CN111391856A - System and method for detecting front curve of automobile adaptive cruise - Google Patents
System and method for detecting front curve of automobile adaptive cruise Download PDFInfo
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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
- B60W40/02—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 ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
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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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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Abstract
The invention relates to the technical field of automatic driving of automobiles, in particular to a front curve detection system and method for automobile adaptive cruise. Under the self-adaptive cruising state of the vehicle, receiving rough positioning information of the vehicle sent by a GPS in real time; acquiring automatic driving map information around the vehicle according to the rough positioning information of the vehicle, and acquiring road information around the vehicle by using a camera; if the camera can acquire the information of the road around the vehicle, comparing the information of the automatic driving map with the information of the road around the vehicle to realize the accurate positioning of the lane level, and then acquiring the information of the front curve of the vehicle; if the camera cannot acquire the road information around the vehicle, the front curve information acquired by the front vehicle is received, and the front curve information of the self vehicle is acquired according to the front curve information acquired by the front vehicle. The front curve identification is realized by using an automatic driving map, a vehicle-mounted camera and a V2X vehicle communication technology, two sets of systems which are redundant with each other are formed, and the robustness of the systems is effectively improved.
Description
Technical Field
The invention relates to the technical field of automatic driving of automobiles, in particular to a front curve detection system and method for automobile adaptive cruise.
Background
The automatic driving can be classified into L1-L5 level automatic driving, and currently, due to the limitations of vehicle-mounted sensors (radars, cameras, and the like), controller performance, and vehicle networking degree, the automobile cannot achieve L5 level full automatic driving, but many new vehicle models have been equipped with L2 level automatic driving System, namely ADAS (Advanced driving assistance System), ADAS generally include ACC (Adaptive Cruise Control) functions, which are developed based on the conventional constant-speed Cruise Control technology.
Most of the sensor schemes of the current ACC system adopt a millimeter wave radar or a millimeter wave radar plus a camera. The single radar sensor scheme cannot detect a front curve, so that when the vehicle enters the curve, the vehicle speed is possibly very high, a driver feels great insecurity, and even traffic accidents can happen; the sensor scheme of the millimeter wave radar and the camera can identify a front curve under the conditions that a lane line is clear and the curve is not shielded so as to realize speed reduction before the curve enters, but can not achieve satisfactory performance under many conditions, such as unclear lane line, poor illumination condition, shielding of the lane line by a front vehicle and the like. There is therefore a need for a method that can accurately identify a curve ahead to ensure that the ACC system can decelerate in time before entering the curve.
Disclosure of Invention
The invention aims to provide a front curve detection system and a method for automobile adaptive cruise, aiming at the defects of the prior art, which can accurately identify curve information on the premise that a camera cannot shoot clear lane lines and ensure driving safety.
The invention relates to a front curve detection method for automobile adaptive cruise, which adopts the technical scheme that:
under the self-adaptive cruising state of the vehicle, receiving rough positioning information of the vehicle sent by a GPS in real time;
acquiring automatic driving map information around the vehicle stored by a cloud according to the rough positioning information of the vehicle, and acquiring road information around the vehicle by using a camera;
if the camera can acquire the information of the road around the vehicle, comparing the information of the automatic driving map with the information of the road around the vehicle to realize the accurate positioning of the lane level, and then acquiring the information of the front curve of the vehicle according to the accurate positioning;
and if the camera cannot acquire the road information around the vehicle, the camera is communicated with the front vehicle in real time, receives the front curve information acquired by the front vehicle and acquires the front curve information of the self vehicle according to the front curve information acquired by the front vehicle.
Preferably, after the front curve information acquired by the front vehicle is received, the front curve information acquired by the front vehicle is compared with the curve information in the automatic driving map information, if the difference value between the front curve information acquired by the front vehicle and the curve information is not greater than a first threshold value, the front curve information of the front vehicle is acquired according to the front curve information acquired by the front vehicle, and if the difference value between the front curve information acquired by the front vehicle and the curve information is greater than the first threshold value, the driver is prompted to take over the vehicle.
Preferably, the curve ahead information includes a curve curvature and a distance of the vehicle from an entrance of the curve ahead.
Preferably, the step of acquiring the front curve information of the vehicle according to the front curve information acquired by the vehicle in front comprises
Taking the curve curvature obtained by the front vehicle as the curve curvature in the curve information in front of the front vehicle;
and judging whether the front vehicle enters the curve or not according to whether the curve curvature acquired by the front vehicle is larger than a second threshold or not, and if the front vehicle enters the curve, calculating the distance between the front vehicle and the entrance of the curve ahead according to the position information of the front vehicle.
