CN112141103A - Method and system for controlling vehicle to run along with front vehicle - Google Patents

Method and system for controlling vehicle to run along with front vehicle Download PDF

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Publication number
CN112141103A
CN112141103A CN202010895468.7A CN202010895468A CN112141103A CN 112141103 A CN112141103 A CN 112141103A CN 202010895468 A CN202010895468 A CN 202010895468A CN 112141103 A CN112141103 A CN 112141103A
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vehicle
distance
information
detection
self
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谢兆夫
周泽斌
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B60W30/10—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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4043—Lateral 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method and a system for controlling a vehicle to run along with a front vehicle, which are used for solving the problem of low running safety of the vehicle which automatically runs along with the front vehicle. The scheme provided by the application comprises the following steps: when the vehicle runs following the front vehicle, first detection information of the front vehicle is collected through a short-distance detection radar; acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar; and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information. According to the scheme of the embodiment of the invention, the detection information of the front vehicle is acquired by two radars with different longitudinal resolutions, and the vehicle is controlled to run along with the front vehicle according to the two acquired detection information, so that the accuracy of the acquired detection information can be effectively improved, and the method is suitable for controlling the vehicle to run along with the front vehicle safely in a congested road section.

Description

Method and system for controlling vehicle to run along with front vehicle
Technical Field
The invention relates to the field of automatic control of vehicles, in particular to a method and a system for controlling a vehicle to run along with a front vehicle.
Background
With the continuous development of cities, traffic jam occurs in many cities. In a congested road section, in the process that a self vehicle runs along with a front vehicle, if the following distance is short, traffic accidents such as rear-end collision and the like are possible to occur, if the following distance is long, the vehicle running on an adjacent lane is likely to be jammed, the self vehicle is often braked when being jammed, the traffic accidents are easily caused by frequent braking and acceleration of the vehicle, and the comfort in the vehicle is also reduced.
How to control the vehicle to automatically follow the front vehicle to improve the driving safety is the technical problem to be solved by the application.
Disclosure of Invention
The embodiment of the application aims to provide a method and a system for controlling a vehicle to run along with a front vehicle, so as to improve the safety of automatic following running of the vehicle.
In a first aspect, a method of controlling a vehicle to follow a preceding vehicle is provided, comprising:
when the vehicle runs following the front vehicle, first detection information of the front vehicle is collected through a short-distance detection radar;
acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information.
Optionally, controlling the vehicle to travel along with the front vehicle according to the first detection information and the second detection information, includes:
and controlling the distance between the self vehicle and the front vehicle when the self vehicle runs along with the front vehicle between a second preset distance and a third preset distance according to the first detection information and the second detection information, wherein the second preset distance is smaller than or equal to the first preset distance, and the third preset distance is smaller than the second preset distance.
Optionally, the first detection information and the second detection information further include a speed of a preceding vehicle respectively, and the distance between the vehicle and the preceding vehicle when the vehicle travels along the preceding vehicle is controlled between the second preset distance and the third preset distance according to the first detection information and the second detection information, including:
determining the running speed of a front vehicle according to the first detection information and the second detection information;
determining the running speed of the self-vehicle according to the running speed of the front vehicle and the distance between the self-vehicle and the front vehicle;
and controlling the self vehicle to run along with the front vehicle at the running speed of the self vehicle so as to control the distance between the self vehicle and the front vehicle when the self vehicle runs along with the front vehicle between the second preset distance and the third preset distance.
Optionally, controlling the vehicle distance when the vehicle runs along with the preceding vehicle between the second preset distance and the third preset distance according to the first detection information and the second detection information, including:
determining a detection distance between the own vehicle and the previous vehicle according to the first detection information, the second detection information and a preset weight value;
and controlling the self vehicle to run along with the front vehicle according to the detection distance so as to control the vehicle distance between the second preset distance and the third preset distance when the self vehicle runs along with the front vehicle.
