CN111169474A - Autonomous emergency steering avoidance auxiliary device and method - Google Patents
Autonomous emergency steering avoidance auxiliary device and method Download PDFInfo
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- CN111169474A CN111169474A CN202010049140.3A CN202010049140A CN111169474A CN 111169474 A CN111169474 A CN 111169474A CN 202010049140 A CN202010049140 A CN 202010049140A CN 111169474 A CN111169474 A CN 111169474A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
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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
- B60W2520/10—Longitudinal speed
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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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/12—Lateral speed
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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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
Abstract
The invention relates to an autonomous emergency steering avoidance auxiliary device and method, wherein the auxiliary device comprises: a control module; the environment sensing module is connected with the control module and used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information; the driver monitoring module is connected with the control module and is used for monitoring the attention of a driver; the brake execution module is connected with the control module and is used for braking the automobile; the rotation execution module is connected with the control module and is used for steering the automobile; and the alarm module is connected with the control module and used for warning the driver. The auxiliary method is used for the auxiliary device to realize autonomous emergency steering avoidance of the vehicle. Compared with the prior art, the method has the advantages of high automation degree, more reasonable avoidance path and the like.
Description
Technical Field
The invention relates to the technical field of automatic control of vehicles, in particular to an autonomous emergency steering avoidance auxiliary device and method.
Background
Advanced Driving Assistance Systems (ADAS) have developed rapidly in recent years, wherein automatic emergency braking assistance systems and steering avoidance assistance systems can help drivers avoid collisions or reduce the hazards of collisions at dangerous times. The two risk avoiding methods have advantages respectively. Under the scene that the relative speed of a motor vehicle is higher, the required response distance is shorter, and the steering avoidance system is more effective.
The vehicle model equipped with the emergency steering avoidance auxiliary system at present has the following implementation mode. In a scene with collision risk, a steering avoidance system needs a driver to actively rotate a steering wheel for activation, and after the system is activated, the system can output a moment in the same direction as the rotation direction of the driver to assist the driver in rotating the steering wheel and avoiding. The steering avoidance direction of the vehicle is determined by the driver, and the system avoids the collision by outputting a sufficient steering torque. If the driver does not operate the steering before the collision occurs, the system is not automatically triggered. However, most dangerous scenes are caused by distraction of the driver, and in such a case, the time for the driver to actively make avoidance judgment and decision is insufficient. Therefore, there is a need for a steering avoidance assistance apparatus that can assist a driver in making decisions and decisions in situations where the driver is distracted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an autonomous emergency steering avoidance auxiliary device and method which are high in automation degree and more reasonable in avoidance path.
The purpose of the invention can be realized by the following technical scheme:
an autonomous emergency steering avoidance assistance device comprising:
a control module 1;
the environment sensing module 2 is connected with the control module 1 and used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information;
the driver monitoring module 3 is connected with the control module 1 and is used for monitoring the attention of a driver;
the brake execution module 4 is connected with the control module 1 and is used for carrying out braking operation on the automobile;
the rotation execution module 5 is connected with the control module 1 and is used for steering the automobile;
and the alarm module 6 is connected with the control module 1 and used for warning the driver.
Preferably, the environment sensing module 2 comprises:
the sensor unit is connected with the control module 1 and is used for acquiring longitudinal and transverse speed and acceleration information of a vehicle, lane information of the vehicle, lane line information of the vehicle on two sides, speed and acceleration information of an obstacle in front of the vehicle and speed and acceleration information of an obstacle on an adjacent lane of the vehicle;
and one end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module 1 and used for planning the drivable path of the vehicle according to the information acquired by the sensor unit.
Preferably, the brake execution module 4 is connected with the existing vehicle engine control device and the vehicle brake device; the rotation execution module 5 is connected with the existing vehicle rotation device.
Preferably, the alarm module 6 comprises an acoustic alarm unit and an optical alarm unit; one end of the sound alarm unit is connected with the control module 1, and the other end of the sound alarm unit is connected with the in-vehicle sound box; one end of the light alarm unit is connected with the control module 1, and the other end of the light alarm unit is respectively connected with the central control display and the vehicle interior lamp.
