicle of head system etc. have the controller of data-handling capacity, it is clear that in certain situations
Under also can be selected network side server realize；Referring to Fig.1, automobile driving running deviation detection method provided in an embodiment of the present invention,
May include:
Step S100 judges whether crosswise joint function is online, if so, executing step S110.
The whether online judgement of crosswise joint function can be realized by technological means in the prior art, for example, vehicle
Controller or car running computer can be judged by preset status indicator in reading crosswise joint function, can also pass through reading
It takes and is judged in the connected state for controlling the switch hardware whether crosswise joint function opens.In short, appointing in the prior art
What may be implemented to judge the whether online mode of crosswise joint function be all it is optional, the present patent application is to judging crosswise joint function
Can whether online mode without limitation.
It should be noted that can further judge whether vehicle to be measured is located in the case where crosswise joint function is online
In straight travel state, i.e. execution step S110.In the case where crosswise joint function is offline, the present patent application is additionally provided separately
Outer embodiment wouldn't be described in detail herein.
Step S110, judges whether vehicle to be measured is in straight travel state, if so, executing step S120.
In the case where the crosswise joint function of vehicle to be measured is online, further judge whether vehicle to be measured is in linear rows
State is sailed, if so, traveling step S120.
As previously mentioned, the course angle of the available vehicle of forward sight camera system, in the online situation of crosswise joint function
Under, the course angle of vehicle to be measured, and default heading angle deviation range are obtained, if at the course angle of the vehicle to be measured acquired
It is preset within the scope of heading angle deviation in this, then can be determined that vehicle to be measured is in straight travel state.Correspondingly, if to measuring car
Course angle be not within the scope of the default heading angle deviation, then determine that vehicle to be measured is not in straight travel state.
Optionally, it can also determine by other means whether vehicle to be measured is in straight travel state, for example, forward sight is taken the photograph
As head system can also obtain the distance between vehicle and lane line, therefore, vehicle to be measured and any side lane can be chosen
The distance between line is used as judgment criteria, obtains the distance between vehicle to be measured and the side lane line, if in preset duration, or it is pre-
If operating range in, the distance between vehicle to be measured and the side lane line are within the scope of preset reference distance, then equally
It can be determined that vehicle to be measured is in straight travel state.It is envisioned that vehicle and lane center to be measured can also be chosen
Distance as judgment criteria.
It should be noted that if determining that vehicle to be measured is not in straight travel state according to the parameter currently obtained,
It not can be carried out subsequent rows then and sail sideslip detecting step, can continue to obtain relevant parameter, until determining that vehicle to be measured is in straight
After line driving status, subsequent step is continued to execute.
Step S120 obtains turning for lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration
To control torque.
In embodiments of the present invention, lateral displacement is the position movement that vehicle to be measured occurs perpendicular to lane center, and
With preset positive negative direction.Optionally, the direction of advance towards vehicle to be measured, when vehicle to be measured is located on the left of lane center
Corresponding lateral displacement can be labeled as positive value, correspondingly, vehicle to be measured is located at corresponding lateral displacement when lane center right side
It can be labeled as negative value.Therefore, lateral displacement can be used for characterizing the offset direction of vehicle to be measured.Specifically, if obtaining
The lateral displacement arrived is positive value, illustrates that vehicle to be measured is biased on the left of lane center, correspondingly, if the lateral position acquired
Moving is negative value, then illustrates that vehicle to be measured is biased on the right side of lane center.
The course changing control torque of crosswise joint fuction output is used to adjust the driving direction of vehicle to be measured, and can be used for table
Levy the offset direction of vehicle to be measured.Optionally, in face of the direction of advance of vehicle to be measured, it can control vehicle to be measured to lane center
The course changing control torque deviated on the left of line is labeled as positive value, can control the steering of vehicle to be measured to offset on the right side of lane center
It controls torque and is labeled as negative value.During straight line to be measured traveling, crosswise joint function is to realize that lane centering is kept,
Course changing control torque constantly can be exported therefore can be according to the transverse direction acquired with the driving direction for adjusting vehicle to be measured
The case where course changing control torque of control function output, judge the offset direction of vehicle to be measured.
