CN110466527B

CN110466527B - Vehicle driving control method and system and vehicle

Info

Publication number: CN110466527B
Application number: CN201910777418.6A
Authority: CN
Inventors: 孙崇尚; 李弼超; 陈集辉; 饶讯; 吴贤
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2021-04-13
Anticipated expiration: 2039-08-22
Also published as: CN110466527A

Abstract

The embodiment of the invention discloses a vehicle driving control method, a vehicle driving control system and a vehicle, which are applied to the technical field of vehicle driving and can solve the problem that the driving parameters of the vehicle cannot be accurately adjusted in real time. The method comprises the following steps: the method comprises the steps of obtaining a reference curvature of a vehicle determined in a path tracking mode at a current path point, obtaining a limited curvature range of the vehicle determined through environment information at the current path point, determining a target driving parameter of the vehicle according to the reference curvature and the limited curvature range, and controlling the vehicle to drive according to the target driving parameter.

Description

Vehicle driving control method and system and vehicle

Technical Field

The embodiment of the invention relates to the technical field of vehicles, in particular to a vehicle and a driving control method and system thereof.

Background

With more and more people selecting to drive the car for traveling, the traffic jam condition is increasingly serious, and the traffic accidents are more frequent. The existing automatic driving technology is to plan a path in advance according to a certain scene and track the path in the driving process of a vehicle to control the driving of the vehicle, and the method for controlling the driving of the vehicle is mostly suitable for some closed scenes, and for non-closed scenes with complex road conditions, when the vehicle is controlled to drive, the driving parameters of the vehicle cannot be accurately and real-timely adjusted, so that traffic rules are further violated or traffic accidents occur.

Disclosure of Invention

The embodiment of the invention provides a vehicle driving control method and system and a vehicle, which are used for solving the problem that the driving parameters of the vehicle cannot be accurately adjusted in real time in the prior art. In order to solve the above technical problem, the embodiment of the present invention is implemented as follows:

in a first aspect, there is provided a running control method of a vehicle, including:

acquiring a reference curvature of the vehicle at the current path point determined in a path tracking mode;

acquiring a limited curvature range of the vehicle at the current path point determined by the environmental information;

determining a target driving parameter of the vehicle according to the reference curvature and the limited curvature range;

and controlling the vehicle to run according to the target running parameters.

As an alternative implementation, in a first aspect of an embodiment of the present invention,

before determining the target driving parameter of the vehicle according to the reference curvature and the limit curvature range, the method further comprises:

acquiring a first reference speed and a first path remaining distance of the vehicle at a current path point, which are determined in a path tracking manner;

and acquiring a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point, which are determined based on the driving rule.

the determining the target driving parameter of the vehicle according to the reference curvature and the limited curvature range comprises:

determining whether the reference curvature is within the limit curvature range;

if so, determining that the target driving parameter of the vehicle is the maximum braking force of the vehicle;

if not, determining that the target driving parameters of the vehicle comprise: the reference curvature, the first target reference vehicle speed and the first target path remaining distance, wherein the first target reference vehicle speed is the minimum value of the first reference vehicle speed and the second reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance and the second path remaining distance.

acquiring an emergency stop instruction for the vehicle, which is determined by environment information, wherein the emergency stop instruction is used for indicating braking and stopping according to the maximum braking force;

and determining the target running parameter of the vehicle as the maximum braking force of the vehicle according to the reference curvature, the limited curvature range and the emergency stop instruction.

obtaining a comfortable parking instruction for the vehicle determined by environment information, wherein the comfortable parking instruction comprises a third reference vehicle speed and a third path remaining distance;

if not, determining that the target driving parameters of the vehicle comprise: the reference curvature, the second target reference vehicle speed and the second target path remaining distance, the first target reference vehicle speed is the minimum value of the first reference vehicle speed, the second reference vehicle speed and the third reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance, the second path remaining distance and the third path remaining distance.

As an optional implementation manner, in the first aspect of the embodiment of the present invention, the obtaining a second reference vehicle speed and a second remaining path distance of the vehicle at the current path point, which are determined based on the driving rule, includes:

and acquiring a second reference speed and a second path remaining distance of the vehicle at the current path point according to the positioning information of the vehicle, the map information of the road where the vehicle is located and the driving rule.

