CN110968095A - Automatic driving control method - Google Patents
Automatic driving control method Download PDFInfo
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- CN110968095A CN110968095A CN201911160327.4A CN201911160327A CN110968095A CN 110968095 A CN110968095 A CN 110968095A CN 201911160327 A CN201911160327 A CN 201911160327A CN 110968095 A CN110968095 A CN 110968095A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000004927 fusion Effects 0.000 claims abstract description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic driving control method, which comprises the following steps: collecting path information, environment information and vehicle information; performing data fusion on the information; predicting a vehicle model; judging whether the vehicle is out of control; if yes, entering the next step; if not, entering the vehicle to stably run; solving control output according to the vehicle stable boundary; the vehicle runs stably. By adopting the technical scheme, under the limit working condition of the vehicle, when the vehicle is easy to lose balance, the function of preventing track tracking is realized, and safety accidents are avoided; according to the self state of the vehicle, the control quantity output is self-predicted and limited, the function of preventing the vehicle from generating the danger of runaway under the limit working condition is realized, and the safety of the vehicle is ensured.
Description
Technical Field
The invention belongs to the technical field of unmanned driving of vehicles, and relates to an automatic driving control method. The method provides a scheme for controlling the safety of the unmanned automobile to track.
Background
The research of the unmanned technology has been for more than 20 years, and the unmanned technology mainly comprises the steps that a controller sends instructions to an automobile ECU (electronic control unit) to control different devices of an unmanned automobile, so that unmanned driving is realized;
the unmanned vehicle mainly comprises three major blocks, namely a sensing system, a decision planning system and a motion control system, the motion control of the unmanned vehicle comprises longitudinal control and transverse control, and the longitudinal control refers to control over an accelerator and a brake to realize accurate following of an expected vehicle speed. The transverse control realizes the path tracking of the unmanned automobile, and the two parts are coupled and then track tracking is carried out. The method aims to ensure that the vehicle not only accurately tracks the expected road, but also has good dynamic property and riding comfort on the premise of ensuring the operation stability of the vehicle.
However, under the extreme working conditions of medium-high speed entering and exiting curves, the vehicle as the control object of motion control belongs to a hysteresis system, and the vehicle tracking is easy to be unstable and even out of control, thereby causing safety accidents. Therefore, the safety problem of the vehicle must be an important issue to be studied in unmanned driving.
Disclosure of Invention
The invention provides an automatic driving control method, and aims to improve the stability and safety of an unmanned vehicle.
In order to achieve the purpose, the invention adopts the technical scheme that:
the automatic driving control method is applied to the unmanned vehicle and comprises an IMU, a visual camera and a feedback device of a vehicle execution mechanism;
the control method comprises the following steps:
1. collecting path information, environment information and vehicle information;
2. performing data fusion on the information; predicting a vehicle model;
3. judging whether the vehicle is out of control; if yes, entering the next step; if not, entering step 5;
4. solving control output according to the vehicle stable boundary;
5. the vehicle runs stably.
In the step 1, when the unmanned vehicle is in the automatic driving mode, the vehicle controller acquires the road around the vehicle and the information about the running of the vehicle through the sensor, and simultaneously acquires the feedback signal of the actuator of the vehicle.
In the step 2, a motion control module in the vehicle controller receives path data and decision information of an upstream decision plan; and predicting the running condition of the vehicle for a future period of time according to the path data, the decision instruction, the current attitude of the vehicle and the feedback signal.
In step 3, the stability of the vehicle at the predicted time is predicted by the vehicle dynamics model.
In the step 4, when the possibility of instability of the vehicle is predicted, the motion attitude of the vehicle is corrected in advance through setting of boundary parameters of the vehicle limit working condition; meanwhile, information is fed back to the decision planning layer, and warning is provided, so that the function of preventing the vehicle from generating the runaway danger under the limit working condition is realized.
By adopting the technical scheme, when the vehicle is easy to lose balance under the limit working condition, the function of preventing track tracking is realized, and safety accidents are avoided; according to the self state of the vehicle, the control quantity output is self-predicted and limited, the function of preventing the vehicle from generating the danger of runaway under the limit working condition is realized, and the safety of the vehicle is ensured.