An autonomous emergency steering avoidance assistance method for the assistance apparatus, comprising the steps of:
step 1: the environment sensing module 2 collects the surrounding environment information of the vehicle, plans a drivable path according to the information and then sends the information to the control module 1;
step 2: the control module 1 calculates the time TTC of collision with the nearest barrier in front in real time according to the surrounding environment information of the vehicle and the speed information of the vehicle;
and step 3: judging whether the TTC is smaller than a threshold value, if so, executing a step 4, otherwise, returning to the step 1;
and 4, step 4: the driver monitoring module 3 judges whether the driver is concentrating on driving, if yes, the step 5 is executed, otherwise, the alarm module 6 gives an alarm, and then the step 6 is executed;
and 5: judging whether the driver has active steering avoidance action, if so, executing a step 6, otherwise, executing a step 7;
step 6: judging whether a collision risk exists on the drivable path planned by the environment sensing module or on one side actively steered by the driver in the step 1, if so, executing a step 7, otherwise, executing a step 8;
and 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
and 8: the control module 1 outputs a braking instruction and a steering instruction to the braking execution module 4 and the steering execution module 5 respectively to realize emergency avoidance.
Preferably, a Sigmoid function is adopted in the step 1 to plan a travelable path; the expression of the Sigmoid function is as follows:
where x is the longitudinal displacement of the vehicle, y is the lateral displacement of the vehicle, and m, n, and k are the basic parameters of the function, which can be found by the following constraint:
where l is the minimum safe distance between the vehicle and the obstacle, (x)0,y0) Is the coordinate of the vehicle at the minimum safe distance between the vehicle and the obstacle, v is the longitudinal speed of the vehicle, aymaxMaximum lateral acceleration of the vehicle, ysIs the lateral displacement offset value.
Preferably, the method for calculating the time to collision TTC between the vehicle and the nearest obstacle in front is:
preferably, the method for determining that the driver focuses on driving in step 4 includes:
step 4-1: driver's seatThe monitoring module (3) acquires the eye-opening duration T of the driver1And the duration T of the eye gaze on the road2；
Step 4-2: judgment of T1And T2Whether the first threshold value and the second threshold value are respectively reached, if yes, the attention of the driver is in a concentrated state, and if not, the attention of the driver is in an unfocused state.
Compared with the prior art, the invention has the following advantages:
firstly, the automation degree is high: the steering avoidance auxiliary device and the steering avoidance auxiliary method judge whether the driver actively performs steering avoidance and judge whether the attention of the driver is added into the judgment condition, when the attention of the driver is concentrated, the start and stop of the auxiliary device are related to whether the driver actively performs avoidance, and the auxiliary device only assists the avoidance action of the driver under the condition; when the attention of the driver is not focused, the auxiliary device directly carries out steering avoidance operation and gives a warning to the driver, so that the possibility of colliding with the front obstacle is greatly reduced.
Secondly, avoiding the path is more reasonable: the steering avoidance auxiliary device and the steering avoidance auxiliary method adopt a Sigmoid function to carry out emergency avoidance path planning, and the method can ensure that a vehicle is not scratched with a front obstacle during emergency avoidance because a minimum avoidance safe distance is set.
Drawings
Fig. 1 is a schematic structural diagram of an autonomous emergency steering avoidance apparatus according to the present invention;
fig. 2 is a schematic flow chart of an autonomous emergency steering avoidance method according to the present invention.
The reference numbers in the figures indicate:
1. the system comprises a control module 2, an environment sensing module 3, a driver monitoring module 4, a brake execution module 5, a rotation execution module 6 and an alarm module.
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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The invention relates to an autonomous emergency steering avoidance auxiliary device and method, and the structure of the auxiliary device is shown in figure 1.
The auxiliary device comprises a control module 1, and an environment sensing module 2, a driver monitoring module 3, a brake execution module 4, a rotation execution module 5 and an alarm module 6 which are connected with the control module 1.
