CN112046473A - Apparatus and method for automatic driving - Google Patents

Apparatus and method for automatic driving Download PDF

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Publication number
CN112046473A
CN112046473A CN202011011887.6A CN202011011887A CN112046473A CN 112046473 A CN112046473 A CN 112046473A CN 202011011887 A CN202011011887 A CN 202011011887A CN 112046473 A CN112046473 A CN 112046473A
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Prior art keywords
deceleration
braking
distance
time interval
obstacle
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陈晋辉
李莲
徐湛
职如昕
田露
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Beijing Information Science and Technology University
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Beijing Information Science and Technology University
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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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

The present disclosure provides an apparatus and method for automatic driving, the apparatus for automatic driving including: a first braking request for achieving a first deceleration is transmitted based on a first distance from a front obstacle, and a second braking request for achieving a second deceleration, which is greater than the first deceleration, is transmitted after a first time interval.

Description

Apparatus and method for automatic driving
Technical Field
The present application relates to an apparatus and a method in automatic driving.
Background
At present, in an automatic driving system, intelligent devices of vehicles are more and more diversified, various danger avoiding modes are provided for the safety of the vehicles, and an emergency braking technology is used for reducing the probability of vehicle collision and reducing accidents from the source. The automatic emergency braking system is an active safety technology, and prompts a driver when the driver cannot make a judgment or is unknown to have an accident, and avoids collision or reduces the collision grade through automatic braking.
Disclosure of Invention
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.
The inventors have found through research that the vehicle may cause discomfort to the occupant if the vehicle decelerates too much during traveling, and therefore, the vehicle may perform gradual deceleration of the present invention as described below in the following under a condition that a distance to a front obstacle is detected by a sensor during automatic driving in a case where it is determined that a collision may occur.
According to an aspect of the present application, there is provided an apparatus for automatic driving, including: a first braking request for achieving a first deceleration is transmitted based on a first distance from a front obstacle, and a second braking request for achieving a second deceleration, which is greater than the first deceleration, is transmitted after a first time interval.
According to an aspect of the application, wherein the one or more processors are configured to use the first distance for determining the first time interval.
According to an aspect of the present application, wherein the one or more processors are configured to determine that the first time interval is a fixed value if the first distance is greater than a first threshold value.
According to an aspect of the application, wherein the one or more processors are configured such that a relative movement speed of the front obstacle is used for determining the first time interval.
According to one aspect of the present application, wherein the one or more processors are configured such that a speed of movement of the forward obstacle relative to the host vehicle is used to determine the second deceleration.
According to one aspect of the application, wherein the one or more processors are configured such that acceleration of the front obstacle is used to determine the second deceleration.
According to one aspect of the present application, wherein the one or more processors are configured to determine the first time interval or the second deceleration based on a second distance to a front obstacle.
According to one aspect of the present application, wherein the one or more processors are configured to determine a difference between the second deceleration and the first deceleration as a fixed value.
According to one aspect of the application, wherein the one or more processors are configured to output the state of achieving the first deceleration and the second deceleration to a display device in real time.
According to an aspect of the present application, there is provided a method for automatic driving, including: a first braking request for achieving a first deceleration is transmitted based on a first distance from a front obstacle, and a second braking request for achieving a second deceleration, which is greater than the first deceleration, is transmitted after a first time interval.
In one embodiment, the above method is characterized in that the first distance is used for determining the first time interval.
In one embodiment, the above method is characterized in that the first time interval is a fixed value if the first distance is greater than a first threshold value.
In one embodiment, the above method is characterized in that the relative movement speed of the front obstacle is used for determining the first time interval.
In one embodiment, the above method is characterized in that the moving speed of the front obstacle relative to the host vehicle is used to determine the second deceleration.
In one embodiment, the above method is characterized in that the acceleration of the front obstacle is used to determine the second deceleration.
In one embodiment, the above method is characterized in that the first time interval or the second deceleration is determined based on a second distance to the front.
In one embodiment, the above method is characterized in that the difference between the second deceleration and the first deceleration is a fixed value.
In one embodiment, the above method is characterized in that the states of achieving the first deceleration and the second deceleration are output to a display device in real time.
According to the device and the method for automatic driving, the vehicle braking is finally completed by more than two times of braking actions by utilizing emergency braking due to different distances and braking effects when the obstacle is detected, and at least one of the following effects can be obtained: the accident rate of the vehicle is reduced; the discomfort of a driver in emergency braking is reduced; the safety performance of the driver in the driving process is improved.
The above and other advantages of the present invention will become more apparent from the following detailed description of the preferred embodiments of the present invention when taken in conjunction with the accompanying drawings.
Description of the drawings:
to further clarify the above and other advantages and features of the present invention, a more particular description of embodiments of the invention will be rendered by reference to the appended drawings. Which are incorporated in and form a part of this specification, along with the detailed description that follows. Elements having the same function and structure are denoted by the same reference signals. It is appreciated that these drawings depict only typical examples of the invention and are therefore not to be considered limiting of its scope. In the drawings:
fig. 1 is a block diagram showing a structure of an apparatus for automatic driving according to an embodiment of the present application.
Fig. 2 is a block diagram illustrating a specific implementation of an apparatus for autonomous driving according to an embodiment of the present application.
FIG. 3 is a flow chart illustrating a method for autonomous driving according to one embodiment of the present application.
FIG. 4 is a flow diagram illustrating a data processing module for autonomous driving according to one embodiment of the application.
The specific implementation mode is as follows:
exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in the specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.
