CN111196274B - Method and system for vehicle inclined road centering control, storage medium and vehicle - Google Patents

Method and system for vehicle inclined road centering control, storage medium and vehicle Download PDF

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CN111196274B
CN111196274B CN202010068796.XA CN202010068796A CN111196274B CN 111196274 B CN111196274 B CN 111196274B CN 202010068796 A CN202010068796 A CN 202010068796A CN 111196274 B CN111196274 B CN 111196274B
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vehicle
control
road
driving
inclination angle
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CN111196274A (en
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何临基
任传兵
卢斌
丁洪正
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/12—Lateral speed
    • B60W2720/125—Lateral acceleration

Abstract

The invention discloses a method and a system for centering control of a vehicle inclined road, a storage medium and a vehicle, wherein the vehicle is provided with a driving assistance system capable of transversely controlling the vehicle, and the method comprises the following steps: when the driving assistance system controls the vehicle to run and the road where the vehicle is currently passing is in a left-right unbalanced state, the driving assistance system compensates for the lateral acceleration in the direction opposite to the vehicle offset. The invention enhances the centering effect by adding the lateral acceleration compensation.

Description

Method and system for vehicle inclined road centering control, storage medium and vehicle
Technical Field
The invention belongs to the technical field of intelligent driving of automobiles, and particularly relates to a method and a system for centering control of an inclined road of a vehicle, a storage medium and the vehicle.
Background
Currently, intelligent driving of an automobile is divided into 5 levels, namely L0 manual driving, L1 Driving Assistance (DA), L2 partial automatic driving (PA), L3 high automatic driving (HA) and L4 full automatic driving (FA), and most of enterprises in the world refer to the division standard. In terms of the development of intelligent driving technology, the vehicle models which are produced in mass production at present do not exceed the category of L2-level intelligent driving, namely partial automatic driving of single or multiple controllers, such as the vehicle models of Changan CS55/75plus/95, great wall VV6, Jilibogue/Diehao and the like.
The L2 level automatic driving is defined as a driving auxiliary system, the driving auxiliary system controls the acceleration/deceleration of the vehicle through the forward millimeter wave and the distance radar, and the forward looking camera controls the steering of the vehicle, so as to realize the control of the longitudinal direction/the transverse direction of the vehicle. Almost all lateral control is based on real-time vehicle alignment adjustment by PID closed-loop control, measuring the distance between the outside of the vehicle and the inside of the lane line → comparing with the calculated value → increasing/decreasing the lateral control torque → re-measuring the distance between the outside of the vehicle and the inside of the lane line. The method can be stably controlled in a required area on a straight road through PID closed-loop regulation, and when a vehicle is on an inclined road, the vehicle can deviate from the center line of a lane due to factors such as the self weight of the vehicle.
Therefore, it is necessary to develop a new method, system, storage medium, and vehicle for vehicle inclined road centering control.
Disclosure of Invention
The invention aims to provide a method, a system, a storage medium and a vehicle for centering control of a vehicle inclined road, which can enhance the centering effect by adding lateral acceleration compensation.
In a first aspect, the present invention provides a method for centering control on a vehicle inclined road, the vehicle having a driving assistance system capable of laterally controlling the vehicle, comprising:
when the driving assistance system controls the vehicle to run and the road where the vehicle is currently passing is in a left-right unbalanced state, the driving assistance system compensates for the lateral acceleration in the direction opposite to the vehicle offset.
Further, on the premise that the driving assistance system controls the transverse speed of the vehicle, the transverse inclination angle of the vehicle is obtained according to the inclination angle of the road read by the forward-looking camera and the left and right inclination angles of the vehicle calculated by the vehicle-mounted inertial navigation computing system;
inquiring a corresponding relation table of the lateral acceleration compensation value and the lateral inclination angle of the vehicle according to the lateral inclination angle of the vehicle to obtain a lateral acceleration compensation value, and feeding back the lateral acceleration compensation value to a driving auxiliary system for control;
and the driving auxiliary system sends out a compensation command according to the lateral acceleration compensation value and controls the vehicle centering together by combining PID closed-loop control logic.
And further, comparing the road inclination angle read by the forward-looking camera with the left and right vehicle inclination angles calculated by the vehicle-mounted inertial navigation computing system, and performing degradation processing on the transverse acceleration compensation logic when the difference value between the road inclination angle read by the forward-looking camera and the left and right vehicle inclination angles is larger than or equal to a preset value.
Further, still include: and setting an upper limit value of the lateral acceleration compensation value, and when the lateral acceleration required to be compensated is greater than the upper limit value, giving an alarm in one or more combination modes of sound, instrument display, light flicker and vibration to request a driver to take over vehicle control.