In a second aspect, there is provided a running control system for a vehicle, including:

the first acquisition module is used for acquiring the reference curvature of the vehicle at the current path point, which is determined in a path tracking mode;

the second acquisition module is used for acquiring the limited curvature range of the vehicle at the current path point, which is determined by the environment information;

the determining module is used for determining a target running parameter of the vehicle according to the reference curvature and the limited curvature range;

and the control module is used for controlling the vehicle to run according to the target running parameters.

As an alternative implementation, in the second aspect of the embodiment of the present invention,

the first obtaining module is further configured to obtain a first reference vehicle speed and a first path remaining distance of the vehicle at the current path point, which are determined in a path tracking manner, before the determining module determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range;

the system further comprises:

and the third acquisition module is used for acquiring a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point, which are determined based on the driving rule.

As an optional implementation manner, in a second aspect of the embodiment of the present invention, the determining module is specifically configured to determine whether the reference curvature is within the limit curvature range;

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second obtaining module is further configured to obtain an emergency stop instruction for the vehicle, which is determined by environment information, before the determining module determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range, where the emergency stop instruction is used for instructing to brake and stop according to a maximum braking force;

the determining module is specifically configured to determine, according to the reference curvature, the limited curvature range, and the emergency stop instruction, that the target driving parameter of the vehicle is a maximum braking force of the vehicle.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second obtaining module is further configured to obtain a comfortable parking instruction for the vehicle, which is determined by environment information, before the determining module determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range, where the comfortable parking instruction includes a third reference vehicle speed and a third path remaining distance;

the determining module is specifically configured to determine whether the reference curvature is within the limited curvature range;

As an optional implementation manner, in a second aspect of the embodiment of the present invention, the third obtaining module is specifically configured to obtain a second reference vehicle speed and a second remaining path distance of the vehicle at the current path point according to the positioning information of the vehicle, the map information of the road where the vehicle is located, and the driving rule.

In a third aspect, there is provided a running control system of a vehicle, the system including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of controlling travel of a vehicle according to the first aspect.

In a fourth aspect, a vehicle is provided, the vehicle comprising: the running control system of a vehicle according to a second aspect.

In a fifth aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the travel control method for a vehicle according to the first aspect.

A sixth aspect provides a computer program product which, when run on a computer, causes the computer to execute the steps of the running control method of the vehicle according to the first aspect

In a seventh aspect, an application distribution platform is provided, which is used for distributing a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the driving control method of the vehicle according to the first aspect.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, the reference curvature of the vehicle at the current path point determined by the path tracking mode can be obtained, the limited curvature range of the vehicle at the current path point determined by the environment information is obtained, the target driving parameter of the vehicle is determined according to the reference curvature and the limited curvature range, and the vehicle is controlled to drive according to the target driving parameter. According to the scheme, the current target driving parameters of the vehicle can be determined in real time according to the driving parameters (respectively the reference curvature and the limited curvature range) determined in different ways in the driving process of the vehicle, so that the determined target driving parameters can be more accurate, the driving parameters of the vehicle can be accurately adjusted in real time, the vehicle is controlled to drive according to the target driving parameters, and further illegal traffic rules or traffic accidents can be avoided and reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a first flowchart illustrating a first method for controlling the driving of a vehicle according to an embodiment of the present invention;

FIG. 2 is a second flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present invention;

FIG. 3 is a third schematic flowchart of a method for controlling the driving of a vehicle according to an embodiment of the present invention;

FIG. 4 is a fourth flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present invention;

FIG. 5 is a fifth flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a driving control system of a vehicle according to an embodiment of the present invention;

FIG. 7 is a first schematic structural diagram of a vehicle driving control system according to an embodiment of the present invention;

FIG. 8 is a second schematic structural diagram of a vehicle driving control system according to an embodiment of the present invention;

fig. 9 is a third schematic structural diagram of a vehicle travel control system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first" and "second," and the like, in the description and in the claims of the present invention are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first reference vehicle speed and the second reference vehicle speed and the like are used to distinguish different reference vehicle speeds, and are not used to describe a specific order of the reference vehicle speeds.

The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "e.g.," an embodiment of the present invention is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The embodiment of the invention provides a vehicle driving control method, a vehicle driving control system and a vehicle, which can accurately adjust the driving parameters of the vehicle in real time, control the vehicle to drive according to the target driving parameters, and further avoid and reduce illegal traffic rules or traffic accidents.