It optionally, is the accuracy for improving judging result, the embodiment of the present invention, which provides, a kind of obtains vehicle to be measured first
The method of the course changing control torque of lateral displacement and crosswise joint fuction output in preset duration.
Specifically, obtaining vehicle to be measured perpendicular to the offset of lane center by predetermined period in the first preset duration
Amount.It is envisioned that the selection of predetermined period will determine the specific number of the offset acquired in the first preset duration
Amount in the first preset duration, will acquire to obtain a fairly large number of offset, correspondingly, such as if predetermined period selection is shorter
Fruit predetermined period choose it is longer, in the first preset duration, the offset acquired then negligible amounts.It is default reaching first
After duration, the offset average value of all offsets in the first preset duration is calculated, and determines that the offset average value is to be measured
Lateral displacement of the vehicle in the first preset duration.
Likewise, obtaining the steering of vehicle lateral control fuction output to be measured by predetermined period in the first preset duration
Torque is controlled, and calculates the torque average value of all course changing control torques in the first preset duration, gained torque average value is true
It is set to the course changing control torque of vehicle to be measured crosswise joint fuction output in the first preset duration.
Step S130 judges whether to meet: the vehicle shift direction and course changing control torque institute table that lateral displacement is characterized
The vehicle shift of sign is contrary, and the absolute value of lateral displacement is greater than the first pre-determined distance threshold value, if so, executing step
S140, if it is not, executing step S150.
In the case where the crosswise joint function of can be realized lane centering holding is online, if there is traveling in vehicle to be measured
Deviation fault, for example, sideslip to the left, then in straight line driving process to be measured, vehicle to be measured can duration to left avertence
It moves, and crosswise joint function is to realize that lane centering is kept, and can constantly export course changing control torque, controls vehicle to be measured to the right
Amendment, to overcome offset on the left of running out the way bring to be measured.
Therefore, can be according to the lateral displacement and course changing control the direction of the torque of aforementioned acquisition, and combine vehicle to be measured real
The lateral displacement distance that border occurs, the i.e. absolute value of lateral shift, judge whether vehicle to be measured exercises sideslip.If lateral displacement
The vehicle shift direction characterized is contrary with the vehicle shift that course changing control torque is characterized, and the absolute value of lateral displacement
Greater than the first pre-determined distance threshold value, then step S140 can be performed, determine automobile driving running deviation to be measured, otherwise, executes step S150,
Determine that driving running deviation does not occur for vehicle to be measured.
It should be strongly noted that lateral displacement and course changing control torque should select identical reference mark to preset positive losing side
To.For example, the direction of advance towards vehicle to be measured, vehicle to be measured deviates corresponding lateral displacement relative to lane center to the left
Labeled as positive value, likewise, can control vehicle to be measured should also mark to the course changing control torque of offset on the left of lane center
For positive value, and negative value cannot be labeled as.Under the premise of herein, by comparing lateral displacement and course changing control the direction of the torque judge to
It is just significant whether measuring car exercises sideslip.
Step S140 determines automobile driving running deviation to be measured.
When meeting the decision condition of step S130, automobile driving running deviation to be measured is determined.
Step S150 determines that driving running deviation does not occur for vehicle to be measured.
When being unsatisfactory for the decision condition of step S130, determine that driving running deviation does not occur for vehicle to be measured.
In conclusion automobile driving running deviation detection method provided in an embodiment of the present invention, can detecte vehicle whether there is
Driving running deviation failure debugs in time for driver or maintenance personal, ensures that traffic safety provides reference information.
Optionally, the embodiment of the present invention, which is also provided, can determine vehicle to be measured in the case where crosswise joint function is offline
Whether the method for driving running deviation.Fig. 2 is participated in, Fig. 2 is another automobile driving running deviation detection method provided in an embodiment of the present invention
Flow chart, on the basis of embodiment shown in Fig. 1, the sideslip detection method further include:
Step S200, judges whether vehicle to be measured is in straight travel state, if so, executing step S210.
Optionally, the optional realization of step S200 can be as shown in Fig. 1 step S110, and details are not described herein again.