In a second aspect, the system for vehicle inclined road centering control comprises a driving auxiliary control system, and a vehicle-mounted through calculation system, a forward-looking camera, a vehicle driving state feedback module, a vehicle steering execution module, an intervention control module and an information display module which are respectively electrically connected with the driving auxiliary control system;
the vehicle-mounted through guidance computing system is used for sensing the posture change of the vehicle and computing the left and right inclination angles of the vehicle;
the forward-looking camera is used for reading a road inclination angle;
the driving auxiliary control system is used for deciding the execution feasibility and the compensation size of the transverse acceleration compensation logic according to the left and right inclination angles of the vehicle calculated by the vehicle-mounted through calculation system and the road inclination angle read by the forward-looking camera and in combination with the control state of the vehicle;
the vehicle driving state feedback module is used for judging basic information of the vehicle, wherein the basic information comprises vehicle speed, driving range and precondition for starting a driving auxiliary system; and a state of a driving assistance-related system including a state of a steering assistance system, a state of a braking system, and a state of a power system;
the vehicle steering execution module is used for converting the lateral acceleration compensation value into a torque value which can be interacted with the actuator and controlling the vehicle to steer;
the intervention control module is used for detecting whether the vehicle is controlled by a driver and quitting the system when detecting that the vehicle is controlled by the driver;
the information display module is used for displaying the state of the driving assistance system.
In a third aspect, the present invention provides a storage medium storing one or more computer readable programs which, when invoked by one or more controllers, implement the steps of the method for vehicle inclined road centering control according to the present invention.
In a fourth aspect, the invention provides an autonomous vehicle, which adopts the system for controlling the vehicle inclined road centering.
The invention has the following advantages: when the driving assistance system controls the vehicle to pass through the inclined road, the driving assistance system compensates the lateral acceleration in the direction opposite to the deviation direction of the vehicle so as to enhance the centering effect, and therefore the safety and the driving experience of the driving assistance system are improved.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic block diagram of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a method of vehicle inclined road centering control includes the steps of:
when the driving assistance system controls the vehicle to run and the road where the vehicle is currently passing is in a left-right unbalanced state, the driving assistance system compensates for the lateral acceleration in the direction opposite to the vehicle offset.
The method specifically comprises the following steps: on the premise that the driving assistance system controls the transverse speed of the vehicle, the transverse inclination angle of the vehicle is obtained according to the inclination angle of the road read by the forward-looking camera 2 and the left and right inclination angles of the vehicle calculated by the vehicle-mounted inertial navigation calculation system 11;
inquiring a corresponding relation table of the lateral acceleration compensation value and the lateral inclination angle of the vehicle according to the lateral inclination angle of the vehicle to obtain a lateral acceleration compensation value, and feeding back the lateral acceleration compensation value to a driving auxiliary system for control;
and the driving auxiliary system sends out a compensation command according to the lateral acceleration compensation value and controls the vehicle centering together by combining PID closed-loop control logic.
In this embodiment, the method further includes comparing the road inclination angle read by the forward looking camera 2 with the vehicle left and right inclination angles calculated by the vehicle-mounted inertial navigation computing system 11, and performing degradation processing on the lateral acceleration compensation logic when the difference between the road inclination angle read by the forward looking camera 2 and the vehicle left and right inclination angles is greater than or equal to a preset value.
In this embodiment, the method further includes: and setting an upper limit value of the lateral acceleration compensation value, and when the lateral acceleration required to be compensated is greater than the upper limit value, giving an alarm in one or more combination modes of sound, instrument display, light flicker and vibration to request a driver to take over vehicle control.
The single PID closed-loop control logic can cause the condition that the left and right oscillation of the vehicle is slow in convergence or cannot be converged in a real-time correction mode from measurement to control to measurement, so that the control logic is added with a limiting condition, such as setting the upper limit value of the steering torque according to different speed ranges, setting the upper limit value of the change slope according to different speed ranges, and the like. In an inclined road scene, the method for compensating the acceleration can effectively offset the vehicle weight, the installation deviation of a steering system and the like.