Optionally, the method further includes:
acquiring lane line information of a driving lane, wherein the lane line information comprises at least partial lane line information between a self vehicle and a front vehicle and lane line information on the side of the self vehicle;
controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information, and the method comprises the following steps:
and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line information of the running lane.
Optionally, controlling the self-vehicle to travel along with the preceding vehicle in the travel lane according to the first detection information, the second detection information and the lane line information of the travel lane includes:
determining at least one of the following lane line parameters of the driving lane according to the lane line information of the driving lane: lane line course angle, lane line curvature change rate;
and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line parameters.
Optionally, the short-range detection radar includes an ultrasonic radar, and the long-range detection radar includes a millimeter-wave radar.
In a second aspect, there is provided a system for controlling a vehicle to travel following a preceding vehicle, comprising:
the short-distance detection radar acquires first detection information of a front vehicle when the front vehicle is driven;
the long-distance detection radar acquires second detection information of the front vehicle when the front vehicle is driven, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
and the main control module is in communication connection with the short-distance detection radar and the long-distance detection radar, and when the first detection information indicates that the distance between the self-vehicle and the front vehicle is less than a first preset distance, the self-vehicle is controlled to run along with the front vehicle according to the first detection information and the second detection information.
In a third aspect, a vehicle control apparatus is provided, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method according to the first aspect.
In the embodiment of the application, when the vehicle runs along with a front vehicle, first detection information of the front vehicle is collected through a short-distance detection radar; acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar; and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information. According to the scheme of the embodiment of the invention, the detection information of the front vehicle is acquired by two radars with different longitudinal resolutions, and the vehicle is controlled to run along with the front vehicle according to the two acquired detection information, so that the accuracy of the acquired detection information can be effectively improved, and the method is suitable for controlling the vehicle to run along with the front vehicle safely in a congested road section.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method for controlling a vehicle to follow a leading vehicle according to one embodiment of the invention;
FIG. 2 is a second schematic flow chart of a method for controlling a vehicle to follow a preceding vehicle according to an embodiment of the present invention;
FIG. 3 is a third schematic flow chart of a method for controlling a vehicle to follow a leading vehicle according to an embodiment of the present invention;
FIG. 4 is a fourth flowchart illustrating a method of controlling a vehicle to follow a leading vehicle according to an embodiment of the present invention;
FIG. 5a is a fifth flowchart illustrating a method for controlling a vehicle to follow a preceding vehicle according to an embodiment of the present invention;
FIG. 5b is a schematic structural diagram of a system for implementing a method for controlling a vehicle to follow a preceding vehicle according to an embodiment of the present invention;
FIG. 5c is a sixth schematic flow chart illustrating a method of controlling a vehicle to follow a leading vehicle according to an embodiment of the present invention;
FIG. 6 is a seventh schematic flow chart of a method for controlling a vehicle to follow a leading vehicle according to an embodiment of the present invention;
fig. 7 is a system configuration for controlling the vehicle to follow the preceding vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
When a vehicle runs on a road, due to the complicated road conditions, a driver often needs to frequently adjust the running direction and speed according to the actual road conditions so as to avoid traffic accidents. In the field of automatic driving, if automatic driving is to be realized under complex road conditions, information around a vehicle needs to be collected to determine the driving environment of the vehicle, so that the vehicle is controlled to automatically drive at a safe speed and in a correct direction.
Taking a congested road section as an example, if a road condition in front of a vehicle is detected by a millimeter wave radar arranged at the front end of the vehicle and a camera arranged at the front end of the vehicle, then, since the effective detection distance of the millimeter wave radar is about 5 m-200 m from the front of the vehicle, and the resolution of the longitudinal distance is low, the detected position information is often inaccurate. In addition, when the vehicle automatically follows, the following distance may be adjusted according to the inter-vehicle time interval, and may be, for example, 1s, 1.5s, or the like. When the vehicle is followed closely, the speed of the vehicle is low, and the stable vehicle following of 1.0s in a workshop under the low speed of the vehicle cannot be realized only by the millimeter wave radar. In addition, the speed of the front vehicle is changed frequently, so that the gap between the front vehicle and the self vehicle is large and the front vehicle is easy to jam.