Preferably, the step of comparing the map information of the automatic driving with the information of the road around the vehicle to realize the accurate positioning at the lane level comprises
Detecting lane line information from the road information around the vehicle;
and extracting a plurality of characteristic points from the lane line information, and comparing the characteristic points with the lane line information in the automatic driving map information to realize accurate positioning of lane level.
Preferably, the curve curvature calculation method is
Calculating a curve curvature using a steering wheel angle, and/or a yaw rate, and/or a curve curvature using a lateral acceleration, and/or a curve curvature using a wheel speed;
and weighting the one or more curve curvatures obtained by calculation to obtain the final curve curvature.
Preferably, the step of obtaining the front curve information of the vehicle according to the precise positioning comprises
According to the accurate positioning, a local map around the vehicle is constructed according to the automatic driving map information;
and acquiring front curve information from the local map.
The invention relates to a front curve detection system for automobile adaptive cruise, which adopts the technical scheme that:
the system comprises an ACC controller, a GPS (global positioning system) and a V2X communication device, wherein the ACC controller is used for receiving vehicle rough positioning information sent by the GPS, vehicle surrounding road information sent by a vehicle-mounted camera, automatic driving map information around a vehicle sent by the V2X communication device or front curve information obtained by a front vehicle in real time in a vehicle self-adaptive cruising state; after receiving road information around the vehicle sent by the vehicle-mounted camera, comparing the automatic driving map information with the road information around the vehicle to realize accurate positioning of a lane level, and then obtaining the information of a front curve of the vehicle according to the accurate positioning; or when the road information around the vehicle sent by the vehicle-mounted camera is not received, the front curve information obtained by the front vehicle sent by the V2X communication device is received;
the GPS is used for sending vehicle rough positioning information to the ACC controller;
the vehicle-mounted camera is used for sending road information around the vehicle to the ACC controller;
and a V2X communication means for acquiring the automatic driving map information around the vehicle or the preceding curve information acquired by the preceding vehicle according to an instruction of the ACC controller, and transmitting the acquired information to the ACC controller.
Preferably, after receiving the front curve information acquired by the front vehicle, the ACC controller compares the front curve information acquired by the front vehicle with the curve information in the automatic driving map information, and if the difference between the front curve information and the curve information is not greater than a first threshold, acquires the front curve information of the self vehicle according to the front curve information acquired by the front vehicle, and if the difference between the front curve information and the curve information is greater than the first threshold, prompts the driver to take over the vehicle.
Preferably, the front curve information includes a curve curvature and a distance from the vehicle to an entrance of the front curve, and the acquiring the front curve information of the vehicle according to the front curve information acquired by the front vehicle includes taking the curve curvature acquired by the front vehicle as the curve curvature in the front curve information of the vehicle;
and judging whether the front vehicle enters the curve or not according to whether the curve curvature acquired by the front vehicle is larger than a second threshold or not, and if the front vehicle enters the curve, calculating the distance between the front vehicle and the entrance of the curve ahead according to the position information of the front vehicle.
The invention has the beneficial effects that:
1. the front curve identification is realized by using the automatic driving map, the vehicle-mounted camera and the V2X vehicle communication technology, two sets of mutually redundant systems of the automatic driving map + the vehicle-mounted camera and the automatic driving map + the V2X vehicle communication are formed, and the robustness of the system can be effectively improved.
2. The curvature of the weighted curve is calculated by adopting various information, so that the calculation accuracy is improved;
3. after the curve is accurately identified, the vehicle can be controlled to decelerate in advance according to the distance between the vehicle and the front curve entrance, the curve curvature and other information, the riding experience of a driver and passengers is improved, and the probability of traffic accidents is reduced.
Drawings
FIG. 1 is a schematic diagram of the modular connection of a vehicle adaptive cruise forward curve detection system according to the present invention;
FIG. 2 is a schematic flow chart of a method for detecting a curve ahead in an automobile adaptive cruise control system according to the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, a front curve detection system for an adaptive cruise of an automobile includes an ACC controller 1, a GPS 2, an onboard camera 3, and a V2X communication device 4.
The ACC controller 1 is used for receiving vehicle rough positioning information sent by the GPS 2, vehicle surrounding road information sent by the vehicle-mounted camera 3, automatic driving map information around the vehicle sent by the V2X communication device 4 or front curve information obtained by a front vehicle in real time in a vehicle self-adaptive cruising state; after receiving road information around the vehicle sent by the vehicle-mounted camera, comparing the automatic driving map information with the road information around the vehicle to realize accurate positioning of a lane level, and then obtaining the information of a front curve of the vehicle according to the accurate positioning; or when the information of the road around the vehicle sent by the vehicle-mounted camera 3 is not received, the information of the front curve obtained by the front vehicle sent by the V2X communication device 4 is received;
a GPS 2 for sending vehicle rough positioning information to the ACC controller 1;
the vehicle-mounted camera 3 is used for sending road information around the vehicle to the ACC controller 1;
V2X communication means 4 for acquiring the automatic driving map information around the vehicle or the preceding curve information acquired by the preceding vehicle according to the instruction of the ACC controller 1 and sending the acquired information to the ACC controller 1.