The vehicle deviation from the centerline is actually reflected in the occurrence of a small lateral velocity (V)Transverse direction) When transverse velocity (V)Transverse direction) The torque is controlled in the maximum transverse direction, the vehicle deviates from a lane, the vehicle exits from the driving auxiliary system to reduce the driving experience if the vehicle is light, and traffic accidents such as collision and the like occur if the vehicle is heavy;
wherein: the mutual conversion relationship is as follows:
(1) driving assistance system input torque vs. lateral offset speed relationship
The driving assistance system controls the steering torque (N)Torque of) Controlling the rotational speed (V) of the steering wheel shaftRotational speed)；
The relationship is as follows:
Poutput power＝FTorsion force×VRotational speedAnd NTorque of＝FTorsion force×RRadius of rotation shaft
To obtain: n is a radical ofTorque of＝POutput power×RRadius of rotation shaft/VRotational speed
Therefore, the method comprises the following steps: when the output power (P)Output power) Radius of rotation axis (R)Radius of rotation shaft) At constant value, steering torque (N)Torque of) Size and rotating speed (V) of the rotating shaftRotational speed) Is in direct proportion;
steering wheel shaft speed (V)Rotational speed) Acting on the wheel end through the vehicle rotating device to control the transverse speed (V) of the whole vehicleTransverse direction) (ii) a I.e. steering wheel steering torque (N)Torque of) With transverse velocity (V)Transverse direction) And is also proportional.
(2) Acceleration compensation value versus lateral deviation velocity
Reflecting the relation between the acceleration and the speed according to the acceleration and the acceleration degree change rate
Acceleration: a is(t)＝(V(t)-V(0))/t；
Acceleration rate: l is(rate of change of acceleration)＝(a(t)-a(0))/t；
To obtain: v(t)＝L(rate of change of acceleration)×t2+a(0)×t+V(0))；
During time t, when the acceleration rate (L) changes(rate of change of acceleration)) Initial velocity (V)(0)) At a certain time, the variation of the speed is in positive correlation with the acceleration, namely the acceleration value is compensated, the transverse speed can be offset, and the vehicle can be kept to run on the central line of the lane line.
For another example, taking discrete vehicle speed as an example, the lateral vehicle speed is decomposed into K sampling points, and then:
V(K)＝L(K)×T2+a(K)×T+V(K-1))
＝L(K)×T2+L(K-1)×T2+a(K-1)×T+V(K-1)
＝L(K)×T2+L(K-1)×T2+…+L(K-n)×T2+a(K-n)×T+V(K-1)
in a change period (T), when the acceleration change rate (L) is fixed, the speed of the next time is directly influenced by the acceleration of the last sampling point and the acceleration of the next sampling point, namely the change (V) of the transverse speed(K)-V(K-1)) The acceleration value of the vehicle is in positive correlation with the acceleration value, the acceleration value of the next moment is directly expressed as the vehicle speed value of the next moment, and the compensation acceleration value can counteract the lateral deviation vehicle speed.
According to the method, the larger the inclination angle is, the larger the acceleration value to be compensated is, and when the maximum compensation upper limit value is exceeded, the driving assistance system quits and warns a driver to take over vehicle control immediately.
In the method, the acceleration compensation value is inquired according to the inclination angle of the road, the compensation acceleration and the inclination angle correspond to each other in the same inclined road scene and are reduced along with the increase of the vehicle speed, namely the higher the vehicle speed is, the smaller the acceleration value to be compensated is. Table 1 is a table of the correspondence between the lateral acceleration compensation value and the lateral inclination angle of the vehicle.
Figure BDA0002376740060000051
TABLE 1
aiFor the lateral compensation acceleration values, i is 1,2,3,4,5, …, the vehicle speed is different, the compensated acceleration values are different, and the larger the speed is, the smaller the compensated lateral acceleration is;
kik is 1,2,3,4,5, … for the corresponding coefficient of the inclined road surface, the larger the inclination angle, the larger the corresponding coefficient;
the method can offset the deviation caused by the inclination angle by compensating the acceleration value, and different inclined road surface compensation coefficients kiThe values are different.
The method is described in detail below with reference to fig. 1:
step 001. it is judged whether the driving assistance control system 3 is activated, that is, whether the lateral speed is controlled by the driving assistance system.
Step 002, judging the inclination angle of the road, and if the road is inclined, calculating the left and right inclination angles of the vehicle through the vehicle-mounted through calculation system 1; if the road is straight and has no inclination, go to step 004.
Step 003, the forward looking camera 2 directly reads the inclined inclination angle of the road.
Step 004. inhibit starting the lateral acceleration compensation logic. In this embodiment, the logic for inhibiting the start of the lateral acceleration compensation does not affect the lateral control logic of the normal driving assistance system, and the logic for inhibiting the start of the lateral acceleration compensation and the logic for controlling the normal driving assistance system are mutually matched but act independently when both are triggered.