Step S210 obtains the vehicle to be measured steering hand-power square that driver applies in the second preset duration.
Vehicle to be measured is provided with steering wheel torque sensor, can by steering wheel torque sensor acquire driver to
The steering hand-power square applied in vehicle travel process is surveyed, i.e., such detection method is realized in the case where there is driver's intervention
's.If vehicle to be measured is implicitly present in driving running deviation, straight travel state is in vehicle to be measured and is continued when driving, to measuring car
It can voluntarily offset to one side, be to guarantee vehicle along straight-line travelling, driver, which will certainly constantly apply, turns to hand-power square, to repair
Wait for the driving direction of measuring car.Therefore, can according to turn to hand-power square judge vehicle to be measured whether driving running deviation.
Optionally, the steering hand moment values that driver applies can be obtained by predetermined period in the second preset duration, and
After reaching the second preset duration, resulting all hand-power square average values for turning to hand-power square are calculated, and gained hand-power square is put down
Mean value is as the steering hand-power square that driver applies in the second preset duration.It is of course also possible to select other statisticals true
It is fixed eventually for determine vehicle to be measured whether the steering hand-power square of driving running deviation.
Step S220 judges to turn to whether hand-power square is greater than default hand torque threshold, if so, step S140 is executed, if it is not,
Execute step S150.
If gained, which turns to hand-power square, is greater than default hand torque threshold, S140 is thened follow the steps, determines vehicle driving to be measured
Sideslip thens follow the steps S150, determines that vehicle to be measured does not occur if gained turns to hand-power square and is not more than default hand torque threshold
Driving running deviation.
Optionally, the sideslip direction that hand-power square judges vehicle to be measured can also be turned to according to gained.Specifically, towards to be measured
Vehicle forward direction illustrates vehicle to be measured always to the right if it is that driver applies in the counterclockwise direction that gained, which turns to hand-power square,
Offset, i.e. sideslip to the right；Correspondingly, can be determined that if it is that driver applies along clockwise direction that gained, which turns to hand-power square,
Vehicle to be measured sideslip to the left.
Optionally, Fig. 3 is participated in, Fig. 3 is the stream of another automobile driving running deviation detection method provided in an embodiment of the present invention
Cheng Tu, on the basis of embodiment shown in Fig. 1, the sideslip detection method further include:
Step S300, judges whether vehicle to be measured is in straight travel state, if so, executing step S310.
Optionally, the optional realization of step S300 can be as shown in Fig. 1 step S110, and details are not described herein again.
Step S310 calculates the course angle variable quantity in third preset duration.
As previously mentioned, by the course angle of the available vehicle to be measured of forward sight camera system, in the present embodiment, to
After measuring car enters straight travel state, the driving process that driver does not treat measuring car is intervened, if vehicle to be measured is true
Real storage is in driving running deviation, then the course angle of forward sight camera system feedback certainly will be in the trend constantly increased, therefore, Ke Yigen
Judge whether vehicle to be measured occurs driving running deviation according to the course angle variable quantity of vehicle to be measured.
Specifically, specified third preset duration records the initial heading angle of vehicle to be measured when timing starts, and obtain
Termination course angle of the vehicle to be measured when timing duration reaches the third preset duration calculates and terminates course angle and initial heading angle
Difference, gained difference is denoted as course angle variable quantity of the vehicle to be measured in third preset duration.
Step S320, judges whether course angle variable quantity is greater than predetermined angle threshold value, if so, step S140 is executed, if it is not,
Execute step S150.
If gained course angle variable quantity is greater than predetermined angle threshold value, S140 is thened follow the steps, determines vehicle driving to be measured
Sideslip, and course angle variable quantity is bigger, illustrates that running out the way to be measured is more serious；If gained course angle variable quantity is no more than default
Angle threshold thens follow the steps S150, determines that driving running deviation does not occur for vehicle to be measured.
Optionally, referring to fig. 4, Fig. 4 is the stream of another automobile driving running deviation detection method provided in an embodiment of the present invention
Cheng Tu, on the basis of embodiment shown in Fig. 1, the sideslip detection method further include:
Step S400, judges whether vehicle to be measured is in straight travel state, if so, executing step S410.