Therefore, in a congested road section, if the following distance between the own vehicle and the preceding vehicle is detected only by the millimeter wave radar, the own vehicle can be frequently braked, the vehicle is easily jammed by the vehicle running on the adjacent lane, the short-distance effective following cannot be realized, and the comfort in the own vehicle can be reduced by frequent braking and acceleration.
In order to solve the problems in the prior art, an embodiment of the present application provides a method for controlling a vehicle to travel along with a leading vehicle, as shown in fig. 1, including the following steps:
s11: when the vehicle runs following the front vehicle, first detection information of the front vehicle is collected through a short-distance detection radar;
s12: acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
s13: and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information.
In the scheme that this application embodiment provided, the following mode of vehicle can preset, and the driver can hand the mode of following of sending from the car to the automatic control who gets into with the car. Or the vehicle can automatically judge whether the vehicle is in the condition of running along with the front vehicle according to the collected information or the running state of the vehicle, and then automatically judge whether the vehicle is switched to the following mode, so as to enter the automatic control of the following vehicle.
In step S11, when the vehicle is traveling following the preceding vehicle, first detection information of the preceding vehicle is collected by the short-range detection radar, and the first detection information may specifically include information such as a vehicle distance between the preceding vehicle and the own vehicle, a vehicle speed of the preceding vehicle, and the like. The short-range detection radar may refer to a sensor that can detect a short-range obstacle, and may include an ultrasonic radar, for example. The ultrasonic radar is arranged in front of the vehicle, so that the detection of the distance of 0-5 m from the front of the vehicle can be realized, the longitudinal resolution is higher, and the obstacle in the short distance can be effectively detected.
In step S12, second detection information of the preceding vehicle is collected by the long-range detection radar. The long-range detection radar may refer to a sensor that can accurately detect a long-range obstacle, and may include a millimeter-wave radar, for example. Set up the millimeter wave radar and can realize vehicle the place ahead 5 ~ 200m apart from surveying with the millimeter wave radar setting, wherein, long-range detection radar longitudinal distance resolution ratio is less than the longitudinal resolution ratio of closely surveying the radar, this scheme is surveyed the front truck position through the radar of different longitudinal resolution ratios, can effectively improve the accuracy that detects information.
In step S13, when the first probe information indicates that the distance between the own vehicle and the preceding vehicle is less than a first preset distance, the own vehicle is controlled to travel with the preceding vehicle according to the first probe information and the second probe information. The first detection information may include information of a preceding vehicle collected by the short-distance detection radar, and may include, for example, a position, a speed, and the like of the preceding vehicle. The following distance between the self-vehicle and the front vehicle can be determined through first detection information collected by the short-distance detection radar. And then determining a following strategy for controlling the vehicle according to the comparison result of the following distance and the first preset distance.
The first preset distance may be a distance value preset according to experience, or a distance value automatically generated by the vehicle according to the collected road condition or other information. For example, the first preset distance may be a maximum distance at which the short-range detection radar can effectively detect the obstacle. Then, in step S13, once the proximity detection radar detects the preceding vehicle information, it indicates that the distance between the own vehicle and the preceding vehicle is less than the first preset distance, and then the own vehicle may be controlled to travel following the preceding vehicle according to the detected information.
According to the scheme of the embodiment of the invention, the detection information of the front vehicle is acquired by two radars with different longitudinal resolutions, and the vehicle is controlled to run along with the front vehicle according to the two acquired detection information, so that the accuracy of the acquired detection information can be effectively improved, and the method is suitable for controlling the vehicle to run along with the front vehicle safely in a congested road section. In addition, because the scheme integrates the radar with different longitudinal resolutions to detect the front vehicle information, the short-distance and long-distance vehicle information can be effectively detected, the road condition can be more comprehensively detected, and the optimal driving strategy can be favorably determined.