The environment sensing module 2 is used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information;
the driver monitoring module 3 is used for monitoring the attention and driving behavior of the driver;
the brake execution module 4 is used for braking the automobile;
the rotation execution module 5 is used for steering the automobile;
and the alarm module 6 is used for warning the driver.
The environment sensing module 2 comprises a sensor unit and a path planning unit, wherein the sensor unit is connected with the control module 1 and is used for acquiring longitudinal and transverse speed and acceleration information of the vehicle, information of a lane where the vehicle is located, information of a lane line between the vehicle and two sides, speed and acceleration information of an obstacle in front of the vehicle and speed and acceleration information of an obstacle on an adjacent lane of the vehicle. One end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module 1 and used for planning the driving path of the vehicle according to the information collected by the sensor unit.
The brake execution module 4 is connected with the existing vehicle engine control device and the vehicle brake device, and the rotation execution module 5 is connected with the existing vehicle rotation device.
The alarm module 6 comprises an acoustic alarm unit and an optical alarm unit, one end of the acoustic alarm unit is connected with the control module 1, the other end of the acoustic alarm unit is connected with the in-vehicle sound box, one end of the optical alarm unit is connected with the control module 1, and the other end of the optical alarm unit is respectively connected with the central control display and the in-vehicle lamp.
The flow of the auxiliary method is schematically shown in fig. 2, and comprises the following steps:
step 1: the environment sensing module 2 collects information of the surrounding environment of the vehicle, plans the travelable path according to the information, and then sends the information to the control module 1, and the travelable path is planned by adopting a Sigmoid function, wherein the expression of the Sigmoid function is as follows:
wherein x is the longitudinal displacement of the vehicle, y is the lateral displacement of the vehicle, and m, n, and k are the basic parameters of the function, which can be obtained by the following constraint:
where l is the minimum safe distance between the vehicle and the obstacle, (x)0,y0) Is the coordinate of the vehicle at the minimum safe distance between the vehicle and the obstacle, v is the longitudinal speed of the vehicle, aymaxMaximum lateral acceleration of the vehicle, ysIs the lateral displacement offset value.
The minimum safe distance between the vehicle and the barrier is considered when the driving path planning is carried out by using the Sigmoid function, and the probability of scraping between the vehicle and the barrier is effectively avoided.
Step 2: the control module 1 calculates the time to collision TTC with the nearest obstacle in front in real time according to the surrounding environment information of the vehicle and the speed information of the vehicle, and the calculation method of the TTC is as follows:
and step 3: judging whether the TTC is smaller than a threshold value, if so, executing a step 4, otherwise, returning to the step 1;
and 4, step 4: the driver monitoring module 3 judges whether the driver is concentrating on driving, if yes, the step 5 is executed, otherwise, the alarm module 6 gives an alarm, and then the step 6 is executed;
the method for judging the attention of the driver comprises the following steps:
step 4-1: the driver monitor module 3 acquires the eye-open time period T of the driver1And the duration T of the eye gaze on the road2；
Step 4-2: judgment of T1And T2Whether the first threshold value and the second threshold value are respectively reached, if yes, the attention of the driver is in a concentrated state, and if not, the attention of the driver is in an unfocused state.
And 5: judging whether the driver has active steering avoidance action, if so, executing a step 6, otherwise, executing a step 7;
step 6: judging whether a collision risk exists on the drivable path planned by the environment sensing module or on one side actively steered by the driver in the step 1, if so, executing a step 7, otherwise, executing a step 8;
and 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
and 8: the control module 1 outputs a braking instruction and a steering instruction to the braking execution module 4 and the steering execution module 5 respectively to realize emergency avoidance.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An autonomous emergency steering avoidance assistance device, comprising:
a control module (1);
the environment sensing module (2) is connected with the control module (1) and used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information;
the driver monitoring module (3) is connected with the control module (1) and is used for monitoring the attention of a driver;
the brake execution module (4) is connected with the control module (1) and is used for braking the automobile;
the rotation execution module (5) is connected with the control module (1) and is used for steering the automobile;
and the alarm module (6) is connected with the control module (1) and is used for warning the driver.