Optionally, the optional realization of step S400 can be as shown in Fig. 1 step S110, and details are not described herein again.
Step S410 obtains lateral position of the vehicle to be measured after traveling preset travel distance perpendicular to driving direction and changes
Amount.
If vehicle to be measured is implicitly present in driving running deviation, in the case where non-driver is intervened, into straight travel state
Vehicle to be measured can persistently offset to one side, i.e., generate certain lateral position on the direction perpendicular to vehicle heading and become
Therefore change amount can judge whether vehicle to be measured occurs driving running deviation according to the lateral position variable quantity.
Optionally, as previously mentioned, forward sight camera system can not only feed back the course angle of vehicle to be measured, meanwhile, may be used also
To feed back the distance between vehicle to be measured and lane line, therefore, vehicle to be measured can be obtained by forward sight camera system and occurred
Lateral position variable quantity.Specifically, the initial distance of distance reference lane line when vehicle to be measured is located at starting point is recorded, to be measured
Vehicle after traveling preset travel distance, obtains vehicle phase to be measured by forward sight camera system in the case where non-driver is intervened
For the termination distance of reference side lane line, the difference for terminating distance and initial distance is calculated, resulting distance difference is lateral position
Set variable quantity.
It should be noted that any lane line positioned at vehicle two sides can be chosen with reference to lane line, equally, can also select
Take lane center.
Step S420, judges whether lateral position variable quantity is greater than the second pre-determined distance threshold value, if so, executing step
S140, if it is not, executing step S150.
If lateral position variable quantity is greater than the second pre-determined distance threshold value, step S140 is executed, determines vehicle driving to be measured
Sideslip executes step S150, determines that vehicle to be measured does not occur if lateral position variable quantity is not more than the second pre-determined distance threshold value
Driving running deviation.
Optionally, Fig. 2 provided respectively to embodiment illustrated in fig. 4 crosswise joint function it is offline in the case where, detect to measuring car
Whether the method for driving running deviation, on the basis of foregoing teachings, the detection side that can be provided simultaneously using the various embodiments described above
Method is treated measuring car and is detected.
Specifically, in the case that in crosswise joint function, vehicle offline and to be measured is in straight travel state, firstly, obtaining
Vehicle to be measured in the second preset duration driver apply steering hand-power square and traveling preset travel distance after perpendicular to
The lateral position variable quantity of driving direction, and the course angle variable quantity in third preset duration is calculated, if it is big to turn to hand-power square
In default hand torque threshold, alternatively, lateral position variable quantity is greater than the second pre-determined distance threshold value, or, course angle variable quantity
Greater than predetermined angle threshold value, then automobile driving running deviation to be measured is determined.
Hand-power square, lateral position variable quantity and course angle variation are turned to it should be noted that obtaining in above-described embodiment
Amount, and the method that detection judgement is carried out according to each parameter, it is consistent with acquisition of the Fig. 2 into embodiment illustrated in fig. 4, decision process,
Details are not described herein again.
Optionally, by the detection method provided in integrated use above-described embodiment, and relevant statistical method is combined,
More accurate testing result can be provided to driver or testing staff.It is provided in an embodiment of the present invention referring to Fig. 5, Fig. 5
A kind of logic diagram of automobile driving running deviation testing result generation method.
As shown in figure 5, sideslip detection 1 to sideslip detection 4 respectively represents four provided in above-described embodiment in logic diagram
Kind sideslip detection method, if the judgement result under various judgment modes is automobile driving running deviation to be measured, process and logical operation
Afterwards, then the testing result for determining automobile driving running deviation to be measured is sent.
Alternatively, multiple test is carried out using each the sideslip detection method of sideslip detection 1 into sideslip detection 4, and
The judgement for determining to obtain every time is saved under each decision procedure as a result, after the judgement for completing default read-around ratio (in Fig. 5 with
For determining by 5 times), if in a kind of judgement result under at least there is decision procedure, more than the judgement result of predetermined number
For automobile driving running deviation to be measured, then the testing result for determining automobile driving running deviation to be measured is sent.