And 005, comparing the road inclination angle read by the forward-looking camera 2 with the left and right vehicle inclination angles calculated by the vehicle-mounted inertial navigation computing system 11, and when the difference value between the road inclination angle and the left and right vehicle inclination angles is larger than or equal to a preset value, performing degradation processing on the lateral acceleration compensation logic to prevent overlarge compensation deviation (discharging inclination angle values with large changes such as sudden change/discontinuity and the like).
Meanwhile, whether the road is in a multivariable type or not needs to be judged, for example, the size of the curve and the vehicle speed need to be judged compared with the straight road, the centripetal acceleration needs to be calculated, and when the lateral acceleration is fed back, the centripetal acceleration value needs to be counteracted firstly.
The size source of the curve is directly read according to the camera, and the vehicle navigation system inputs the size source in advance.
Step 006, judging whether the vehicle deviates from a lane line driving area, if so, entering step 007; if not, go to step 004.
Step 007, obtaining a transverse inclination angle of the vehicle according to the road inclination angle read by the forward-looking camera 2 and the left and right inclination angles of the vehicle calculated by the vehicle-mounted inertial navigation computing system 11, then inquiring a corresponding relation table of the transverse acceleration compensation value and the transverse inclination angle of the vehicle according to the transverse inclination angle of the vehicle to obtain a transverse acceleration compensation value, feeding the transverse acceleration compensation value back to the driving auxiliary system, and correcting the deviation state of the vehicle by combining PID control logic; if the vehicle does not deviate from the driving zone, the lateral acceleration compensation logic is inhibited from being started. The lateral acceleration compensation logic is complementary to the lateral control of the driving assistance system and is intended to compensate the logic intensity of the PID control.
Step 008, judging whether the vehicle returns to the lane line driving area, and if the vehicle returns to the lane line driving area, entering step 009; if the vehicle does not return to the lane line travel area, the process proceeds to step 005.
Wherein, the requirement that the vehicle returns to the lane line driving area:
1. the vehicle cannot be subject to verification overshoot, such as: the road surface inclines to the left, the vehicle deviates to the left when running, and the lateral acceleration compensation value cannot be too large, so that the vehicle deviates to the right from a lane;
2. the lateral acceleration compensation is corrected in real time, namely, the time delay cannot be required or must be within a required range, the repeated overshoot is avoided, the vehicle runs in an S shape, and the rapid convergence cannot be realized (the convergence is required within 3 periods).
Step 009. exit the lateral acceleration compensation logic.
In this embodiment, when the driving assistance lateral control is exited, the lateral acceleration compensation logic is immediately exited.
In this embodiment, when the vehicle is traveling on an inclined road, the lateral acceleration compensation logic is triggered, and if the driving assistance system is exited, the lateral acceleration compensation logic is immediately exited.
In this embodiment, if the driver takes over the control right of the vehicle actively or activates a higher-level control system, such as activation of an automatic emergency brake, activation of an anti-sideslip system, and the like, the lateral acceleration compensation logic exits immediately.
The invention relates to a vehicle inclined road centering control system, which comprises a driving auxiliary control system 3, and a vehicle-mounted through calculation system 1, a forward-looking camera 2, a vehicle driving state feedback module 4, a vehicle steering execution module 5, an intervention control module 6 and an information display module 7 which are respectively electrically connected with the driving auxiliary control system 3;
the vehicle-mounted through guidance computing system 1 is used for sensing the posture change of a vehicle and computing the left and right inclination angles of the vehicle;
the forward looking camera 2 is used for reading the inclined inclination angle of the road;
the driving auxiliary control system 3 is used for deciding the execution feasibility and the compensation size of the transverse acceleration compensation logic according to the left and right inclination angles of the vehicle calculated by the vehicle-mounted through calculation system 1 and the road inclination angle read by the forward-looking camera 2 and in combination with the control state of the vehicle;
the vehicle driving state feedback module 4 is used for judging basic information of the vehicle, wherein the basic information comprises vehicle speed, driving range and precondition for starting a driving auxiliary system; and a state of a driving assistance-related system including a state of a steering assistance system, a state of a braking system, and a state of a power system;
the vehicle steering execution module 5 is used for converting the lateral acceleration compensation value into a torque value which can be interacted with by an actuator and controlling the vehicle to steer; the magnitude of the lateral acceleration compensation value cannot exceed the maximum value of PID control, namely the compensated acceleration is limited, if the road inclination angle is too large and far exceeds the control range of the maximum torque value, the driving assistance system directly exits, and gives an alarm to a driver through sound, vision (display, light) and vibration, and the driver is requested to take over the vehicle control immediately. The lateral acceleration compensation logic is combined with the vehicle PID lateral control logic, and the two logic complement each other to form closed-loop control and correct the deviation control of the vehicle in real time.
