CN111452783A - 一种车辆行驶车辙的优化系统及其方法 - Google Patents

一种车辆行驶车辙的优化系统及其方法 Download PDF

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CN111452783A
CN111452783A CN202010359431.2A CN202010359431A CN111452783A CN 111452783 A CN111452783 A CN 111452783A CN 202010359431 A CN202010359431 A CN 202010359431A CN 111452783 A CN111452783 A CN 111452783A
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王世强
宁予
潘世林
李世明
阎全忠
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Hanteng New Energy Automobile Technology 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
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    • B60W30/02—Control of vehicle driving stability
    • B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/22—Suspension systems
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

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Abstract

本发明提供了一种车辆行驶车辙的优化系统，包括感知系统、智能驾驶系统、行车控制系统和悬架系统，所述感知系统可将车辆将要经行的车辙路面曲线发送给智能驾驶系统，所述智能驾驶系统可根据行车路线规划及场景行车计划进行车辆行驶车辙的优选并将优选结果发送给行车控制系统和悬架系统，所述行车控制系统和悬架系统可执行优选的车辆行驶车辙计划、曲线各点的通过速度及曲线各点的悬架系统控制策略并反馈给智能驾驶系统。本发明还提供了一种车辆行驶车辙的优化方法。本发明不仅可确保当车辆沿着车辙路面行驶时的最佳车辙行驶路线和行驶状态，而且可增加车辆行驶舒适性、安全性和提高车辆使用寿命。

Description

一种车辆行驶车辙的优化系统及其方法
技术领域
本发明涉及自动驾驶汽车技术领域，具体是涉及一种车辆行驶车辙的优化系统及其方法。
背景技术
自动驾驶汽车(Autonomous vehicles)又称无人驾驶汽车，是由高级辅助驾驶技术构成的智能汽车。自动驾驶技术主要包括有感知、地图导航、行车规划、操作决策、驾驶执行等方向，其中行车规划由包括视频摄像头、雷达传感器、激光测距仪、光线补偿源在内的感知系统来识别车道、车辆、行人、障碍物等信息，以进行车道选择、障碍避让、超车让车等规划和操作。
比如，在中国发明专利CN 201711034376.4的说明书中公开了一种游览车自动驾驶控制方法及装置，包括可根据客户发送的请求、障碍物信息、导航地图信息、交通流量信息以及人流量信息规划全局路径和局部路径的全局路径规划模块和局部路径规划模块以及控制车辆在全局路径指示的道路上按照局部路径指示的轨迹行驶的驾驶控制模块。
又如，在中国发明专利CN 201911069166.8中公开了一种车辆控制方法，包括车辆在开启自动驾驶或驾驶辅助系统行驶中实时感知并识别前方是否有路障设施，当识别到前方行进道路中有路障设施时，车辆在行驶过程中通过传感器输入的数据计算车辆与路障设施之间的相对距离和相对速度，以根据所述相对距离和所述相对速度，通过对车辆的动力控制对所述车辆进行路线规划和行驶控制；当未识别到前方行进道路中有路障设施时，保持车辆正常行驶。
再如，在中国发明专利CN 201910367945.X的说明书中公开了一种车辆的控制装置，包括控制多个车轮的驱动力分配的驱动力分配控制部件、取得车辆行进方向的前方路面信息的路面信息取得部件和根据路面信息取得部件所取得的路面信息判定前方路面是否存在车辙的有无车辙判定部件，所述驱动力分配控制部件可随有无车辙判定部件判定车辙有无的变化来变更对多个车轮的驱动力。该车辆控制装置在车辆从正在沿着车辙行驶的状态脱离车辙的情况、或从外面进入车辙的情况下，使对于各车轮的驱动力的分配变成适当的分配，由此可顺利地越过车辙，并可确保车辆的良好的行驶性能。
然而，现有技术均未体现当车辆沿着车辙路面行驶时的最佳车辙行驶路线和行驶状态，从而无法体现车辆在车辙路面上行驶时的驾驶舒适性、安全性、车辆损耗等因素。
发明内容
针对上述现有技术，本发明要解决的技术问题在于提供一种可选择最佳车辙行驶路线和行驶状态的车辆行驶车辙的优化系统及其方法。
为解决上述技术问题，本发明提供了一种车辆行驶车辙的优化系统，包括感知系统、智能驾驶系统、行车控制系统和悬架系统，所述感知系统可将车辆将要经行的车辙路面曲线发送给智能驾驶系统，所述智能驾驶系统可根据行车路线规划及场景行车计划进行车辆行驶车辙的优选并将优选结果发送给行车控制系统和悬架系统，所述行车控制系统和悬架系统可执行优选的车辆行驶车辙计划、曲线各点的通过速度及曲线各点的悬架系统控制策略并反馈给智能驾驶系统。
本发明还提供了一种车辆行驶车辙的优化方法，包括以下步骤：
S1、车辆导航系统将车辆在行驶路线规划上的位置发送给智能驾驶系统；
S2、车速传感器将车辆的行驶速度、转角传感器将车辆的行驶方向信息发送给智能驾驶系统；
S3、感知系统将车辆将要经行的车辙路面曲线组成的扇面发送给智能驾驶系统；
S4、悬架加速度传感器将悬架系统实时的控制状态发送给智能驾驶系统；
S5、智能驾驶系统对步骤S1-S4的输入信息进行处理，输出优选的车辆行驶车辙曲线、曲线各点的通过速度及曲线各点的悬架系统控制策略，并发送给行车控制系统和悬架系统；
S6、行车控制系统和悬架系统相应地控制车辆顺利通过车辙路面；
S7、按预定的时间间隔或者路程间隔重复步骤S1-S6。
相比于现有技术，本发明的有益效果是：通过设置可将车辆将要经行的车辙路面曲线发送给智能驾驶系统的感知系统、可根据行车路线规划及场景行车计划进行车辆行驶车辙的优选并将优选结果发送给行车控制系统和悬架系统的智能驾驶系统以及可执行优选的车辆行驶车辙计划、曲线各点的通过速度及曲线各点的悬架系统控制策略并反馈给智能驾驶系统的行车控制系统和悬架系统，这样就可确保当车辆沿着车辙路面行驶时的最佳车辙行驶路线和行驶状态，从而增加车辆行驶舒适性、安全性和提高车辆使用寿命。
附图说明
图1为本发明一种车辆行驶车辙的优化系统及其优化方法的逻辑原理图。
图示说明：1-感知系统，2-智能驾驶系统，3-行车控制系统，4-悬架系统。
具体实施方式
下面结合附图和优选实施例对本发明作进一步地说明。
如图1所示为本发明一种车辆行驶车辙的优化系统的逻辑原理图，包括感知系统1、智能驾驶系统2、行车控制系统3和悬架系统4。
上述感知系统1包括视频摄像头、雷达传感器、激光测距仪、光线补偿源、感知融合等，其可提供行车路线规划及场景行车计划等信息，同时可提供车辆将要经行的车辙路面曲线的计算，并将该车辙路面曲线发送至智能驾驶系统2。具体的，上述行车路线规划包括通过导航系统获取的车辆当前位置、车辆将要经行的最佳行车路线等信息，而场景行车计划包括通过导航系统获取的前方车流量、人流量、施工与否、交通事故情况等信息。
上述智能驾驶系统2是一个集中运用先进信息控制技术、剧本环境感知、多等级辅助驾驶等功能于一体的综合系统，其主要包括主控电脑、导航系统等。该智能驾驶系统2不仅可以根据行车路线规划及场景行车计划进行车辆行驶车辙的优选，而且可以将优选结果发送给行车控制系统3和悬架系统4。
上述行车控制系统3和悬架系统4，不仅可以根据车辆当前状态执行智能驾驶系统2确定的最优车辆行驶车辙计划、曲线各点的通过速度及曲线各点的悬架系统控制策略，而且可以将执行结果反馈给智能驾驶系统2。具体的，上述行车控制系统3包括转向系统、刹车系统和加速系统，而悬架系统控制策略包括半主动和主动悬架系统的前馈和反馈调节。
本发明还提供了一种车辆行驶车辙的优化方法，包括以下步骤：
S1、车辆导航系统将车辆在行驶路线规划上的位置发送给智能驾驶系统；
S2、车速传感器将车辆的行驶速度、转角传感器将车辆的行驶方向信息发送给智能驾驶系统；
S3、感知系统将车辆将要经行的车辙路面曲线组成的扇面发送给智能驾驶系统，其中车辙路面曲线组成的扇面为感知系统以当前的车轮与地面的接触点为起点，同时根据传感器所测得的车辆行驶方向上一段距离的行驶路径绘制而成的三维扇面路径；
S4、悬架加速度传感器将悬架系统实时的控制状态发送给智能驾驶系统；
S5、智能驾驶系统对步骤S1-S4的输入信息进行内部运算，输出优选的车辆行驶车辙曲线、曲线各点的通过速度及曲线各点的悬架系统控制策略，即智能驾驶系统根据试验提供的大量可靠数据制成表格预先其储存在智能驾驶系统内部，然后依据车辆自身的质量、转弯半径、当前的车速和所要通过规划路径的车速进行查表得出所需要的车轮转角，接着将其发送给行车控制系统和悬架系统；
S6、行车控制系统和悬架系统相应地控制车辆顺利通过车辙路面；
S7、按预定的时间间隔或者路程间隔重复步骤S1-S6。
以上所述仅表达了本发明的优选实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形、改进及替代，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (2)