It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure, the processing steps, and the like closely related to the scheme according to the present invention are shown in the drawings, and some other details not so related to the present invention are omitted.
< first embodiment >
Fig. is a block diagram showing a configuration of an apparatus for automatic driving according to an embodiment of the present application, the apparatus 100 including: one or more processors 101 configured to: a first braking request for achieving a first deceleration is transmitted based on a first distance from a front obstacle, and a second braking request for achieving a second deceleration, which is greater than the first deceleration, is transmitted after a first time interval.
In the intelligent system in which the apparatus 100 is located, at least one distance detector is configured. The distance detected by the distance detector is returned to the device 100 to determine whether to send a braking request. If it is determined to send a braking request, the device 100 sends a braking request to the corresponding reduction gear, and starts braking for the purpose of achieving the reduction requested by the braking request.
In the intelligent system in which the device 100 is located, at least one braking device is configured. The braking device is used for receiving a braking request sent by the device 100 to initiate braking on a running vehicle.
In one example, in the intelligent system in which the apparatus 100 is located, at least one vehicle travel sensor is configured for determining the speed and acceleration of vehicle travel.
The device 100 can be arranged on a motor vehicle and an electric vehicle, and for the motor vehicle, a connection device in braking is emphasized, starting from driving brake control of the motor vehicle; for the electric automobile, the control can be carried out in a circuit system, the braking control is given through an electronic instruction, and the effect of emergency braking is more convenient to realize.
Accordingly, the second figure shows a block diagram of a specific implementation of the apparatus 100 (identified as the apparatus 200 in the second figure), and the function and structure of the apparatus 200 will be described in detail below with reference to the block diagram. As shown in fig. two, the apparatus 200 includes: a data processing module 203 configured to determine a first deceleration, a second deceleration and a first time interval based on a first distance to a front obstacle, the second deceleration being greater than the first deceleration; a braking control module 202 configured to determine a content of a first braking request and a content of a second braking request based on the first deceleration and the second deceleration, respectively; a transceiver module 201 configured to transmit the first braking request and the second braking request to a braking device based on receiving a distance detector signal for determining the first distance.
In one example, the data processing module 203 is configured to transmit the first deceleration and the second deceleration as parameters to the brake control module 202.
In one example, the brake control module 202 calculates a first gear and a second gear corresponding to the brake device based on the first deceleration and the second deceleration, and places the first gear and the second gear in the contents of the first brake request and the second brake request, respectively.
In one example, the data processing module 203 is configured to send the first time interval to the braking control module 202, and the braking control module 202 waits for the first time interval after transmitting the content of the first braking request to the transceiver module 201 and then transmits the content of the second braking request.
In one example, the data processing module 203 is configured to send the first time interval to the transceiver module 201, and the transceiver module 201 waits for the first time interval after the first braking request of the braking device and then sends the second braking request.
In one example, the transceiver module 201 receives data from vehicle travel sensors and transmits the data to the data processing module 203 for determining the first deceleration and the second deceleration.
In one example, the data processing module 203 is configured to calculate a difference between the second deceleration and the first deceleration, from which the brake control module 202 determines that the content of the second brake request includes an additional brake position.
In one example, the data processing module 203 is configured to use the first distance in determining the first time interval.
In one example, the data processing module 203 is configured to determine that the first time interval is a fixed value if the first distance is greater than a first threshold value.
In one example, the data processing module 203 is configured such that the relative movement speed of the front obstacle is used to determine the first time interval.
In one example, the data processing module 203 is configured such that the speed of movement of the forward obstacle relative to the host vehicle is used to determine the second deceleration.
In one example, the data processing module 203 is configured such that the acceleration of the front obstacle is used to determine the second deceleration.
In one example, the data processing module 203 is configured to determine the first time interval based on a second distance to a front obstacle.
In one example, the data processing module 203 is configured to determine the second deceleration based on a second distance to a front obstacle.
In one example, data processing module 203 is configured such that the difference between the second deceleration and the first deceleration is a fixed value.
In one example, the transceiver module 201 is configured to output the state where the first deceleration and the second deceleration are achieved to the display device in real time.
< second embodiment >
In this embodiment, it is assumed that an autonomous vehicle implementing the method or equipped with the device of the present application is at an instantaneous speed v1The forward distance d is detected during the running1Where there is a front obstacle at an instant velocity v2And acceleration a2Move wherein v1、v2And a2Are the same and are the forward direction of the autonomous vehicle.
A data processing module 203 configured to determine a distance d based on the distance to the obstacle1Determining a first deceleration b1Second deceleration b2And a first time interval T1Said second deceleration b1Greater than said first deceleration b2(ii) a A brake control module 202 configured to control the brake based on the first deceleration b1And a second deceleration b2Respectively determining the content of the first braking request and the content of the second braking request; a transceiver module 201 configured to send the first braking request and the second braking request to a braking device based on the received distance probe signal.
The data processing module 203 processes the velocity v according to the instantaneous velocity itself1Distance d from the obstacle ahead1Instantaneous velocity v of a preceding obstacle2And acceleration a2Calculating a first deceleration b1，
Figure BSA0000220375110000041
Where Δ d is a relaxation parameter that can be set to 3 meters. The data processing module 203 applies the first deceleration b1Is transmitted to the brake control module 202, the brake control module 202 is based on the first deceleration b1Calculating a first braking force F1Applying a first braking force F1Put in the first braking request, receiveThe transmitting module 201 transmits the first braking request to the braking device, which applies the first braking force F1And braking the automatic driving vehicle.
In one example, the first deceleration b1And a second deceleration b2Is a fixed value deltab and the data processing module 203 calculates a second deceleration b2
b2＝b1+Δb (3)
The data processing module 203 processes the speed v according to the instant speed thereof1Instantaneous velocity v of a preceding obstacle2And acceleration a'2And calculating to obtain the distance d when the second braking is started2，