As shown in fig. 2, the control flow of the front curve detection system for the adaptive cruise of the vehicle is as follows:
when the vehicle ACC function is activated and the vehicle is controlled to cruise (namely, in the vehicle self-adaptive cruise state), the ACC controller 1 receives the vehicle rough positioning information sent by the GPS 2 in real time;
the ACC controller 1 obtains the autopilot map information around the vehicle stored in the cloud via the V2X communication device 4 according to the rough vehicle positioning information, and if the effective autopilot map information cannot be obtained, the system function degrades, and the driver is prompted to take over the vehicle. If the information can be obtained, the vehicle-mounted camera 3 is used for obtaining the information of the road around the vehicle;
if the vehicle-mounted camera 3 can acquire the road information around the vehicle, the road information around the vehicle is preprocessed, then the lane line information is detected from the road information around the vehicle, a plurality of feature points are extracted from the lane line information, and the feature points are compared with the lane line information in the automatic driving map information, so that accurate positioning of lane levels is realized. According to the accurate positioning, the ACC controller 1 constructs a local map around the vehicle according to the automatic driving map information, and acquires the vehicle front curve information including information such as the distance of the vehicle from the entrance of the front curve, the curvature of the curve, and the like.
If the vehicle-mounted camera 3 cannot acquire valid information due to factors such as an external environment or a fault of the vehicle-mounted camera 3, and thus cannot complete accurate lane-level positioning, the ACC controller 1 controls the V2X communication device 4 to perform real-time communication with the preceding vehicle, and the preceding vehicle sends information such as the position and the calculated curve curvature of the preceding vehicle to the vehicle. The ACC controller 1 compares the front curve information acquired by the front vehicle with the curve information in the automatic driving map information after receiving the front curve information acquired by the front vehicle, and if the difference value between the front curve information and the curve information in the automatic driving map information is not greater than a first threshold, the curve information acquired by the front vehicle is used as a control basis, and meanwhile the front curve information of the self vehicle is acquired according to the front curve information acquired by the front vehicle; if the difference value of the two is larger than the first threshold value, the system function is degraded, and the driver is prompted to take over the vehicle.
Wherein, the preceding bend information acquisition according to the preceding car acquirement includes from car preceding bend information:
taking the curve curvature obtained by the front vehicle as the curve curvature in the curve information in front of the front vehicle;
and judging whether the front vehicle enters the curve or not according to whether the curve curvature acquired by the front vehicle is larger than a second threshold or not, and if the front vehicle enters the curve, calculating the distance between the front vehicle and the entrance of the curve ahead according to the position information of the front vehicle.
Wherein, the curvature of the curve is calculated by weighted average of one or more of the following methods:
1) calculating curve curvature from steering wheel angle
Wherein, KsAccording to the steering wheel angleHCalculated curvature of curve isgFor gear ratio, L is wheel base, vxThe vehicle running speed; v. ofcharWhich describes the behavior of automatic steering in the linear driving dynamic range, as a characteristic vehicle speed.
(2) Curvature calculation by yaw rate
Wherein, KψAccording to the yaw angular velocity
And calculating the curvature of the obtained curve.
(3) Curvature calculation from lateral acceleration
Wherein, KayAccording to a lateral acceleration ayAnd calculating the curvature of the obtained curve.
(4) Calculating curvature from wheel speed
Wherein, KvFor curve curvature calculated from wheel speed, vlIs the left drive wheel speed, vrRight drive wheel speed, b track width.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (10)
1. A method for detecting a front curve of an automobile in an adaptive cruise mode is characterized by comprising the following steps:
under the self-adaptive cruising state of the vehicle, receiving rough positioning information of the vehicle sent by a GPS in real time;
acquiring automatic driving map information around the vehicle stored by a cloud according to the rough positioning information of the vehicle, and acquiring road information around the vehicle by using a camera;
if the camera can acquire the information of the road around the vehicle, comparing the information of the automatic driving map with the information of the road around the vehicle to realize the accurate positioning of the lane level, and then acquiring the information of the front curve of the vehicle according to the accurate positioning;
and if the camera cannot acquire the road information around the vehicle, the camera is communicated with the front vehicle in real time, receives the front curve information acquired by the front vehicle and acquires the front curve information of the self vehicle according to the front curve information acquired by the front vehicle.