The following embodiments exemplify a method for controlling the running of a vehicle according to an embodiment of the present invention, taking a running control system of a vehicle as an example of an execution subject.

Example one

As shown in fig. 1, an embodiment of the present invention provides a method for controlling the running of a vehicle, which may include the steps of:

101. the running control system of the vehicle acquires the reference curvature of the vehicle at the current path point determined by the path tracking mode.

Alternatively, the above 101 may be implemented by the following 101a and 101 b.

101a, the running control system of the vehicle performs local path planning according to the pre-planned path and the detected environment information to determine the running path information of the vehicle.

Wherein, the above-mentioned driving route information includes: coordinates of waypoints, heading and reference vehicle speed.

In the embodiment of the invention, the running control system of the vehicle can obtain the executable path after carrying out local path planning according to the pre-planned path and the detected environment information, namely the running path information. The vehicle driving control system can acquire whether an obstacle exists on a pre-planned path according to the detected environmental information, and perform local dynamic planning on the pre-planned path under the condition that the obstacle exists so as to determine driving path information capable of bypassing the obstacle.

101b, the running control system of the vehicle tracks the path according to the running path information so as to obtain the reference curvature of the vehicle at the current path point.

Optionally, in the embodiment of the present invention, a first reference vehicle speed and a first path remaining distance of the vehicle at the current path point may also be obtained through the foregoing 101a and 101 b.

Optionally, the tracking of the vehicle according to the driving path information is performed by the driving control system of the vehicle, which is to intelligently adjust the speed of the current path point according to the road condition information of the current driving road of the vehicle, so as to output the first reference speed, calculate the reference curvature of the vehicle at the current path point according to the coordinate and the heading of the current path point of the vehicle, and calculate the remaining distance of the first path according to the current position and the executable path of the vehicle.

Optionally, the logic of the specific adjustment when the vehicle speed is intelligently adjusted may be deceleration near a ramp, a curve, or a parking space, and acceleration in a straight road, according to the road condition information of the current driving road of the vehicle.

The curvature mentioned in the embodiment of the present invention may be realized by a steering wheel angle of a vehicle in practice, and it is understood that the curvature may also be realized by other manners, and the embodiment of the present invention is not limited.

102. The driving control system of the vehicle acquires the limited curvature range of the vehicle at the current path point determined by the environment information.

The environmental information in the embodiment of the present invention may include information of an ultrasonic sensor, information of a visual sensor, and information of a position sensor (i.e., information of a sensor for detecting where the vehicle is located).

Alternatively, the ultrasonic sensor may be an ultrasonic radar; the visual sensor may be an image acquisition device consisting of one or more cameras.

Optionally, in the embodiment of the present invention, the limited curvature range of the vehicle at the current path point may be determined according to the road condition of the vehicle and the current position of the vehicle in the environment information. The limited curvature range may be a preset range of reference curvature allowed at the position, and the limited curvature range may also be a safe curvature range allowed for the position determined according to the position distribution of the obstacles in the surrounding environment of the position (such that the distance between the driving path and the obstacles in the surrounding environment is greater than a safe threshold value, and the vehicle is safely driven without stopping).

103. A travel control system of the vehicle determines a target travel parameter of the vehicle based on the reference curvature and the limited curvature range.

104. The running control system of the vehicle controls the vehicle to run according to the target running parameter.

Optionally, when the reference curvature is outside the limited curvature range, it is indicated that the vehicle deviates from the safe curvature range, and at this time, the target driving parameter of the vehicle may be determined to be the maximum braking force, and the vehicle is controlled to brake and stop according to the maximum braking force; when the reference curvature is within the curvature range, the reference curvature may be determined as a target running parameter of the vehicle, and the steering wheel angle of the vehicle may be controlled according to the reference curvature.

Example two

Referring to fig. 1, as shown in fig. 2, a method for controlling the driving of a vehicle according to an embodiment of the present invention may include:

201. the vehicle running control system obtains the reference curvature, the first reference vehicle speed and the first path remaining distance of the vehicle at the current path point, which are determined in a path tracking mode.