Correspondingly, Fig. 6 is that another automobile driving running deviation testing result provided in an embodiment of the present invention generates referring to Fig. 6
The logic diagram of method.If the judgement result under various judgment modes is that driving running deviation does not occur for vehicle to be measured, by with patrol
After volume operation, then the testing result for determining vehicle to be measured not sideslip is sent.
Alternatively, multiple test is carried out using each the sideslip detection method of sideslip detection 1 into sideslip detection 4, and
The judgement for determining to obtain every time is saved under each decision procedure as a result, after the judgement for completing default read-around ratio (in Fig. 6 with
For determining by 5 times), if being less than or equal to another predetermined number in a kind of judgement result under at least there is decision procedure
Judgement result be automobile driving running deviation to be measured, then send the testing result for determining vehicle driving to be measured not sideslip.
The automobile driving running deviation detection method provided through the embodiment of the present invention, a variety of decision procedures of integrated use, and tie
Statistical method is closed to determining that result is for statistical analysis, the accuracy of testing result can be significantly provided.
Automobile driving running deviation detection device provided in an embodiment of the present invention is introduced below, vehicle row described below
Sailing deviation detecting device may be considered the automobile driving running deviation detection method that embodiment provides to realize the present invention, set in center
The functional module framework of setting is needed in standby (entire car controller or car running computer of vehicle such as to be measured)；Be described below content can with it is upper
Text is cross-referenced.
It is the structural block diagram of the first automobile driving running deviation detection device provided in an embodiment of the present invention referring to Fig. 7, Fig. 7,
The device includes:
First acquisition unit 10, for the crosswise joint function in vehicle to be measured, vehicle online and to be measured is in straight-line travelling
In the case where state, the steering control of lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration is obtained
Torque processed；Wherein, lateral displacement is that the position that vehicle to be measured occurs perpendicular to lane center is mobile；
First judging unit 20, if the vehicle shift direction for lateral displacement to be characterized is characterized with course changing control torque
Vehicle shift it is contrary, and the absolute value of lateral displacement is greater than the first pre-determined distance threshold value, determines that vehicle driving to be measured is run
Partially.
Optionally, first acquisition unit 10, for obtaining lateral displacement of the vehicle to be measured in the first preset duration
When, it specifically includes:
In the first preset duration, vehicle to be measured is obtained perpendicular to the offset of lane center by predetermined period；Wherein,
Offset is provided with positive negative direction by the first preset rules；
Calculate the offset average value of all offsets in the first preset duration；
Determine that offset average value is lateral displacement of the vehicle to be measured in the first preset duration.
Optionally, first acquisition unit 10, for obtaining vehicle to be measured crosswise joint function number in the first preset duration
When course changing control torque out, specifically include:
In the first preset duration, turned round by the course changing control that predetermined period obtains vehicle lateral control fuction output to be measured
Square；Wherein, course changing control torque is provided with positive negative direction by the second preset rules；
Calculate the torque average value of all course changing control torques in the first preset duration；
Determine that the course changing control that torque average value is vehicle to be measured crosswise joint fuction output in the first preset duration is turned round
Square.
Optionally, Fig. 8 is participated in, Fig. 8 is the knot of second of automobile driving running deviation detection device provided in an embodiment of the present invention
Structure block diagram, on the basis of the embodiment shown in fig. 7, the device further include:
Second acquisition unit 30, the case where being in straight travel state for the vehicle offline and to be measured in crosswise joint function
Under, obtain the vehicle to be measured steering hand-power square that driver applies in the second preset duration；
Second judging unit 40 determines that vehicle driving to be measured is run if being greater than default hand torque threshold for turning to hand-power square
Partially.
Optionally, Fig. 9 is participated in, Fig. 9 is the knot of the third automobile driving running deviation detection device provided in an embodiment of the present invention
Structure block diagram, on the basis of the embodiment shown in fig. 7, the device further include:
Third acquiring unit 50, the case where being in straight travel state for the vehicle offline and to be measured in crosswise joint function
Under, calculate the course angle variable quantity in third preset duration；
Third judging unit 60 determines that vehicle driving to be measured is run if being greater than predetermined angle threshold value for course angle variable quantity
Partially.