1.一种车辆行驶车辙的优化系统，包括感知系统、智能驾驶系统、行车控制系统和悬架系统，其特征在于：
所述感知系统，可将车辆将要经行的车辙路面曲线发送给智能驾驶系统；
所述智能驾驶系统，可根据行车路线规划及场景行车计划进行车辆行驶车辙的优选并将优选结果发送给行车控制系统和悬架系统；
所述行车控制系统和悬架系统，可执行优选的车辆行驶车辙计划、曲线各点的通过速度及曲线各点的悬架系统控制策略并反馈给智能驾驶系统。
2.一种车辆行驶车辙的优化方法，其特征在于，包括以下步骤：
S1、车辆导航系统将车辆在行驶路线规划上的位置发送给智能驾驶系统；
S2、车速传感器将车辆的行驶速度、转角传感器将车辆的行驶方向信息发送给智能驾驶系统；
S3、感知系统将车辆将要经行的车辙路面曲线组成的扇面发送给智能驾驶系统；
S4、悬架加速度传感器将悬架系统实时的控制状态发送给智能驾驶系统；
S5、智能驾驶系统对步骤S1-S4的输入信息进行处理，输出优选的车辆行驶车辙曲线、曲线各点的通过速度及曲线各点的悬架系统控制策略，并发送给行车控制系统和悬架系统；
S6、行车控制系统和悬架系统相应地控制车辆顺利通过车辙路面；
S7、按预定的时间间隔或者路程间隔重复步骤S1-S6。
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