CN110803144A - Automatic braking method, automatic braking device and automatic driving vehicle - Google Patents
Automatic braking method, automatic braking device and automatic driving vehicle Download PDFInfo
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- CN110803144A CN110803144A CN201911214222.2A CN201911214222A CN110803144A CN 110803144 A CN110803144 A CN 110803144A CN 201911214222 A CN201911214222 A CN 201911214222A CN 110803144 A CN110803144 A CN 110803144A
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- automatic braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- Regulating Braking Force (AREA)
Abstract
The invention discloses an automatic braking method, which comprises the steps of obtaining video data information of the surrounding environment through a plurality of network cameras; judging whether the surrounding environment has obstacles or not; calculating the distance and angle of the obstacle in the surrounding environment by combining point cloud data acquired by a plurality of laser radar sensors according to the judged obstacle information; acquiring driving data of a current vehicle; and calculating the braking force of the current vehicle according to the driving data of the current vehicle and the distance and the angle of the obstacles in the surrounding environment, thereby completing the automatic braking of the vehicle. The invention also discloses an automatic braking device for realizing the automatic braking method, and an automatic driving vehicle comprising the automatic braking method and the automatic braking device. The automatic braking method, the automatic braking device and the automatic driving vehicle can accurately calculate the position and the distance of the obstacles in the surrounding environment, automatically control the vehicle to brake, and have high reliability, high accuracy and good stability.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to an automatic braking method, an automatic braking device and an automatic driving vehicle.
Background
With the development of economic technology and the improvement of living standard of people, the automatic driving technology is widely applied to the production and the life of people, and brings endless convenience to the production and the life of people.
Automatic braking is an important component of automatic driving technology, and plays a role in automatically stopping a vehicle. Therefore, automatic braking has become one of the most important parts in the automatic driving technique.
The current automatic brake technology generally adopts the technical scheme that: the vehicle detects an obstacle in the vicinity of the vehicle by a millimeter wave radar or an ultrasonic radar. When the vehicle has an obstacle in the driving direction, the driver is prompted or the vehicle is actively braked through voice, the vehicle is prevented from colliding, and the driving safety is improved.
However, the existing technical scheme of automatic braking is only suitable for open road surfaces, and has the problems of high false alarm rate, poor anti-interference capability and the like for complex environments.
Disclosure of Invention
The invention aims to provide an automatic braking method with high reliability, high accuracy and good stability.
The second object of the present invention is to provide an automatic braking apparatus for implementing the automatic braking method.
It is a further object of the present invention to provide an autonomous vehicle including the automatic braking method and the automatic braking apparatus.
The automatic braking method provided by the invention comprises the following steps:
s1, acquiring video data information of a surrounding environment through a plurality of network cameras;
s2, judging whether the surrounding environment has obstacles according to the video data information acquired in the step S1;
s3, according to the obstacle information judged in the step S2, calculating to obtain the obstacle distance and angle of the surrounding environment by combining point cloud data obtained by a plurality of laser radar sensors;
s4, acquiring driving data of the current vehicle;
and S5, calculating the braking force of the current vehicle according to the driving data of the current vehicle obtained in the step S4 and the obstacle distance and angle of the surrounding environment obtained in the step S3, so as to complete the automatic braking of the vehicle.
The plurality of network cameras described in step S1 are specifically 3-way network cameras.
Step S2, determining whether the surrounding environment has an obstacle, specifically, calculating by using an artificial intelligence algorithm, thereby determining whether the surrounding environment has an obstacle.
The method comprises the steps of calculating by adopting an artificial intelligence algorithm so as to judge whether obstacles exist in the surrounding environment, specifically, acquiring video data information of a plurality of network cameras as input, and summing after dynamic weight scoring is carried out on each input data so as to obtain a total score; then, the total score passes through a set excitation function to obtain the output of a neuron; and then combining the neurons to obtain final judgment information whether the surrounding environment has obstacles.
Step S3, calculating the distance and angle of the obstacle in the surrounding environment according to the obstacle information determined in step S2 and the point cloud data obtained by the plurality of laser radar sensors, specifically, performing data combination on the obtained obstacle information and the point cloud data obtained by the plurality of laser radar sensors through a weighted scoring algorithm, and performing iterative calculation through a plurality of rounds of prior experience, thereby obtaining the final distance and angle of the obstacle.
