CN110481550B - Automobile curve blind area following control method based on Internet of vehicles - Google Patents
Automobile curve blind area following control method based on Internet of vehicles Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
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- 230000007613 environmental effect Effects 0.000 claims description 2
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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Abstract
The invention discloses an automobile curve blind area following control method based on an automobile network, wherein when a current automobile does not enter a curve blind area, an automobile curve safe following distance equation is established according to the speed and the relative distance of the previous automobile acquired by an automobile network system and the driving information of the current automobile acquired by a sensor carried by the current automobile; the method comprises the steps of carrying out feature extraction on a driving environment image and a front vehicle collected by a vehicle-mounted CCD camera, determining a road image feature disappearance edge line in front of a driving direction, namely detecting the boundary of a blind area by a vehicle, identifying the distance from the vehicle to the boundary of the blind area, identifying the relative position of the tail of the front vehicle and the boundary line of the blind area, making a following target by a main control ECU (electronic control Unit) when the tail of the front vehicle and the boundary line of the blind area coincide, transferring the following target into the boundary line of the blind area by the front vehicle, acquiring the speed of the vehicle in the blind area through a vehicle networking V2V system, fusing the speed and the identified boundary of the blind area, forming a virtual blind area boundary following model with the speed.
Description
Technical Field
The invention relates to an automobile curve blind area following control method based on an automobile network, and belongs to the technical field of automobile driving safety.
Background
An Adaptive Cruise control System (ACC) is an essential part for assisting driving, can improve driving safety, can replace a driver to control the vehicle speed, avoids frequent cancellation and Cruise control setting, enables the Cruise System to be suitable for more road conditions, and provides a relaxed driving mode for the driver. However, when the vehicle enters a curve following the front vehicle, if the front vehicle enters a blind zone of the curve, the target following the vehicle is lost instantly, the visual field of a driver driving on the curve is limited, and insufficient information interaction between the vehicles easily causes traffic accidents.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an automobile curve blind area following control method based on an automobile network, when a front automobile serving as a following target does not enter a curve blind area, an automobile curve safe following distance equation is established according to the speed of the front automobile acquired by an automobile network system, the relative distance acquired by a millimeter wave radar and the driving information of the self automobile acquired by a sensor carried by the self automobile; the method comprises the steps of carrying out feature extraction on a driving environment image and a front vehicle collected by a vehicle-mounted CCD camera, determining a road image feature disappearance edge line in front of a driving direction, namely detecting the boundary of a blind area by a vehicle, identifying the distance from the vehicle to the boundary of the blind area, identifying the relative position of the tail of the front vehicle and the boundary line of the blind area, making a following target by a main control ECU (electronic control Unit) when the tail of the front vehicle and the boundary line of the blind area coincide, transferring the following target into the boundary line of the blind area by the front vehicle, acquiring the speed of the vehicle in the blind area through a vehicle networking V2V system, fusing the acquired speed with the identified boundary of the blind area, forming a virtual blind area.
The technical scheme adopted by the invention is as follows:
a car curve blind area following control method based on the car networking comprises the following steps:
step 1: acquiring front vehicle speed V as following target through vehicle networking V2V system (vehicle-to-vehicle communication system) of self vehiclefRelative distance D of travel between front and rear vehiclesrObtained by a millimeter wave radar installed in the front of the vehicle, and the running speed V of the vehiclerThe curve radius R is obtained by a vehicle speed sensor and is obtained by fusing electronic map information through a GPS system.