Figure BSA0000220375110000042
When the distance between the vehicle and the front obstacle approaches d2Braking is started.
In one example, the transceiver module 201 continuously transmits the distance between the sensor and the obstacle ahead to the data processing module 203 when the distance between the autonomous vehicle and the obstacle ahead is equal to or less than d2At this time, the data processing module 203 determines to start the second braking and calculates the second deceleration b2。
In one example, at a first time interval T1Thereafter, the transceiver module 201 detects the instantaneous speed v 'of the autonomous vehicle detected by the sensor'1And distance d from the obstacle in front2Instant speed v 'of a preceding obstacle'2And acceleration a'2Transmitted to the data processing module 203, the data processing module 203 calculates a second deceleration from which the moving speed of the front obstacle relative to the own vehicle, the acceleration of the front obstacle, and a second distance between the front obstacle are used to determine the second deceleration,
Figure BSA0000220375110000043
the data processing module 203 will determine the second deceleration b2Is transmitted to the brake control module 202, the brake control module 202 is based on the second deceleration b2Calculating a first braking force F2Applying a second braking force F2Putting in the second braking request, the transceiver module 201 sends the second braking request to the braking device, and the braking device applies the second braking force F2And braking the automatic driving vehicle.
In one example, the brake control module 202 modulates the second braking force F2With respect to the first braking force F1Increment of F2-F1A second braking request is placed.
In one example, if d1＞γ0Wherein γ is0Is a set threshold value, T1＝β0Wherein, β0Is a preset value.
In one example, the data processing module 203 is at a first time t1According to its own instantaneous speed v1Distance d from the obstacle ahead1Instantaneous velocity v of a preceding obstacle2And acceleration a2Calculating the predicted time to collision tc，1。
If a is20 and v1＞v2Then, then
Figure BSA0000220375110000051
If a is2Is greater than 0 and
Figure BSA0000220375110000052
then
Figure BSA0000220375110000053
The data processing module 203 obtains t according to the calculationc，1Determining a first time interval T1I.e. the host vehicle at the first time t1With the frontRelative velocity v of square obstacle1-v2And is used to determine the first time interval T1The value of (c). If t isc，1＞α0Wherein α is0Is a set threshold value, T1＝β0Wherein beta is0Is a preset value. If t isc，1＞α1Wherein α is1Is a set threshold value, T1＝β1Wherein beta is1Is a preset value.
< third embodiment >
FIG. 3 shows a flow diagram of a method for autonomous driving, according to an embodiment of the application, the method comprising: based on the detection of the first distance to the front obstacle (S11), a first braking request to achieve a first deceleration is sent (S12), and a second braking request to achieve a second deceleration greater than the first deceleration is sent after a first time interval (S12).
In step S11, the real-time distance between the detected vehicle and the obstacle is output to the data processing module.
In step S11, the distance of the obstacle is continuously detected after the first deceleration, and the data is sent to the data processing module to be compared with the calculated distance of the data processing module.
In step S12, after sending a first braking request to the braking control module according to the distance to the obstacle, a first time interval is analyzed and calculated, and after receiving the detected distance to the obstacle and comparing the detected distance to the calculation result, a second braking request is sent to the braking control module.
In step S13, braking is performed according to the deceleration information sent by the data processing module, the first braking force is smaller than the second braking force, and full braking can be achieved after the second braking force is applied.
In one example, the receive or transmit processed data S14 shown in dashed box should also be included. And displaying the real-time data in the braking process to an external receiver.
< fourth embodiment >
FIG. 4 is a flow diagram illustrating a data processing module for autonomous driving according to one embodiment of the application, the method comprising: the data processing module 203 compares the received data with a threshold value (S15), whether to send a first braking request (S16) or continue to detect the distance to the obstacle (S17), starts braking for the first time after sending the first braking request (S18), after braking is completed, the data processing module 203 compares again whether the distance to the obstacle reaches a second deceleration threshold value (S19), whether to send a second braking request (S20) or to keep driving at a constant speed and judge the driver to perform the next step (S21), starts braking for the second time after sending the second braking request (S22), and finally completes braking (S23).
In step S15, the data processing module 203 compares the distance detected by the sensor with a set threshold value to determine whether the emergency braking technique should be started.
In step S16, when the obstacle distance reaches the threshold limit, a first braking request is sent by the device 200 to the braking device, requesting braking.
In step S17, the obstacle distance does not reach the threshold limit, the device 200 will not issue a braking request, and the detector continues to detect the distance to the obstacle
In step S18, the braking device receives a braking request from the device 200 to start braking, and starts preliminary braking with a smaller braking force.
In step S19, after the first braking is completed, the data processing module 203 compares the distance detected by the sensor with the set second threshold again, and determines whether to send a request for second deceleration.
In step S20, a second braking request is sent by the device 200 to the braking device requesting to brake again, subject to the comparison reaching the second threshold.
In step S21, after the vehicle is braked for the first time, the speed is reduced, and the detector detects that the front distance does not reach the second threshold value, so that the vehicle is not decelerated, the current speed is maintained, and the driver determines the next driving state.
In step S22, a second braking request is received by the braking device from the device 200, and a second braking is initiated to reduce the speed of the vehicle to zero.
In step S23, the car speed is reduced to zero, braking is achieved, and the entire emergency braking system is completed.
Since the threshold value planned by the emergency braking system of the embodiment has no excessively fixed value, that is, braking can be started in a range far away from the threshold value position, the braking process is more comfortable, and discomfort of the body of a driver caused by inertia problems can be avoided. Therefore, the strength of discomfort caused by overlarge braking force and too high speed after a driver triggers braking in the emergency braking operation process is well solved. And whether emergency braking is carried out or not is judged without GPS signal positioning, so that the problem of complex positioning and drinking algorithms is avoided.
In addition, when the emergency braking function is completed, the emergency braking function can be completed only through cooperative work of vehicle configuration without participation of a cloud, so that the applicability is high, and the method is simple.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, it should be understood that the above-described embodiments are only for illustrating the present invention and do not constitute a limitation to the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made in the above-described embodiments without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is to be defined only by the claims appended hereto, and by their equivalents.