Optionally, Figure 10 is participated in, Figure 10 is the 4th kind of automobile driving running deviation detection device provided in an embodiment of the present invention
Structural block diagram, on the basis of the embodiment shown in fig. 7, the device further include:
4th acquiring unit 70, the case where being in straight travel state for the vehicle offline and to be measured in crosswise joint function
Under, vehicle to be measured is obtained after traveling preset travel distance perpendicular to the lateral position variable quantity of driving direction；
4th judging unit 80 determines vehicle to be measured if being greater than the second pre-determined distance threshold value for lateral position variable quantity
Driving running deviation.
Optionally, Figure 11 is participated in, Figure 11 is the 5th kind of automobile driving running deviation detection device provided in an embodiment of the present invention
Structural block diagram, on the basis of the embodiment shown in fig. 7, the device further include:
Many reference amounts acquiring unit 90 is in the feelings of straight travel state for vehicle offline and to be measured in crosswise joint function
Under condition, the vehicle to be measured steering hand-power square that driver applies in the second preset duration is obtained and in traveling preset travel distance
Afterwards perpendicular to the lateral position variable quantity of driving direction, and calculate the course angle variable quantity in third preset duration；
Many reference amounts judging unit 100, if being greater than default hand torque threshold for turning to hand-power square, alternatively, lateral position becomes
Change amount is greater than the second pre-determined distance threshold value, or, course angle variable quantity is greater than predetermined angle threshold value, determines vehicle driving to be measured
Sideslip.
Optionally, Figure 12 is participated in, Figure 12 is the 6th kind of automobile driving running deviation detection device provided in an embodiment of the present invention
Structural block diagram, on the basis of embodiment illustrated in fig. 11, the device further include:
First transmission unit 110, if being automobile driving running deviation to be measured for the judgement result under various judgment modes,
Send the testing result for determining automobile driving running deviation to be measured.
Optionally, Figure 13 is participated in, Figure 13 is the 7th kind of automobile driving running deviation detection device provided in an embodiment of the present invention
Structural block diagram, on the basis of embodiment shown in Fig. 8, the device further include:
Storage unit 120, for saving the judgement result determined every time under each decision procedure；
Second transmission unit 130, if under at least one decision procedure preset read-around ratio judgement result in, be more than
The judgement result of predetermined number is automobile driving running deviation to be measured, then sends the testing result for determining automobile driving running deviation to be measured.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments in the case where not departing from core of the invention thought or scope.Therefore, originally
Invention is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein
Consistent widest scope.
Claims (10)
1. a kind of automobile driving running deviation detection method, which is characterized in that applied to the vehicle for being provided with forward sight camera system, institute
The method of stating includes:
In the case that the online and described vehicle to be measured is in straight travel state in the crosswise joint function of vehicle to be measured, institute is obtained
State the course changing control torque of lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration；Wherein, institute
Stating lateral displacement is that the position that the vehicle to be measured occurs perpendicular to lane center is mobile；
If the vehicle shift direction that the lateral displacement is characterized and the vehicle shift direction that the course changing control torque is characterized
On the contrary, and the absolute value of the lateral displacement be greater than the first pre-determined distance threshold value, determine the automobile driving running deviation to be measured.
2. automobile driving running deviation detection method according to claim 1, which is characterized in that described to obtain the vehicle to be measured
Lateral displacement in the first preset duration, comprising:
In the first preset duration, the vehicle to be measured is obtained perpendicular to the offset of the lane center by predetermined period；
Wherein, the offset is provided with positive negative direction by the first preset rules；
Calculate the offset average value of all offsets in first preset duration；
Determine that the offset average value is lateral displacement of the vehicle to be measured in the first preset duration.