Drawings
FIG. 1 is a flow chart of a vehicle stabilization system of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1, the flowchart of the present invention is an automatic driving control method, which is applied to an unmanned vehicle and is a scheme for predicting a vehicle motion trend based on vehicle sensor data, so as to solve technical problems existing in the prior art. The unmanned vehicle comprises an IMU, a vision camera and a feedback device of a vehicle actuating mechanism. The unmanned vehicle is equipped with the following devices: IMU (detect road gradient), visual camera (detect road width, curvature etc information), feedback device of vehicle self-actuating mechanism (feedback vehicle speed, acceleration, attitude, steering wheel angle, wheel speed etc information).
In order to overcome the defects of the prior art and achieve the purpose of improving the stability and the safety of the unmanned vehicle, the invention adopts the technical scheme that:
as shown in fig. 1, the automatic driving control method of the present invention includes the following steps:
1. collecting path information, environment information and vehicle information;
2. performing data fusion on the information; predicting a vehicle model;
3. judging whether the vehicle is out of control; if yes, entering the next step; if not, entering step 5;
4. solving control output according to the vehicle stable boundary;
5. the vehicle runs stably.
In the step 1, when the unmanned vehicle is in the automatic driving mode, the vehicle controller acquires the road around the vehicle and the information about the running of the vehicle through the sensor, and simultaneously acquires the feedback signal of the actuator of the vehicle.
In the step 2, a motion control module in the vehicle controller receives path data and decision information of an upstream decision plan; and predicting the running condition of the vehicle for a future period of time according to the path data, the decision instruction, the current attitude of the vehicle and the feedback signal.
In step 3, the stability of the vehicle at the predicted time is predicted by the vehicle dynamics model.
In the step 4, when the possibility of instability of the vehicle is predicted, the motion attitude of the vehicle is corrected in advance through setting of boundary parameters of the vehicle limit working condition; meanwhile, information is fed back to the decision planning layer, and warning is provided, so that the function of preventing the vehicle from generating the runaway danger under the limit working condition is realized.
And then, matching the digital-analog parameters of the whole vehicle by using the vehicle stability control system and the vehicle to carry out vehicle dynamic model adaptation. The invention can be used for matching and testing the vehicle line control system, thereby preventing the vehicle from being out of control under the limit working condition.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (5)
1. An automatic driving control method is applied to an unmanned vehicle and comprises an IMU, a visual camera and a feedback device of a vehicle execution mechanism, and is characterized in that: the control method comprises the following steps:
1) collecting path information, environment information and vehicle information;
2) performing data fusion on the information; predicting a vehicle model;
3) judging whether the vehicle is out of control; if yes, entering the next step; if not, entering step 5);
4) solving control output according to the vehicle stable boundary;
5) and the vehicle stably runs.
2. The automatic traveling control method according to claim 1, characterized in that: in the step 1), when the unmanned vehicle is in an automatic driving mode, the vehicle controller acquires the road around the vehicle and the information about the running of the vehicle through the sensor, and simultaneously acquires the feedback signal of the execution mechanism of the vehicle.
3. The automatic traveling control method according to claim 1, characterized in that: in the step 2), a motion control module in the vehicle controller receives path data and decision information of an upstream decision plan; and predicting the running condition of the vehicle for a future period of time according to the path data, the decision instruction, the current attitude of the vehicle and the feedback signal.
4. The automatic traveling control method according to claim 1, characterized in that: in step 3, the stability of the vehicle at the predicted time is predicted by the vehicle dynamics model.
5. The automatic traveling control method according to claim 1, characterized in that: in the step 4), when the possibility of instability of the vehicle is predicted, the motion attitude of the vehicle is corrected in advance through setting of boundary parameters of the vehicle limit working condition; meanwhile, information is fed back to the decision planning layer, and warning is provided, so that the function of preventing the vehicle from generating the runaway danger under the limit working condition is realized.