2. The method for detecting a curve ahead in an adaptive cruise control system for a vehicle according to claim 1, wherein: after the front curve information acquired by the front vehicle is received, the front curve information acquired by the front vehicle is compared with the curve information in the automatic driving map information, if the difference value between the front curve information and the curve information is not larger than a first threshold value, the front curve information of the self vehicle is acquired according to the front curve information acquired by the front vehicle, and if the difference value between the front curve information and the curve information is larger than the first threshold value, a driver is prompted to take over the vehicle.
3. The method for detecting a curve ahead in an adaptive cruise control system for a vehicle according to claim 1, wherein: the curve ahead information includes a curve curvature and a distance of the vehicle from an entrance of the curve ahead.
4. The method for detecting a curve ahead in an adaptive cruise control system according to claim 3, wherein: the method for acquiring the front curve information of the self-vehicle according to the front curve information acquired by the front vehicle comprises the following steps
Taking the curve curvature obtained by the front vehicle as the curve curvature in the curve information in front of the front vehicle;
and judging whether the front vehicle enters the curve or not according to whether the curve curvature acquired by the front vehicle is larger than a second threshold or not, and if the front vehicle enters the curve, calculating the distance between the front vehicle and the entrance of the curve ahead according to the position information of the front vehicle.
5. The method for detecting a curve ahead in an adaptive cruise control system for a vehicle according to claim 1, wherein: comparing the map information with the information of the road around the vehicle to realize the accurate positioning of the lane level
Detecting lane line information from the road information around the vehicle;
and extracting a plurality of characteristic points from the lane line information, and comparing the characteristic points with the lane line information in the automatic driving map information to realize accurate positioning of lane level.
6. The method for detecting a curve ahead in an adaptive cruise control system according to claim 3, wherein: the curve curvature calculation method comprises
Calculating a curve curvature using a steering wheel angle, and/or a yaw rate, and/or a curve curvature using a lateral acceleration, and/or a curve curvature using a wheel speed;
and weighting the one or more curve curvatures obtained by calculation to obtain the final curve curvature.
7. The method for detecting a curve ahead in an adaptive cruise control system according to claim 3, wherein: the method for acquiring the front curve information of the vehicle according to the precise positioning comprises the following steps
According to the accurate positioning, a local map around the vehicle is constructed according to the automatic driving map information;
and acquiring front curve information from the local map.
8. The utility model provides a preceding bend detecting system that car self-adaptation was cruised which characterized in that: comprises that
The ACC controller (1) is used for receiving vehicle rough positioning information sent by a GPS (2), vehicle surrounding road information sent by an on-board camera (3), automatic driving map information around the vehicle sent by a V2X communication device (4) or front curve information obtained by a front vehicle in real time in a vehicle self-adaptive cruising state; after receiving road information around the vehicle sent by the vehicle-mounted camera, comparing the automatic driving map information with the road information around the vehicle to realize accurate positioning of a lane level, and then obtaining the information of a front curve of the vehicle according to the accurate positioning; or when the information of the road around the vehicle sent by the vehicle-mounted camera (3) is not received, the information of the front curve obtained by the front vehicle sent by the V2X communication device (4) is received;
a GPS (2) for sending vehicle rough positioning information to the ACC controller (1);
the vehicle-mounted camera (3) is used for sending road information around the vehicle to the ACC controller (1);
and a V2X communication means (4) for acquiring the automatic driving map information around the vehicle or the preceding curve information acquired by the preceding vehicle in accordance with an instruction of the ACC controller (1) and transmitting the acquired information to the ACC controller (1).
9. The vehicle adaptive cruise forward curve detection system according to claim 8, characterized in that: the ACC controller (1) compares the front curve information acquired by the front vehicle with the curve information in the automatic driving map information after receiving the front curve information acquired by the front vehicle, acquires the front curve information of the self vehicle according to the front curve information acquired by the front vehicle if the difference value between the front curve information and the curve information is not larger than a first threshold value, and prompts a driver to take over the vehicle if the difference value between the front curve information and the curve information is larger than the first threshold value.
10. The vehicle adaptive cruise forward curve detection system according to claim 8, characterized in that: the front curve information comprises curve curvature and the distance between the vehicle and the front curve entrance, and the front curve information obtained according to the front curve information obtained by the front vehicle comprises
Taking the curve curvature obtained by the front vehicle as the curve curvature in the curve information in front of the front vehicle;
and judging whether the front vehicle enters the curve or not according to whether the curve curvature acquired by the front vehicle is larger than a second threshold or not, and if the front vehicle enters the curve, calculating the distance between the front vehicle and the entrance of the curve ahead according to the position information of the front vehicle.
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| CN111976716A (en) * | 2020-08-11 | 2020-11-24 | 东风汽车集团有限公司 | Low-cost adaptive cruise curve radius estimation and speed control method |
| CN112721930A (en) * | 2021-01-15 | 2021-04-30 | 重庆长安汽车股份有限公司 | Vehicle cornering deceleration planning method, system, vehicle and storage medium |
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