For a specific method for obtaining the reference curvature of the vehicle at the current path point, the first reference vehicle speed, and the remaining distance of the first path, reference may be made to the description in 101 of the first embodiment, and details are not repeated here.

202. The travel control system of the vehicle acquires any one of a limited curvature range of the vehicle at the current waypoint, the limited curvature range and an emergency stop command, and the limited curvature range and a comfortable stop command, which are determined by the environmental information.

In the embodiment of the invention, the running control system of the vehicle can determine the limited curvature range of the vehicle according to the environment information, and also can determine an emergency stop instruction aiming at the vehicle according to the environment information, wherein the emergency stop instruction is used for indicating braking and stopping according to the maximum braking force; or a comfortable parking instruction for the vehicle can also be determined according to the environmental information.

The driving parameters of the vehicle determined according to the environment information in the embodiment of the invention include the following three possible situations:

the first possible scenario: the target driving parameter is a limited curvature range of the vehicle at the current path point. Optionally, the method is suitable for determining a nearby obstacle-free scene according to the environment information, and in the scene, a limited curvature range of the vehicle at the current path point may be determined according to current position information of the vehicle, where the limited curvature range may be a preset range of reference curvature allowed at the position, and the limited curvature range may also be: the safe curvature range allowed by the position is determined according to the position distribution of the obstacles in the surrounding environment of the position (the distance between the driving path and the obstacles in the surrounding environment is larger than a safe threshold value, and the vehicle is safely driven without stopping the vehicle).

Illustratively, the limited curvature range may be set between 90 degrees to 180 degrees to the left.

The second possible scenario: the target running parameters include a limited curvature range of the vehicle at the current waypoint and an emergency stop command.

Optionally, the method is suitable for detecting an obstacle (which may be a dynamic obstacle or a static obstacle that is not detected before) that suddenly appears according to the environment information, and a distance between the obstacle and the vehicle is smaller than a preset safety distance, and in the scenario, if the vehicle cannot avoid the obstacle in the travel path corresponding to the limited curvature range, the limited curvature range and the emergency stop instruction may be output, so that the vehicle stops as soon as possible.

A third possible scenario: the target driving parameters include a limited curvature range of the vehicle at the current waypoint and a comfortable parking instruction. And the comfortable parking instruction comprises a third reference vehicle speed and a third path remaining distance.

Optionally, the method is suitable for a scene in which an obstacle is detected in advance according to the environmental information, and the distance between the obstacle and the vehicle is greater than the safe distance, and in the scene, if the obstacle cannot be avoided by the vehicle on the corresponding driving path within the limited curvature range, the limited curvature range and the comfortable parking instruction can be output, so that the vehicle can be stopped comfortably.

Specifically, the distance between the vehicle and the obstacle may be calculated from the environmental information, and the limited curvature range and the comfortable parking instruction may be output in the case where the distance between the vehicle and the obstacle is greater than or equal to the safe distance.

The third reference vehicle speed may be a speed expected to be traveled by the vehicle determined based on the environmental information, and the third path remaining distance may be a maximum distance allowed to be traveled by the vehicle determined based on the environmental information.

203. And the running control system of the vehicle acquires a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point, which are determined based on the running rule.

Optionally, the driving control system of the vehicle may further obtain a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point, which are determined based on the driving rule.

Specifically, the driving control system of the vehicle may obtain a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point according to the positioning information of the vehicle, the map information of the road where the vehicle is located, and the driving rule.

204. A travel control system of the vehicle determines a target travel parameter of the vehicle based on the reference curvature and the limited curvature range.

205. The running control system of the vehicle controls the vehicle to run according to the target running parameter.

Optionally, according to three different conditions of the driving parameters of the vehicle determined by the path tracking method, the foregoing 204 may specifically correspond to three different implementation manners:

optionally, when the driving parameter of the vehicle determined by the environment information is in the first case, the above-mentioned step 103 corresponds to a first implementation manner, in which, with reference to fig. 2, as shown in fig. 3,

the above 204 may be replaced with 204a, 204b and 204 c.

204a, the running control system of the vehicle determines whether the reference curvature is within the limit curvature range.

If so, execute 204b below; if not, the following 204c is performed.

204b, the running control system of the vehicle determines that the target running parameter of the vehicle is the maximum braking force of the vehicle.