The intervention control module 6 is used to detect whether the vehicle is controlled by the driver and, upon detecting that the vehicle has been controlled by the driver (e.g. by pressing the brake pedal, by pressing the accelerator for acceleration, by turning the steering wheel for strong steering, by switching off the drive assist system via a switch, etc.).
The information display module 7 is used for displaying the state of the driving assistance system. In individual lateral/longitudinal control, or whether in a fault condition; and displaying information such as real-time states or fault states of related systems (a steering auxiliary system, a braking system and a power system). The driver pays attention to the vehicle control state in real time.
In this embodiment, the storage medium of the present invention stores one or more computer readable programs, and when the computer readable programs are called and executed by one or more controllers, the steps of the method for controlling the vehicle inclined road centering control as described in this embodiment can be implemented.
In the embodiment, the automatic driving vehicle adopts the system for centering control of the vehicle inclined road.

Claims (6)

1. A method for centering control on a vehicle having a driving assistance system capable of laterally controlling the vehicle, comprising the steps of:
when the driving assistance system controls the vehicle to run and the road where the vehicle passes currently is in a left-right unbalanced state, the driving assistance system compensates the lateral acceleration in the direction opposite to the vehicle offset, specifically:
on the premise that the driving auxiliary system controls the transverse speed of the vehicle, obtaining the transverse inclination angle of the vehicle according to the inclination angle of the road read by the forward-looking camera and the left and right inclination angles of the vehicle calculated by the vehicle-mounted inertial navigation computing system;
inquiring a corresponding relation table of the lateral acceleration compensation value and the lateral inclination angle of the vehicle according to the lateral inclination angle of the vehicle to obtain a lateral acceleration compensation value, and feeding back the lateral acceleration compensation value to a driving auxiliary system for control;
and the driving auxiliary system sends out a compensation command according to the lateral acceleration compensation value and controls the vehicle centering together by combining PID closed-loop control logic.
2. The method of vehicle inclined road centering control according to claim 1, characterized in that: and the method also comprises the steps of comparing the road inclination angle read by the forward-looking camera with the left and right vehicle inclination angles calculated by the vehicle-mounted inertial navigation computing system, and performing degradation processing on the transverse acceleration compensation logic when the difference value between the road inclination angle read by the forward-looking camera and the left and right vehicle inclination angles is greater than or equal to a preset value.
3. The method of vehicle inclined road centering control according to claim 1 or 2, characterized in that: further comprising: and setting an upper limit value of the lateral acceleration compensation value, and when the lateral acceleration required to be compensated is greater than the upper limit value, giving an alarm in one or more combination modes of sound, instrument display, light flicker and vibration to request a driver to take over vehicle control.
4. A system for vehicle inclined road centering control, characterized by: the system comprises a driving auxiliary control system (3), and a vehicle-mounted through calculation system (1), a front-view camera (2), a vehicle driving state feedback module (4), a vehicle steering execution module (5), an intervention control module (6) and an information display module (7) which are respectively electrically connected with the driving auxiliary control system (3);
the vehicle-mounted through guidance computing system (1) is used for sensing the posture change of the vehicle and computing the left and right inclination angles of the vehicle;
the forward looking camera (2) is used for reading the inclined inclination angle of the road;
the driving auxiliary control system (3) is used for deciding the execution feasibility and the compensation size of the transverse acceleration compensation logic according to the left and right inclination angles of the vehicle calculated by the vehicle-mounted through calculation system (1) and the road inclination angle read by the forward-looking camera (2) and in combination with the control state of the vehicle;
the vehicle driving state feedback module (4) is used for judging basic information of the vehicle, wherein the basic information comprises vehicle speed, driving range and precondition for starting a driving assistance system; and a state of a driving assistance-related system including a state of a steering assistance system, a state of a braking system, and a state of a power system;
the vehicle steering execution module (5) is used for converting the lateral acceleration compensation value into a torque value which can be interacted with by an actuator and controlling the vehicle to steer;
the intervention control module (6) is used for detecting whether the vehicle is controlled by a driver and quitting the system when detecting that the vehicle is controlled by the driver;
the information display module (7) is used for displaying the state of the driving assistance system.
5. A storage medium, characterized by: stored with one or more computer readable programs that, when invoked and executed by one or more controllers, are able to implement the steps of a method for vehicle inclined road centering control as claimed in any one of claims 1 to 3.
6. An autonomous vehicle, characterized by: a system employing the vehicle inclined road centering control as claimed in claim 4.
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