Step 2: the CCD camera detects the relative position of the tail of the front vehicle and the boundary of the road blind area as the following target constantly, when the tail of the front vehicle is not coincided with the boundary of the blind area and has a certain relative position, the front vehicle can be used as the following target of the self vehicle, and the relative distance D between the two vehicles is acquired according to the millimeter wave radar of the self vehiclerThe speed V of the front vehicle obtained by the Internet of vehicles systemfAnd the speed V obtained by the speed sensorrAnd information such as the radius R of the curve, and the like, and establishing a following equation of the safe distance of the automobile curve, wherein the adopted safe distance equation is as follows:
wherein D isw: safe following distance of curve and relative distance D between two vehiclesrShould be greater than or equal to Dw；
Dh: the distance to be maintained between the subject vehicle and the target vehicle after the brake is stopped is generally set as2-5 m;
Tr-b: the response and braking time of the vehicle braking system is generally 0.3 second;
Vr: the speed of the vehicle;
Vf: front vehicle speed, g: acceleration of gravity;
μ: road surface adhesion coefficient;
r: a radius of the curve;
if the fact that the tail of the front vehicle is about to coincide with the boundary line of the curve blind area is detected, the front vehicle is about to enter the curve blind area immediately, the vehicle ECU makes a following target transfer command, the following target is changed from the front vehicle into the boundary line where the curve road blind area disappears identified by the vehicle-mounted CCD camera, and the speed V of the front vehicle in the blind area is obtained through the vehicle networking V2V systemcSimultaneously measuring the distance D from the boundary between the vehicle and the road blind areacGiving the front vehicle speed obtained by the Internet of vehicles V2V system to a blind area boundary line, regarding the blind area boundary as a virtual tracking target fused with the front vehicle speed, and establishing a safe distance following equation by integrating the driving information of the own vehicle;
the control method adopted in the step 2 is that when the following target vehicle does not completely enter the curve blind area and can be used as an effective following target, the relative distance D between the vehicle and the front vehicle is obtained through the millimeter wave radarrIn the vehicle control ECU for DrAnd D calculated according to the obtained driving information and road informationwMaking a comparison when Dw＞DrAppropriate acceleration can be taken so that DrApproach DwTo ensure the high efficiency of following the vehicle, but easily cause traffic accidents when the vehicle runs at high speed in a curve, a speed safety threshold Tc is defined, wherein Tc is 40km/h, namely when the following speed of the vehicle reaches 40km/h in the curve, even if D is DrFar greater than DwThe vehicle is not accelerated and follows up to ensure the safety of running at the curve of the vehicle; when D is presentw＜DrTime description in this following stateThe front vehicle is suddenly stopped or emergently braked to cause the possibility of collision, at the moment, the vehicle control ECU center sends a vehicle command to properly brake and decelerate the speed of the self vehicle, and the speed of the self vehicle is adjusted to meet the requirement Dr＞Dw；
When the CCD camera detects that the tail of the front vehicle is about to coincide with the boundary line of the curve blind area, the front vehicle is about to enter the curve blind area, the central ECU sends a tracking target transfer command at the moment, the tracking target is converted into the road boundary line of the curve blind area when the front vehicle enters the curve blind area, and meanwhile, the distance D from the vehicle to the road boundary line of the curve blind area is obtainedcObtaining the front vehicle speed information V in the curve blind area by the vehicle networking V2V systemfV of the obtained speed of the preceding vehiclefVelocity of motion V regarded as boundary of blind zonecRegarding the boundary of the blind zone as a virtual following target fused with the speed of the front vehicle, and regarding VcThe corresponding safety distance D is calculated by the safety distance equationwIf D isw＜DcAppropriate acceleration is possible when Tc is met at a speed not exceeding the curve speed safety threshold, when Dw＞DcWhen the braking force is applied, the braking deceleration is appropriately performed to control the speed of the vehicle so that Dw＜DcTo ensure the safety of the passage of the curve.
When the vehicle passes through the blind area of the curve, whether a front vehicle which can be taken as a following target exists in front is identified through a CCD camera, if so, the front vehicle is safely followed, and if not, the constant-speed cruise mode is entered.
The invention has the advantages that;
(1) the curve blind area following system based on the internet of vehicles can avoid the dangerous situation that a vehicle immediately loses a target followed by the vehicle when a vehicle ahead following the target enters a blind area which cannot be identified by the vehicle when the curve follows and runs, and improves the safety of the vehicle running along the curve.
(2) The speed obtained based on the internet of vehicles is given to the boundary of the blind area, so that the following efficiency is improved, the proper safe following distance of the front vehicle in the blind area can be kept, and the risk of the front vehicle in the rear-end dead area is avoided.