Optionally, based on the solution provided by the foregoing embodiment, in step S13, controlling the vehicle to travel with the front vehicle according to the first probe information and the second probe information, as shown in fig. 2, includes:
s21: and controlling the distance between the self vehicle and the front vehicle during running between a second preset distance and a third preset distance according to the first detection information and the second detection information, wherein the second preset distance is smaller than or equal to the first preset distance, and the third preset distance is smaller than the second preset distance.
In the process of following a car closely, the car needs to keep a reasonable distance with the preceding car, avoids knocking into the back with the preceding car on the one hand, and on the other hand can avoid the vehicle that adjacent lane went to add the jam. The vehicle following distance is controlled by controlling the vehicle distance between the second preset distance and the third preset distance.
For example, if the first preset distance is 5m, the second preset distance is 2m, and the third preset distance is 1m, the short-distance detection radar may detect the previous vehicle information when the vehicle is 5m away from the previous vehicle, and determine the following distance between the vehicle and the previous vehicle according to the detected previous vehicle information. And when the determined car following distance is between 2m and 5m, controlling the self car to accelerate in a small range until the car following distance between the self car and the front car is between 1m and 2 m. And controlling the self-vehicle to keep the current driving state when the determined following distance is between 1m and 2 m. And when the determined following distance is less than or equal to 1m, braking the self-vehicle to avoid rear-end collision between the self-vehicle and the front vehicle. After the distance between the front vehicle and the self vehicle is increased to 2m, the front of the self vehicle can be controlled to move forward so as to drive along with the front vehicle, so that the vehicle following distance is kept between 1m and 2 m.
The scheme that this embodiment provided can realize closely following the car, avoids leading to adjacent lane vehicle to add the stopper because with car distance too big, also avoids simultaneously with car distance too closely, can effectively guarantee with car security.
Optionally, based on the solution provided by the foregoing embodiment, the first probe information and the second probe information further include a speed of the leading vehicle, and the step S21 controls the inter-vehicle distance when the host vehicle travels along with the leading vehicle between the second preset distance and the third preset distance according to the first probe information and the second probe information, as shown in fig. 3, includes the following steps:
s31: determining the running speed of a front vehicle according to the first detection information and the second detection information;
s32: determining the running speed of the self-vehicle according to the running speed of the front vehicle and the distance between the self-vehicle and the front vehicle;
s33: and controlling the self vehicle to run along with the front vehicle at the running speed of the self vehicle so as to control the distance between the self vehicle and the front vehicle when the self vehicle runs along with the front vehicle between the second preset distance and the third preset distance.
In this embodiment, the first detection information and the second detection information further include the speed of the preceding vehicle, and in step S31, the traveling speed of the preceding vehicle is determined according to the speeds of the preceding vehicles detected by two different longitudinal resolution radars, so that the determined traveling speed of the preceding vehicle can be more accurate. Subsequently, in step S32, an appropriate own vehicle travel speed is determined based on the determined preceding vehicle travel speed and the vehicle distance between the own vehicle and the preceding vehicle. The running speed of the self-vehicle is used for controlling the self-vehicle to run along with the front vehicle, and the distance between the self-vehicle and the front vehicle is kept between the second preset distance and the third preset distance.
For example, when the second preset distance is 2m, the third preset distance is 1m, and it is determined through the above steps that the preceding vehicle is accelerating, and the vehicle distance between the own vehicle and the preceding vehicle is greater than 2m, it may be determined that the vehicle distance between the preceding vehicle and the own vehicle is too large, and since the preceding vehicle is accelerating, the vehicle distance between the own vehicle and the preceding vehicle may gradually increase, and at this time, the driving speed of the own vehicle may be determined to be a larger speed value. Assuming that the inter-vehicle distance between the host vehicle and the preceding vehicle is less than 2m and the preceding vehicle is running at a reduced speed, the inter-vehicle distance between the host vehicle and the preceding vehicle may be further reduced, and the formal speed of the host vehicle may be determined as a smaller speed value.