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| CN201911160327.4A CN110968095A (en) | 2019-11-23 | 2019-11-23 | Automatic driving control method |
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| CN201911160327.4A CN110968095A (en) | 2019-11-23 | 2019-11-23 | Automatic driving control method |
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Citations (10)
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| CN104977933A (en) * | 2015-07-01 | 2015-10-14 | 吉林大学 | Regional path tracking control method for autonomous land vehicle |
| CN105644557A (en) * | 2015-12-30 | 2016-06-08 | 苏州安智汽车零部件有限公司 | Braking and steering assisting system and method considering collision avoidance intention of driver |
| CN106004870A (en) * | 2016-06-23 | 2016-10-12 | 吉林大学 | Vehicle stability integrated control method based on variable-weight model prediction algorithm |
| CN108340967A (en) * | 2018-02-24 | 2018-07-31 | 北京航天发射技术研究所 | The control method of Yaw stability when more wheel independent drive electric vehicles turn to |
| CN108674414A (en) * | 2018-07-02 | 2018-10-19 | 清华大学 | A kind of intelligent automobile Trajectory Tracking Control method of limiting condition |
| CN108715166A (en) * | 2018-04-28 | 2018-10-30 | 南京航空航天大学 | Intact stability index method of estimation based on deep learning |
| CN109263651A (en) * | 2018-09-28 | 2019-01-25 | 上汽通用五菱汽车股份有限公司 | Safe checking method, autonomous driving vehicle and the storage medium of autonomous driving vehicle |
| CN109669461A (en) * | 2019-01-08 | 2019-04-23 | 南京航空航天大学 | Automatic driving vehicle decision system and its method for planning track under a kind of complex working condition |
| CN110060504A (en) * | 2019-04-11 | 2019-07-26 | 黄冈师范学院 | The anti-unstability speed calculating of vehicle bend and early warning system and method based on intelligent network connection |
| US20190337507A1 (en) * | 2018-05-04 | 2019-11-07 | The Regents Of The University Of Michigan | Collision Imminent Steering Control Systems and Methods |
-
2019
- 2019-11-23 CN CN201911160327.4A patent/CN110968095A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977933A (en) * | 2015-07-01 | 2015-10-14 | 吉林大学 | Regional path tracking control method for autonomous land vehicle |
| CN105644557A (en) * | 2015-12-30 | 2016-06-08 | 苏州安智汽车零部件有限公司 | Braking and steering assisting system and method considering collision avoidance intention of driver |
| CN106004870A (en) * | 2016-06-23 | 2016-10-12 | 吉林大学 | Vehicle stability integrated control method based on variable-weight model prediction algorithm |
| CN108340967A (en) * | 2018-02-24 | 2018-07-31 | 北京航天发射技术研究所 | The control method of Yaw stability when more wheel independent drive electric vehicles turn to |
| CN108715166A (en) * | 2018-04-28 | 2018-10-30 | 南京航空航天大学 | Intact stability index method of estimation based on deep learning |
| US20190337507A1 (en) * | 2018-05-04 | 2019-11-07 | The Regents Of The University Of Michigan | Collision Imminent Steering Control Systems and Methods |
| CN108674414A (en) * | 2018-07-02 | 2018-10-19 | 清华大学 | A kind of intelligent automobile Trajectory Tracking Control method of limiting condition |
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Effective date of registration: 20200709 Address after: 241009 Wuhu economic and Technological Development Zone, Anshan, Wuhu, Anhui Applicant after: Wuhu Sambalion auto technology Co.,Ltd. Applicant after: CHERY AUTOMOBILE Co.,Ltd. Address before: 241009 No. 8, Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui Applicant before: CHERY AUTOMOBILE Co.,Ltd. |
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Effective date of registration: 20240408 Address after: 241000 10th Floor, Block B1, Wanjiang Wealth Plaza, Guandou Street, Jiujiang District, Wuhu City, Anhui Province Applicant after: Dazhuo Intelligent Technology Co.,Ltd. Country or region after: China Applicant after: Dazhuo Quxing Intelligent Technology (Shanghai) Co.,Ltd. Address before: 241009 Wuhu economic and Technological Development Zone, Anshan, Wuhu, Anhui Applicant before: Wuhu Sambalion auto technology Co.,Ltd. Country or region before: China |