(3) The invention provides the following target transfer when the tail of the target vehicle is overlapped with the boundary of the curve blind area, and the quick non-loss switching can be realized.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of a leading vehicle not entering a blind zone following a target;
fig. 3 is a schematic view of the vehicle entering the blind area following the target leading vehicle.
Detailed Description
The invention will be further explained with reference to the drawings.
The invention provides a method for following a curve blind area based on Internet of vehicles, which comprises the following steps as shown in figure 1:
step 1: and (4) following the front vehicle to enter a curve to drive, and acquiring environmental information of the front vehicle, the self vehicle and the curve.
The CCD can be mounted on a front bumper of the vehicle through an industrial camera and is used for transmitting the position information of the front vehicle and the curve environment information to the electronic control unit ECU; the number of the vehicle-mounted radars is 3, wherein 1 is arranged in the middle of a front bumper of the vehicle, and the other two radars are respectively arranged at two ends of the front bumper and used for detecting the relative distance information between the vehicle and the front vehicle and transmitting the information to the electronic control unit ECU.
The vehicle self information is acquired through a vehicle body sensor and a GPS, and the acquired information comprises: the vehicle speed, the current position of the vehicle, and the preceding vehicle speed information as the following target are acquired in real time by the vehicle networking V2V system installed on the vehicle.
The curve radius is obtained by combining a GPS system with electronic map information, and the curve radius is obtained by calculating according to a formula R which is 1/K.
Step 2:
(1) when the current vehicle does not enter the curve blind area and can be used as a following target of the current vehicle, as shown in fig. 2;
the front vehicle position identified by the CCD camera is F, the boundary of the curve blind area is A and B, the relative position of the tail of the front vehicle and the boundary AB of the blind area is identified in the ECU, and if the tail of the front vehicle is away from the boundary of the blind area to a certain extentThe distance of the target is not about to coincide, at the moment, the front vehicle can be used as a following target of the self vehicle, and the speed V of the front vehicle used as the following target is acquired through a vehicle networking V2V system G (vehicle-to-vehicle communication system) of the self vehiclefRelative distance D of travel between front and rear vehiclesrObtained by a millimeter wave radar installed on a front bumper of the vehicle, and the running speed V of the vehiclerThe curve radius R is obtained by a vehicle speed sensor and is obtained by fusing electronic map information through a GPS system.
Establishing a curve safety following distance equation by combining the obtained information;
wherein D isw: safe following distance of curve and relative distance D between two vehiclesrShould be greater than or equal to Dw；
Dh: the distance between the self vehicle and the target vehicle is still kept after the relative speed is eliminated, and is generally 2-5 m;
Tr-b: the response and braking time of the vehicle braking system is generally 0.3 second;
Vr: the speed of the vehicle;
Vf: front vehicle speed, g: acceleration of gravity; μ: road surface adhesion coefficient, R: a radius of the curve;
relative distance D between two vehicles obtained by millimeter wave radar of vehicle in vehicle control ECUrAnd D calculated according to the obtained driving information and road informationwMaking a comparison when Dw＞DrAppropriate acceleration can be taken so that DrApproach DwTo ensure the high efficiency of following the vehicle, but easily cause traffic accidents when the vehicle runs at high speed in a curve, a speed safety threshold Tc is defined, wherein Tc is 40km/h, namely when the following speed of the vehicle reaches 40km/h in the curve, even if D is DrFar greater than DwThe vehicle is not accelerated and follows up to ensure the safety of running at the curve of the vehicle; when D is presentw＜DrDescription of preceding vehicle in this following stateThe possibility of collision exists in sudden rest or emergency braking, at the moment, the vehicle control ECU center sends a vehicle command to properly brake and decelerate the speed of the vehicle, and the speed of the vehicle is adjusted to meet the requirement Dw＞DrAnd the front vehicle is safely followed to pass through the boundary of the blind area.