In addition, in order to improve the following safety, the maximum value of the vehicle speed during the short-distance following can be preset. For example, the maximum value of the vehicle speed during close-distance following is preset to be 30km/h, when the vehicle speed reaches the maximum value of the vehicle speed, the vehicle can keep the vehicle speed to run at a constant speed, or the vehicle can be switched to other running modes, namely, the vehicle exits from the following mode, or is switched to a manual mode according to the operation of a driver, and the like.
Specifically, after the preceding vehicle traveling speed is determined based on the first probe information and the second probe information, the own vehicle traveling speed may be determined to be a speed close to the preceding vehicle traveling speed. The running speed of the host vehicle may be determined as a speed value slightly larger than the running speed of the preceding vehicle when the vehicle distance between the host vehicle and the preceding vehicle is large, and may be determined as a speed value smaller than the running speed of the preceding vehicle when the vehicle distance between the host vehicle and the preceding vehicle is small. Then, the vehicle following preceding vehicle is controlled to travel at the vehicle travel speed to control the vehicle distance at which the vehicle travels following preceding vehicle between the second preset distance and the third preset distance. Through the scheme that this application embodiment provided, can realize that the car is closely driven along with the front car from the car, avoid being filled in when guaranteeing with car security.
Alternatively, based on the solution provided by the foregoing embodiment, in the step S21, the distance between the host vehicle and the preceding vehicle when the host vehicle travels along the preceding vehicle is controlled between the second preset distance and the third preset distance according to the first detection information and the second detection information, as shown in fig. 4, the method includes the following steps:
s41: determining a detection distance between the own vehicle and the previous vehicle according to the first detection information, the second detection information and a preset weight value;
s42: and controlling the self vehicle to run along with the front vehicle according to the detection distance so as to control the vehicle distance between the second preset distance and the third preset distance when the self vehicle runs along with the front vehicle.
In this embodiment, in the step S41, the weight values of the information detected by different radars may be preset according to actual requirements. For example, the weight value of the information detected by the short-distance detection radar is 0.7, and the weight value of the information detected by the long-distance detection radar is 0.3. And performing fusion calculation on the first detection information and the second detection information according to the weight value corresponding to the detection radar, and determining the detection distance between the self-vehicle and the front vehicle. In step S42, the host vehicle is controlled to travel following the preceding vehicle according to the detection distance obtained by fusion, so that the accuracy of vehicle following control can be improved, and rear-end collision caused by detection errors can be avoided.
For example, millimeter wave radar throughComparing the time/frequency of the received signal with the time/frequency of the sent signal to calculate the distance d between the received signal and the object to be measured in frontm:
Figure BDA0002658327930000091
TtofAnd c is the millimeter wave flight time and the speed of light.
The detection of the obstacle by the ultrasonic radar located at the front guard uses triangulation to detect and calculate the distance d from the vehicle to the frontu:
Figure BDA0002658327930000092
In the formula, b is the distance between the ultrasonic radar 1 and an obstacle; c distance between the ultrasonic radar 2 and the obstacle; d distance between the ultrasonic radar 1 and the ultrasonic radar 2.
When the vehicle enters the detection range of the ultrasonic radar, namely d dist <dumaxAnd carrying out data fusion on the data of the ultrasonic radar and millimeter wave radar detection objects. I.e. the longitudinal detection distance d after fusionfu:
dfu＝λdm+(1-λ)du
λ is the weight occupied by the millimeter wave radar detection data.