In the embodiment of the invention, when the reference curvature is in the limited curvature range, the fact that the vehicle deviates from the safe curvature range is described, at the moment, the target running parameter of the vehicle can be determined to be the maximum braking force, and the vehicle is controlled to brake and stop according to the maximum braking force.

204c, the determination of the target running parameters of the vehicle by the running control system of the vehicle comprises the following steps: the reference curvature, the first target reference vehicle speed, and the first target path remaining distance.

The first target reference vehicle speed is the minimum value of the first reference vehicle speed and the second reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance and the second path remaining distance.

Optionally, when the driving parameter of the vehicle determined by the environment information is in the second case, the reference numeral 204 corresponds to a second implementation manner, and in this implementation manner, with reference to fig. 2, as shown in fig. 4, the reference numeral 204 may be replaced with a reference numeral 204 d.

204d, the running control system of the vehicle determines the target running parameter of the vehicle as the maximum braking force of the vehicle according to the reference curvature of the vehicle at the current path point, the limited curvature range of the vehicle at the current path point and the emergency stop instruction.

In the embodiment of the present invention, when the driving parameter of the vehicle determined by the environment information is in the second situation, because there is an emergency stop instruction, at this time, the vehicle may control the vehicle to brake with the maximum braking force according to the instruction of the emergency stop instruction without considering other driving parameters.

Optionally, when the driving parameter of the vehicle determined by the environment information is in the third case, the above-mentioned 204 corresponds to a third implementation manner, in this implementation manner, as shown in fig. 5 with reference to fig. 2, the above-mentioned 204 may be replaced with the following 204a, 204b, and 204 e.

If so, execute 204b below; if not, the following 204c is performed.

204e, the determining the target running parameters of the vehicle by the running control system of the vehicle comprises the following steps: the reference curvature, the second target reference vehicle speed, and the second target path remaining distance.

In the embodiment, three modes of arbitrating the target driving parameters are provided aiming at three different conditions of the driving parameters of the vehicle determined by the path tracking mode, namely, the embodiment of the invention can pertinently select the target driving parameters suitable for the current driving of the vehicle according to the obtained driving parameters so as to avoid violating traffic rules or generating traffic accidents, thereby more flexibly controlling the driving of the vehicle and improving the safety of the driving of the vehicle.

Wherein the first target reference vehicle speed is a minimum value among the first reference vehicle speed, the second reference vehicle speed, and the third reference vehicle speed, and the first target path remaining distance is a minimum value among the first path remaining distance, the second path remaining distance, and the third path remaining distance.

Optionally, the driving rule in the embodiment of the present invention may refer to a scenario in which a traffic rule is considered, for example, a deceleration or a stop is required at an intersection.

Optionally, when the target driving parameter is the maximum braking force of the vehicle, the driving control system of the vehicle 205 may control the vehicle to brake with the maximum braking force when the target driving parameter is specifically implemented, so that the vehicle is stopped as soon as possible.

Optionally, when the target driving parameters are the reference curvature, the first target reference vehicle speed, and the first target path remaining distance, the driving control system of the vehicle 205 in implementation may control the angle of the steering wheel of the vehicle according to the reference curvature, control the vehicle to drive according to the first target reference vehicle speed, perform vehicle speed planning according to the first target reference vehicle speed and the first target path remaining distance, and control the vehicle to drive according to the planned vehicle speed, so that the vehicle may stop at the target stopping point (i.e., within the first target remaining distance).

Optionally, when the target driving parameter is the reference curvature, the second target reference vehicle speed, and the second target path remaining distance, the driving control system of the vehicle 205 may control the angle of the steering wheel of the vehicle according to the reference curvature, control the vehicle to drive according to the second target reference vehicle speed, plan the vehicle speed according to the second target reference vehicle speed and the second target path remaining distance, and control the vehicle to drive according to the planned vehicle speed, so that the vehicle may stop at the target stopping point (i.e. within the second target remaining distance).

The driving control method of the vehicle provided by the embodiment of the invention can acquire the reference curvature of the vehicle at the current path point determined by the path tracking mode, acquire the limited curvature range of the vehicle at the current path point determined by the environment information, determine the target driving parameter of the vehicle according to the reference curvature and the limited curvature range, and control the vehicle to drive according to the target driving parameter. According to the scheme, the current target driving parameters of the vehicle can be determined in real time according to the driving parameters (respectively the reference curvature and the limited curvature range) determined by two different ways in the driving process of the vehicle, so that the determined target driving parameters can be more accurate, the driving parameters of the vehicle can be accurately adjusted in real time, the vehicle is controlled to drive according to the target driving parameters, and further illegal traffic rules or traffic accidents can be avoided and reduced.