(2) When the following target enters the blind area of the curve, taking the boundary of the blind area of the curve as the following target, as shown in FIG. 3;
through the existing convolutional neural network image recognition algorithm, a large number of pictures containing the vehicle tail and the road blind area boundary are trained and recognized, and the vehicle tail boundary line and the road blind area boundary line are labeled through recognition. After training is finished, testing is carried out through a certain number of positive and negative samples, the accuracy of identification and marking is checked, and if the accuracy reaches more than 98%, the identification algorithm can identify the vehicle tail boundary and the road blind area boundary; and if the recognition accuracy is not reached, continuing training through the positive sample until the requirement is met. During the driving process of a vehicle, the boundary line between the tail of a front vehicle and a blind road area is identified by a CCD camera and a trained convolutional neural network image identification algorithm all the time, when the CCD camera identifies that the boundary between the tail of the front vehicle and the blind curve area is A, B to be overlapped, the front vehicle is indicated to enter the blind area immediately, the central ECU sends a tracking target transfer command, when the front vehicle enters the curved road, a tracking target is converted into a blind curve area road boundary line A, B, and meanwhile, the CCD camera identifies the distance D to the blind area boundary line ABcMeanwhile, the Internet of vehicles V2V system acquires the front vehicle speed information V in the curve blind areafV of the obtained speed of the preceding vehiclefThe blind area boundary AB is regarded as a virtual front vehicle following target fused with the front vehicle speed, and V is regarded as the movement speed of the blind area boundaryfThe corresponding safety distance D is calculated by the safety distance equationwIf D isw＜DcUnder the condition that the speed does not exceed the Tc of the curve speed safety threshold, proper acceleration can be carried out, and the highest speed of the automobile at the moment is still less than the TC of the curve speed safety threshold; when D is presentw＞DcWhen the vehicle is running, the proper braking deceleration is performed to control the speed of the vehicle so thatDw＜DcTo ensure the safety of following the curve. When the vehicle passes through the blind area of the curve, whether a front vehicle which can be taken as a following target exists in front is identified through a CCD camera, if so, the front vehicle is safely followed, and if not, the constant-speed cruise mode is entered.
The curve blind area following system based on the Internet of vehicles can avoid the dangerous situation that the following target of the self vehicle is lost instantly because the front vehicle following the target enters the blind area which can not be identified by the self vehicle when the curve follows to run, and improves the safety factor of the curve following running; meanwhile, the speed of the front vehicle in the blind area acquired by the vehicle networking system is integrated, the boundary of the blind area is given as a following target, and the efficiency and the safety during the curve running are improved.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A vehicle networking based vehicle curve blind area following control method is characterized in that when a preceding vehicle as a following target does not enter a curve blind area, a vehicle curve safe following distance equation is established according to the speed of the preceding vehicle acquired by a vehicle networking system, the relative distance acquired by a millimeter wave radar and the driving information of the vehicle acquired by a sensor carried by the vehicle; the method comprises the steps that a driving environment image and a front vehicle collected by a vehicle-mounted CCD camera are subjected to feature extraction, a characteristic vanishing edge line of a road image in front of a driving direction is determined, namely the boundary of a detected blind area of the vehicle is identified, the distance from the vehicle to the boundary of the blind area is identified, meanwhile, the relative position of the tail of the front vehicle and the boundary line of the blind area is identified, when the tail of the front vehicle and the boundary line of the blind area coincide, a main control ECU makes a following target, the front vehicle is transferred to the boundary line of the blind area, the speed of the vehicle in the blind area is obtained through a vehicle networking V2V system, the obtained speed and the identified boundary of the blind area are fused to form a virtual blind area boundary;
the method is realized by the following steps:
step 1: acquiring environmental information of a vehicle, a front vehicle and a curve through a vehicle-mounted sensor;
step 2: by analyzing the information of the vehicle and the environment, when a front vehicle enters a curve and does not enter a curve blind area, the front vehicle is taken as a following target, and a curve safety following equation is established;