3. automobile driving running deviation detection method according to claim 1, which is characterized in that described to obtain the vehicle to be measured
The course changing control torque of crosswise joint fuction output in the first preset duration, comprising:
In the first preset duration, the course changing control of the vehicle lateral control fuction output to be measured is obtained by the predetermined period
Torque；Wherein, the course changing control torque is provided with positive negative direction by the second preset rules；
Calculate the torque average value of all course changing control torques in first preset duration；
Determine that the torque average value is the steering control of the vehicle to be measured crosswise joint fuction output in the first preset duration
Torque processed.
4. automobile driving running deviation detection method according to claim 1, which is characterized in that the vehicle side of being provided with to be measured
To disk torque sensor, the method also includes:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, obtain described to be measured
The vehicle steering hand-power square that driver applies in the second preset duration；
If the steering hand-power square is greater than default hand torque threshold, the automobile driving running deviation to be measured is determined.
5. automobile driving running deviation detection method according to claim 1, which is characterized in that further include:
In the case that the offline and described vehicle to be measured is in straight travel state in the crosswise joint function, it is default to calculate third
Course angle variable quantity in duration；
If the course angle variable quantity is greater than predetermined angle threshold value, the automobile driving running deviation to be measured is determined.
6. automobile driving running deviation detection method according to claim 1, which is characterized in that further include:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, obtain described to be measured
Vehicle is after traveling preset travel distance perpendicular to the lateral position variable quantity of driving direction；
If the lateral position variable quantity is greater than the second pre-determined distance threshold value, the automobile driving running deviation to be measured is determined.
7. automobile driving running deviation detection method according to claim 1, which is characterized in that further include:
In the case that in the crosswise joint function, the offline and described vehicle to be measured is in straight travel state, obtain described to be measured
Vehicle in the second preset duration driver apply steering hand-power square and traveling preset travel distance after perpendicular to traveling
The lateral position variable quantity in direction, and calculate the course angle variable quantity in third preset duration；
If the steering hand-power square is greater than default hand torque threshold, alternatively, the lateral position variable quantity be greater than second it is default away from
From threshold value, or, the course angle variable quantity is greater than predetermined angle threshold value, determines the automobile driving running deviation to be measured.
8. automobile driving running deviation detection method according to claim 7, which is characterized in that if sentencing under various judgment modes
Determining result is the automobile driving running deviation to be measured, then sends the testing result for determining the automobile driving running deviation to be measured.
9. according to the described in any item automobile driving running deviation detection methods of claim 4-7, which is characterized in that further include:
Save the judgement result determined every time under each decision procedure；
If the judgement result more than predetermined number is described in the judgement result for presetting read-around ratio under at least one decision procedure
Automobile driving running deviation to be measured then sends the testing result for determining the automobile driving running deviation to be measured.
10. a kind of automobile driving running deviation detection device characterized by comprising
First acquisition unit, for the crosswise joint function in vehicle to be measured, the online and described vehicle to be measured is in straight-line travelling shape
In the case where state, the steering of lateral displacement and crosswise joint fuction output of the vehicle to be measured in the first preset duration is obtained
Control torque；Wherein, the lateral displacement is that the position that the vehicle to be measured occurs perpendicular to lane center is mobile；
First judging unit, if the vehicle shift direction characterized for the lateral displacement and course changing control torque institute table
The vehicle shift of sign is contrary, and the absolute value of the lateral displacement is greater than the first pre-determined distance threshold value, determines described to be measured
Automobile driving running deviation.
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| CN110834642A (en) * | 2019-11-04 | 2020-02-25 | 中国第一汽车股份有限公司 | Vehicle deviation identification method and device, vehicle and storage medium |
| CN110949495A (en) * | 2019-10-25 | 2020-04-03 | 浙江吉利汽车研究院有限公司 | Steering wheel angle correction method and device |
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| CN112918482A (en) * | 2021-03-25 | 2021-06-08 | 东风汽车集团股份有限公司 | Method and system for detecting and analyzing vehicle deviation degree and storage medium |
| CN113044048A (en) * | 2021-03-31 | 2021-06-29 | 东风商用车有限公司 | Method, device and equipment for identifying vehicle deviation and readable storage medium |
| CN116594373A (en) * | 2023-05-11 | 2023-08-15 | 中山市博测达电子科技有限公司 | Automatic driving safety test system and method based on 5G technology |
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