EXAMPLE III

As shown in fig. 6, which is a schematic diagram of a vehicle driving control system architecture according to an embodiment of the present invention, in the present embodiment, a vehicle driving control method according to an embodiment of the present invention will be further described based on the architecture of the vehicle driving control system illustrated in fig. 6. The travel control system of the vehicle shown in fig. 5 includes the following units and devices:

1. motion Planning unit

Inputting: the global path (i.e. the path planned in advance, which is substantially composed of information of a plurality of waypoints, the information of each waypoint including coordinates, heading and reference vehicle speed) and environmental information.

And (3) outputting: according to the global path and the environment information detected by the sensor, local path planning is carried out, and an executable path (comprising information of a plurality of path points, wherein the information of each path point comprises coordinates, a heading and a reference vehicle speed) is determined.

The main functions of the motion planning unit include: under the condition that the global path does not meet the requirements of vehicle kinematics, local path planning is carried out, and the original global path is optimized and smoothed to obtain an executable path which can meet the requirements of the vehicle kinematics; and under the condition that the obstacle is detected to exist on the global path, local path planning is carried out to obtain an executable path capable of bypassing the obstacle.

2. Path tracing (English) unit

Inputting: the executable path output by the motion planning unit is the path tracking unit.

And (3) outputting: the path tracking unit calculates and outputs a first driving parameter according to the executable path and the path tracking algorithm, wherein the first driving parameter comprises a reference curvature of the vehicle at the current path point, a first reference vehicle speed and a first path remaining distance.

The method for calculating the first reference vehicle speed and the first path remaining distance may be: according to the reference speed corresponding to each path point, the target speed of the current vehicle is interpolated, the reference curvature of each path point is considered, and the interpolated target speed is corrected according to the logics of curve, ramp deceleration and straight-line acceleration, so that the first reference speed is obtained. And meanwhile, calculating the remaining distance of the first path according to the path point where the current vehicle is located and the remaining path points.

The main functions of the motion planning unit include: path tracking; intelligently adjusting the speed of the vehicle, including the deceleration near a ramp, a bend, a parking space and the acceleration of a straight road; and calculating a path remaining distance.

3. Sensing unit

Wherein the sensing unit may include an ultrasonic sensor and a visual sensor. Optionally, the sensing unit may further include a position sensor that detects position information of the vehicle.

The main functions of the sensing unit are: providing the detected environmental information to a motion planning unit and an obstacle avoidance unit.

4. Obstacle avoidance unit

Inputting: environmental information (ultrasonic environmental information, visual environmental information, vehicle position information, and the like).

And (3) outputting: the second driving parameter includes: and any one of a curvature limiting range, a curvature limiting range and an emergency stop command, a curvature limiting range and a comfortable stop command, wherein the comfortable stop command comprises a third reference vehicle speed and a third path remaining distance of the vehicle at the current path point, and the emergency stop command is used for indicating braking according to the maximum braking force.

The main functions of the obstacle avoidance unit include: from the ultrasonic sensor and the visual environment information, and the current vehicle position information, a limited curvature range (also referred to as a curvature range) in which the current vehicle is allowed to travel is calculated. And if the vehicle has an obstacle on the driving path, outputting a comfortable parking instruction or an emergency parking instruction to the arbitration unit for arbitration.

5. Arbitration unit

Inputting: the first driving parameter, the second driving parameter, and a third driving parameter determined based on the driving rule (the third driving parameter may be output to the arbitration unit by a unit not shown in the figure or may be determined by the arbitration unit itself).

And (3) outputting: the target driving parameter after the arbitration.

The main functions of the arbitration unit include: the first driving parameter, the second driving parameter and the third driving parameter determined based on the driving rule determine the target driving parameter.

The maximum allowable travel distance (i.e., the third path remaining distance) and the desired vehicle speed (the third reference vehicle speed) may be given in the above-described comfortable parking instruction. The command is suitable for the condition that the obstacle is found in advance based on the environment information, and the vehicle can be controlled to stop comfortably.