Claims (10)

1. An apparatus for autonomous driving, comprising:
one or more processors configured to
A first braking request for achieving a first deceleration is sent based on a first distance from a preceding obstacle,
a second braking request to achieve a second deceleration is sent after the first time interval, the second deceleration being greater than the first deceleration.
2. The apparatus of claim 1, wherein the one or more processors are configured to use the first distance in determining the first time interval.
3. The apparatus of claim 1 or 2, wherein the one or more processors are configured to the first time interval is a fixed value if the first distance is greater than a first threshold value.
4. The apparatus of any of claims 1-3, wherein the one or more processors are configured to determine the first time interval using a relative speed of movement of the forward obstacle.
5. The apparatus of any one of claims 1-4, wherein the one or more processors are configured to use a speed of movement of the forward obstacle relative to an own vehicle to determine the second deceleration.
6. The apparatus of any one of claims 1-5, wherein the one or more processors are configured to use acceleration of the forward obstacle to determine the second deceleration.
7. The apparatus of any one of claims 1-6, wherein the one or more processors are configured to determine the first time interval or the second deceleration based on a second distance from a forward obstacle.
8. The apparatus of any of claims 1-7, wherein the one or more processors are configured to have a difference in the second deceleration and the first deceleration be a fixed value.
9. The apparatus of any of claims 1-8, wherein the one or more processors are configured to output the status of achieving the first deceleration and the second deceleration to a display device in real-time.
10. A method for autonomous driving, comprising:
a first braking request for achieving a first deceleration is sent based on a first distance from a preceding obstacle,
a second braking request to achieve a second deceleration is sent after the first time interval, the second deceleration being greater than the first deceleration.
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Application publication date: 20201208