2. An autonomous emergency steering avoidance assistance device according to claim 1, characterized in that said context awareness module (2) comprises:
the sensor unit is connected with the control module (1) and is used for acquiring longitudinal and transverse speed and acceleration information of a vehicle, lane information of the vehicle, lane line information of the vehicle on two sides of the vehicle, speed and acceleration information of an obstacle in front of the vehicle and speed and acceleration information of an obstacle on an adjacent lane of the vehicle;
and one end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module (1) and used for planning the driving path of the vehicle according to the information collected by the sensor unit.
3. An autonomous emergency steering avoidance assistance device according to claim 1, characterized in that the brake actuation module (4) is connected to existing vehicle engine control means and vehicle braking means; the rotation execution module (5) is connected with the existing vehicle rotation device.
4. An autonomous emergency steering avoidance assistance device according to claim 1, characterized in that said alarm module (6) comprises an acoustic alarm unit and an optical alarm unit; one end of the sound alarm unit is connected with the control module (1), and the other end of the sound alarm unit is connected with the sound in the vehicle; one end of the light alarm unit is connected with the control module (1), and the other end of the light alarm unit is respectively connected with the central control display and the vehicle interior lamp.
5. An autonomous emergency steering avoidance assistance method for use with the assistance apparatus of claim 1, said assistance method comprising the steps of:
step 1: the environment sensing module (2) collects the surrounding environment information of the vehicle, plans a drivable path according to the information and then sends the information to the control module (1);
step 2: the control module (1) calculates the time TTC of collision with the nearest barrier in front in real time according to the surrounding environment information of the vehicle and the speed information of the vehicle;
and step 3: judging whether the TTC is smaller than a threshold value, if so, executing a step 4, otherwise, returning to the step 1;
and 4, step 4: the driver monitoring module (3) judges whether the driver is concentrating on driving, if so, the step 5 is executed, otherwise, the alarm module (6) gives an alarm, and then the step 6 is executed;
and 5: judging whether the driver has active steering avoidance action, if so, executing a step 6, otherwise, executing a step 7;
step 6: judging whether a collision risk exists on the drivable path planned by the environment sensing module or on one side actively steered by the driver in the step 1, if so, executing a step 7, otherwise, executing a step 8;
and 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
and 8: the control module (1) outputs a braking instruction and a steering instruction to the braking execution module (4) and the steering execution module (5) respectively to realize emergency avoidance.
6. The autonomous emergency steering avoidance assistance method according to claim 5, wherein a Sigmoid function is used for planning the travelable path in step 1; the expression of the Sigmoid function is as follows:
where x is the longitudinal displacement of the vehicle, y is the lateral displacement of the vehicle, and m, n, and k are the basic parameters of the function, which can be found by the following constraint:
where l is the minimum safe distance between the vehicle and the obstacle, (x)0,y0) Is the coordinate of the vehicle at the minimum safe distance between the vehicle and the obstacle, v is the longitudinal speed of the vehicle, aymaxMaximum lateral acceleration of the vehicle, ysIs the lateral displacement offset value.
7. The autonomous emergency steering avoidance assistance method according to claim 5, wherein the time to collision TTC between the vehicle and the nearest obstacle in front is calculated by:
8. the autonomous emergency steering avoidance assistance method according to claim 5, wherein the determination method that the driver focuses on driving in step 4 is:
step 4-1: the driver monitoring module (3) acquires the eye opening duration T of the driver1And the duration T of the eye gaze on the road2；
Step 4-2: judgment of T1And T2Whether the first threshold value and the second threshold value are respectively reached, if yes, the attention of the driver is in a concentrated state, and if not, the attention of the driver is in an unfocused state.
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| CN114407879A (en) * | 2022-01-17 | 2022-04-29 | 常州信息职业技术学院 | Emergency steering control system and control method suitable for automatic driving |
| CN114407879B (en) * | 2022-01-17 | 2023-06-02 | 常州信息职业技术学院 | Emergency steering control system and control method suitable for automatic driving |
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