The emergency stop command is suitable for dynamic obstacles which appear suddenly, and can control the vehicle to stop as soon as possible. The reference vehicle speed is not given in the instruction, and the vehicle is immediately braked and stopped at the fastest speed, namely, the maximum vehicle-involved force as soon as the instruction is triggered.

The third driving parameter needs to consider the scene of the traffic regulation, such as an intersection, and needs to be decelerated or stopped.

6. Vehicle speed planning unit

Inputting: the arbitration unit arbitrates the target running parameters (specifically, the target reference vehicle speed and the target path remaining distance in the target running parameters, which may be a first target reference vehicle speed and a first target path remaining distance, or may be a second target reference vehicle speed and a second target path remaining distance).

And (3) outputting: and sending the planned vehicle speed to a longitudinal control unit.

The main functions are as follows: and planning the vehicle speed according to the input target reference vehicle speed and the remaining distance of the target path.

7. Longitudinal control unit

Inputting: and the vehicle speed planning unit outputs the vehicle speed.

And (3) outputting: and generating a control request according to the target running parameters, and longitudinally controlling the corresponding actuator to execute the control request. The control request includes: a VCU (vehicle control unit) torque request, an ESP (Electronic Stability Program) deceleration, a parking distance request, and the like.

8. Lateral control unit

For receiving a target running parameter (specifically, a reference curvature) output from the arbitration unit, and for laterally controlling a Steering angle request of a corresponding EPS (electric Power Steering) according to the target running parameter.

In the embodiment of the present invention, the driving control method of the vehicle shown in the above drawings is described by way of example with reference to one of the drawings in the embodiment of the present invention. In specific implementation, the vehicle driving control method shown in each of the above drawings may also be implemented by combining any other drawings that may be combined, which are illustrated in the above embodiments, and will not be described herein again.

Example four

As shown in fig. 7, an embodiment of the present invention provides a running control system of a vehicle, including:

a first obtaining module 301, configured to obtain a reference curvature of the vehicle at a current path point, where the reference curvature is determined in a path tracking manner;

a second obtaining module 302, configured to obtain a limited curvature range of the vehicle at the current waypoint, where the limited curvature range is determined by the environmental information;

a determining module 303, configured to determine a target driving parameter of the vehicle according to the reference curvature and the limited curvature range;

and the control module 304 is used for controlling the vehicle to run according to the target running parameters.

As an alternative implementation, in the second aspect of the embodiment of the present invention, in combination with fig. 7, as shown in fig. 8,

the first obtaining module 301 is further configured to obtain a first reference vehicle speed and a first path remaining distance of the vehicle at the current path point, which are determined in a path tracking manner, before the determining module 303 determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range;

the system further comprises:

the third obtaining module 305 is configured to obtain a second reference vehicle speed and a second path remaining distance of the vehicle at the current path point, which are determined based on the driving rule.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the determining module 203 is specifically configured to determine whether the reference curvature is within the limit curvature range;

if not, determining that the target driving parameters of the vehicle comprise: the vehicle speed control method comprises the steps of referencing curvature, a first target reference vehicle speed and a first target path remaining distance, wherein the first target reference vehicle speed is the minimum value of the first reference vehicle speed and a second reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance and a second path remaining distance.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second obtaining module is further configured to obtain an emergency stop instruction for the vehicle, which is determined by the environmental information, before the determining module 303 determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range, where the emergency stop instruction is used to instruct to brake and stop according to the maximum braking force;

the determining module 303 is specifically configured to determine the target driving parameter of the vehicle as the maximum braking force of the vehicle according to the reference curvature, the limited curvature range, and the emergency stop instruction.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second obtaining module 302 is further configured to obtain a comfortable parking instruction for the vehicle, which is determined by the environmental information, before the determining module determines the target driving parameter of the vehicle according to the reference curvature and the limited curvature range, where the comfortable parking instruction includes a third reference vehicle speed and a third path remaining distance;

a determining module 303, configured to specifically determine whether the reference curvature is within the limited curvature range;

if not, determining that the target driving parameters of the vehicle comprise: the first target reference vehicle speed is the minimum value of the first reference vehicle speed, the second reference vehicle speed and the third reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance, the second path remaining distance and the third path remaining distance.