Step S5, calculating the braking force of the current vehicle, specifically calculating the force f of the current vehicle involved by adopting the following formula:
wherein D is the distance of the obstacle, X is the remaining distance and X is D-0.3-Y0.5, Y is the current speed, Z is the theoretical acceleration, and P is the set proportionality coefficient.
The invention also discloses an automatic braking device for realizing the automatic braking method, which comprises a plurality of paths of network cameras, a plurality of paths of laser radars, a first control module, a network switch, a second control module and a vehicle control module; the plurality of network cameras are connected with the first control module; the plurality of laser radars are connected with the network switch; the first control module, the network switch, the second control module and the vehicle control module are sequentially connected in series; the network camera is used for acquiring video data information of the surrounding environment and uploading the video data information to the first control module; the first control module is used for judging whether the surrounding environment has obstacles according to the uploaded data; the network switch is used for simultaneously uploading the data output by the first control module and the plurality of paths of laser radar data to the second control module; the second control module is used for calculating the distance and the angle of obstacles in the surrounding environment, acquiring the driving data of the current vehicle and calculating the braking force of the current vehicle; the vehicle control module is used for controlling the vehicle to brake according to the brake force calculated by the second control module, so that the automatic brake of the vehicle is completed.
The invention also discloses an automatic driving vehicle which comprises the automatic braking method and the automatic braking device.
The automatic braking method, the automatic braking device and the automatic driving vehicle can accurately calculate the position and the distance of the obstacles in the surrounding environment, automatically control the vehicle to brake, and have high reliability, high accuracy and good stability.
Drawings
FIG. 1 is a schematic process flow diagram of the process of the present invention.
FIG. 2 is a functional block diagram of the apparatus of the present invention.
Detailed Description
FIG. 1 is a schematic flow chart of the method of the present invention: the automatic braking method provided by the invention comprises the following steps:
s1, acquiring video data information of a surrounding environment through a plurality of network cameras (preferably 3 paths);
s2, judging whether the surrounding environment has obstacles according to the video data information acquired in the step S1; specifically, an artificial intelligence algorithm is adopted for calculation, so that whether the surrounding environment has obstacles is judged: acquiring video data information of a plurality of network cameras as input, and summing the input data after dynamic weight scoring to obtain a total score; then, the total score passes through a set excitation function to obtain the output of a neuron; then combining a plurality of neurons to obtain final judgment information whether the surrounding environment has obstacles or not;
s3, according to the obstacle information judged in the step S2, calculating to obtain the obstacle distance and angle of the surrounding environment by combining point cloud data obtained by a plurality of laser radar sensors; the method specifically comprises the steps of performing data combination on acquired obstacle information and point cloud data acquired by a plurality of laser radar sensors through a weighted scoring algorithm, and performing iterative calculation through a plurality of rounds of prior experience to obtain the final distance and angle of an obstacle;
s4, acquiring driving data of the current vehicle;
s5, calculating the braking force of the current vehicle according to the driving data of the current vehicle obtained in the step S4 and the obstacle distance and angle of the surrounding environment obtained in the step S3, so as to complete automatic braking of the vehicle; specifically, the vehicle-related force f of the current vehicle is calculated by adopting the following formula:
wherein D is the distance of the obstacle, X is the remaining distance and X is D-0.3-Y0.5, Y is the current speed, Z is the theoretical acceleration, and P is the set proportionality coefficient.
FIG. 2 shows a functional block diagram of the apparatus of the present invention: the automatic braking device for realizing the automatic braking method comprises a plurality of paths of network cameras, a plurality of paths of laser radars, a first control module, a network switch, a second control module and a vehicle control module; the plurality of network cameras are connected with the first control module; the plurality of laser radars are connected with the network switch; the first control module, the network switch, the second control module and the vehicle control module are sequentially connected in series; the network camera is used for acquiring video data information of the surrounding environment and uploading the video data information to the first control module; the first control module is used for judging whether the surrounding environment has obstacles according to the uploaded data; the network switch is used for simultaneously uploading the data output by the first control module and the plurality of paths of laser radar data to the second control module; the second control module is used for calculating the distance and the angle of obstacles in the surrounding environment, acquiring the driving data of the current vehicle and calculating the braking force of the current vehicle; the vehicle control module is used for controlling the vehicle to brake according to the brake force calculated by the second control module, so that the automatic brake of the vehicle is completed.