and step 3: detecting the relative position of a front vehicle and a curve blind area boundary line at any moment through a CCD camera carried by the vehicle, making a following target transfer by a main controller when the tail of the front vehicle is overlapped with the curve blind area boundary line, and taking the detected blind area boundary line as a following virtual target;
and 4, step 4: acquiring the speed of a vehicle in a blind area through a vehicle system, fusing the speed with a blind area boundary line, regarding the blind area boundary line as a virtual target with the same speed as that of a front vehicle, establishing a safe following equation, and following the virtual target;
and 5: after the self vehicle safely passes through the blind area of the curve, if the front vehicle is found, the self vehicle continues to drive along with the front vehicle, otherwise, the self vehicle enters a cruise mode according to the speed limit requirement;
step 6: judging whether the vehicle enters a curve following the front vehicle or not at any moment, if so, repeating the steps 1 to 5 until the vehicle reaches a safe place;
the safe following equation of the curve established in the step 2 is as follows:
wherein D isw: safe following distance of curve and relative distance D between two vehiclesrShould be greater than or equal to Dw；
Dh: the distance between the self vehicle and the target vehicle is still kept after the braking is stopped, and is generally 2-5 m;
Tr-b: the response and braking time of the vehicle braking system is generally 0.3 second;
Vr: the speed of the vehicle;
Vf: the speed of the front vehicle, g, the gravity acceleration;
μ: road surface adhesion coefficient;
r: a radius of the curve;
the safety following equation established in the step 4 is as follows:
Vcis the front vehicle speed in the blind area.
2. The vehicle networking based automobile curve blind zone following control method as claimed in claim 1, wherein the vehicle self, the front vehicle and the curve environment information in the step 1 comprise: current driving state information of the vehicle and the vehicle ahead, curve environment information and detected curve blind zone boundaries.
3. The automobile networking-based automobile curve blind zone following control method as claimed in claim 1, wherein the information of the automobile, the front automobile and the curve environment is acquired by a GPS, a millimeter wave radar and a CCD industrial camera.
4. The automobile curve blind zone following control method based on the Internet of vehicles as claimed in claim 1, wherein the following control method of step 2 is:
obtaining the relative distance D between the self-vehicle and the front vehicle by the millimeter wave radarrIn the master ECU for DrAnd D calculated according to the obtained driving information and road informationwMaking a comparison when Dw>DrAppropriate acceleration can be taken so that DrApproach DwThe high efficiency of the following vehicle is ensured; defining a speed safety threshold Tc, i.e. when the speed of the vehicle following a curve reaches Tc, even if DrFar greater than DwThe vehicle can not accelerate and follow up any more to ensure the safety of the running of the vehicle on the curve; when in useDw<DrWhen the vehicle is in the following state, the front vehicle is suddenly stopped or has the possibility of collision in emergency braking, the vehicle control ECU center sends an instruction to properly brake and decelerate the speed of the vehicle, and the speed of the vehicle is adjusted to meet the requirement Dr>Dw。
5. The automobile networking based automobile curve blind zone following control method as claimed in claim 1, wherein the step 4 is a following control method for the virtual target:
when the front vehicle enters the curve blind area, the tracking target is converted into the curve blind area road boundary line, and meanwhile, the distance D from the vehicle to the blind area boundary line is obtainedcObtaining the front vehicle speed information V in the curve blind area by the vehicle networking V2V systemfV of the obtained speed of the preceding vehiclefVelocity of motion V regarded as boundary of blind zonecRegarding the boundary of the blind zone as a virtual following target fused with the speed of the front vehicle, and regarding VcThe corresponding safety distance D is calculated by the safety distance equationwIf D isw<DcAppropriate acceleration is possible when Tc is met at a speed not exceeding the curve speed safety threshold, when Dw>DcWhen the braking force is applied, the braking deceleration is appropriately performed to control the speed of the vehicle so that Dw<DcTo ensure the safety of the passage of the curve.
6. The automobile curve blind zone following control method based on the Internet of vehicles as claimed in claim 4 or 5, wherein Tc is taken as 40 km/h.
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| CN114559941B (en) * | 2022-03-21 | 2024-04-12 | 合众新能源汽车股份有限公司 | Vehicle curve driving early warning method, system, device and computer readable medium |
| CN115482679B (en) * | 2022-09-15 | 2024-04-26 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
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