As an optional implementation manner, in the second aspect of the embodiment of the present invention, the third obtaining module 305 is specifically configured to obtain a second reference vehicle speed and a second remaining path distance of the vehicle at the current path point according to the positioning information of the vehicle, the map information of the road where the vehicle is located, and the driving rule.

As shown in fig. 9, an embodiment of the present invention further provides a running control system for a vehicle, including: a processor 401, a memory 402 and a computer program stored on the memory 402 and operable on the processor 401, the computer program, when executed by the processor 401, implementing the steps of the method of travel control of a vehicle in the above-described method embodiments.

The driving control system of the vehicle provided by the embodiment of the invention can realize each process shown in the method embodiment and achieve corresponding technical effects, and in order to avoid repetition, the details are not repeated here.

The embodiment of the invention provides a vehicle running control system, which is used for acquiring a reference curvature of a vehicle determined in a path tracking mode at a current path point, acquiring a limited curvature range of the vehicle determined by environment information at the current path point, determining a target running parameter of the vehicle according to the reference curvature and the limited curvature range, and controlling the vehicle to run according to the target running parameter. According to the scheme, the current target driving parameters of the vehicle can be determined in real time according to the driving parameters (respectively the reference curvature and the limited curvature range) determined in different ways in the driving process of the vehicle, so that the determined target driving parameters can be more accurate, the driving parameters of the vehicle can be accurately adjusted in real time, the vehicle is controlled to drive according to the target driving parameters, and further illegal traffic rules or traffic accidents can be avoided and reduced.

Optionally, an embodiment of the present invention provides a vehicle, where the vehicle includes: the travel control system of a vehicle according to the above embodiment.

Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method for controlling the travel of a vehicle as in the above-described method embodiments.

Embodiments of the present invention provide a computer program product, which, when running on a computer, causes the computer to execute the steps of the method for controlling the driving of a vehicle in the above-described method embodiments

An embodiment of the present invention provides an application distribution platform, where the application distribution platform is configured to distribute a computer program product, where when the computer program product runs on a computer, the computer is caused to execute some or all of the steps of the vehicle driving control method in the above method embodiment.

In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.

Claims

1. A running control method of a vehicle, characterized by comprising:

acquiring a second reference speed and a second path remaining distance of the vehicle at the current path point, which are determined based on a driving rule, wherein the driving rule is determined according to a scene of a traffic rule;

and controlling the vehicle to run according to the target running parameters.

2. The method of claim 1, wherein determining the target driving parameter of the vehicle based on the reference curvature and the limited curvature range comprises:

if not, determining that the target driving parameters of the vehicle comprise: the reference curvature, a first target reference vehicle speed and a first target path remaining distance, wherein the first target reference vehicle speed is the minimum value of the first reference vehicle speed and the second reference vehicle speed, and the first target path remaining distance is the minimum value of the first path remaining distance and the second path remaining distance.

3. The method of claim 1, wherein prior to determining the target driving parameter of the vehicle from the reference curvature and the limited curvature range, the method further comprises:

4. The method of claim 1, wherein prior to determining the target driving parameter of the vehicle from the reference curvature and the limited curvature range, the method further comprises:

if not, determining that the target driving parameters of the vehicle comprise: the reference curvature, a second target reference vehicle speed and a second target path remaining distance, wherein the second target reference vehicle speed is the minimum value among the first reference vehicle speed, the second reference vehicle speed and the third reference vehicle speed, and the second target path remaining distance is the minimum value among the first path remaining distance, the second path remaining distance and the third path remaining distance.

5. The method of claim 1, wherein the obtaining of the second reference vehicle speed and the second path remaining distance of the vehicle at the current path point, which are determined based on the driving rule, comprises:

6. A running control system of a vehicle, characterized by comprising:

the first obtaining module is further configured to obtain a first reference vehicle speed and a first path remaining distance of the vehicle at the current path point, which are determined in a path tracking manner;

the third acquisition module is used for acquiring a second reference speed and a second path remaining distance of the vehicle at the current path point, which are determined based on driving rules, wherein the driving rules are determined according to a scene of traffic rules;

7. A vehicle characterized by comprising a running control system of the vehicle according to claim 6.

8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements a running control method of a vehicle according to any one of claims 1 to 5.