Claims (8)
1. An automatic braking method comprises the following steps:
s1, acquiring video data information of a surrounding environment through a plurality of network cameras;
s2, judging whether the surrounding environment has obstacles according to the video data information acquired in the step S1;
s3, according to the obstacle information judged in the step S2, calculating to obtain the obstacle distance and angle of the surrounding environment by combining point cloud data obtained by a plurality of laser radar sensors;
s4, acquiring driving data of the current vehicle;
and S5, calculating the braking force of the current vehicle according to the driving data of the current vehicle obtained in the step S4 and the obstacle distance and angle of the surrounding environment obtained in the step S3, so as to complete the automatic braking of the vehicle.
2. The automatic braking method according to claim 1, wherein the plurality of network cameras of step S1 are 3 network cameras.
3. The automatic braking method according to claim 2, wherein the step S2 is performed by calculating using an artificial intelligence algorithm to determine whether the surrounding environment has an obstacle.
4. The automatic braking method according to claim 3, wherein an artificial intelligence algorithm is used for calculation to determine whether an obstacle exists in the surrounding environment, specifically, video data information of a plurality of network cameras is obtained as input, and dynamic weight scoring is performed on each input data, and then summation is performed to obtain a total score; then, the total score passes through a set excitation function to obtain the output of a neuron; and then combining the neurons to obtain final judgment information whether the surrounding environment has obstacles.
5. The automatic braking method according to claim 4, wherein in step S3, the distance and angle of the obstacle in the surrounding environment are calculated according to the obstacle information determined in step S2 and the point cloud data obtained by the plurality of laser radar sensors, specifically, the distance and angle of the final obstacle are obtained by performing data combination on the obtained obstacle information and the point cloud data obtained by the plurality of laser radar sensors through a weighted scoring algorithm and performing a plurality of rounds of a priori experience iterative calculation.
6. The automatic braking method according to claim 5, wherein the step S5 of calculating the braking force of the current vehicle is specifically to calculate the force f of the current vehicle involved by using the following formula:
wherein D is the distance of the obstacle, X is the remaining distance and X is D-0.3-Y0.5, Y is the current speed, Z is the theoretical acceleration, and P is the set proportionality coefficient.
7. An automatic braking device for realizing the automatic braking method according to any one of claims 1 to 6, characterized by comprising a plurality of network cameras, a plurality of laser radars, a first control module, a network switch, a second control module and a vehicle control module; the plurality of network cameras are connected with the first control module; the plurality of laser radars are connected with the network switch; the first control module, the network switch, the second control module and the vehicle control module are sequentially connected in series; the network camera is used for acquiring video data information of the surrounding environment and uploading the video data information to the first control module; the first control module is used for judging whether the surrounding environment has obstacles according to the uploaded data; the network switch is used for simultaneously uploading the data output by the first control module and the plurality of paths of laser radar data to the second control module; the second control module is used for calculating the distance and the angle of obstacles in the surrounding environment, acquiring the driving data of the current vehicle and calculating the braking force of the current vehicle; the vehicle control module is used for controlling the vehicle to brake according to the brake force calculated by the second control module, so that the automatic brake of the vehicle is completed.
8. An autonomous vehicle characterized by comprising the automatic braking method according to any one of claims 1 to 6 and the automatic braking apparatus according to claim 7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112319441A (en) * | 2020-10-23 | 2021-02-05 | 上善智城(苏州)信息科技有限公司 | Electronic braking auxiliary braking system and method based on intelligent automobile networking |
| CN112793567A (en) * | 2021-01-14 | 2021-05-14 | 史鹏飞 | Driving assistance method and system based on road condition detection |
| CN113370959A (en) * | 2021-07-21 | 2021-09-10 | 无锡太机脑智能科技有限公司 | Double-brake control method and system suitable for low-speed automatic driving special operation vehicle |
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| CN113370959A (en) * | 2021-07-21 | 2021-09-10 | 无锡太机脑智能科技有限公司 | Double-brake control method and system suitable for low-speed automatic driving special operation vehicle |
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