The scheme that this application embodiment provided utilizes the sensor to have the characteristics of the detection interval and the longitudinal resolution ratio of difference, fuses millimeter wave radar and ultrasonic radar and surveys preceding car information, carries out data fusion processing to the detected information, realizes closely traveling with the car, prevents that the car from being filled up and braking repeatedly, improves the travelling comfort of system.
In addition, in a congested road section, due to the fact that the distance between the self vehicle and the front vehicle is small, most of pictures shot by the camera are images of the tail of the front vehicle, and therefore the ground lane line cannot be shot. Under the condition that the position of a lane line on the ground cannot be determined, the running direction of the self-vehicle cannot be determined, the self-vehicle cannot run along the middle of the lane, the line pressing running condition occurs, and further the self-vehicle and the vehicle running on the adjacent lane can be scratched. Or after the vehicle runs to the center of the lane, the picture shot by the camera is shielded by the tail part of the front vehicle again, and the center position of the lane cannot be determined by the vehicle, so that the vehicle runs to the lane line on the other side in a deviated way, and the vehicle runs in a snake shape.
In order to solve the above problems in the prior art, as shown in fig. 5a, the solution provided by the embodiment of the present application further includes the following steps:
s51: acquiring lane line information of a driving lane, wherein the lane line information comprises at least partial lane line information between a self vehicle and a front vehicle and lane line information on the side of the self vehicle;
the step S13, controlling the vehicle to travel with the preceding vehicle according to the first probe information and the second probe information, includes:
s52: and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line information of the running lane.
The lane line information of the driving lane may be acquired by a front view camera provided at a front end of the vehicle and a look-around camera provided at a side of the vehicle. The forward-looking camera can detect a lane line ahead of the vehicle, and specifically can transmit the shot video stream information to an Electronic Control Unit (ECU) through a Low-Voltage Differential Signaling (LVDS), and the main Control ECU determines the lane line information ahead of the vehicle through image processing. The said circular-viewing camera can be installed near the vehicle outside rear-view mirror for shooting the information of the lane line on the side of the vehicle, which is different from the view of the front camera. The all-round-looking camera can also transmit detected video stream information to the main control ECU through LVDS, and the main control ECU determines lane line information in front of the bicycle through image processing.
As shown in fig. 5b, the main control ECU may include multiple Processing units such as a Graphics Processing Unit (GPU) and a Microcontroller Unit (MCU), which may not only perform image Processing on the obtained video stream information, but also perform calculation according to the processed result and the previous vehicle information fed back by the radar, so as to determine a vehicle following policy applicable to the current road condition for safe vehicle following. In addition, the MCU can also control the self-vehicle to run centrally in the current lane according to the determined lane line information, and particularly can control a steering system, a power system and a braking system of the self-vehicle in a mode of sending control signals so as to realize the control of the running direction and the speed of the self-vehicle.
For example, as shown in fig. 5c, when the host vehicle runs at a low speed following the host vehicle, if the ultrasonic radar does not detect the information of the host vehicle, the main control ECU may utilize the information of the speed, distance, etc. of the host vehicle fed back by the millimeter wave radar to perform the following running. If the front lane line in the current lane is clear, the main control ECU can control the self-vehicle to run in the middle in the current lane according to the information of the front vehicle and the information of the lane line, so that the close-distance automatic control following is realized. If the lane line in front of the current lane is not clear or is shielded, the main control ECU can look around the detected lane line information according to the left side and the right side of the self-vehicle, so that the self-vehicle can run centrally in the current lane by combining the information of the front vehicle.
If the ultrasonic radar detects the information of the front vehicle, the main control ECU can combine the information of the front vehicle speed, the distance and the like fed back by the millimeter wave radar and the ultrasonic radar to carry out close-distance following driving. If the lane line of place ahead is clear or not sheltered from in the current lane then main control ECU controls from the car with the car at the current lane closely with the car between two parties and go, if the lane line of place ahead of current lane is not clear or sheltered from this moment, the lane line information that detects is looked around about the combination of system main control ECU for the vehicle still closely with the car between two parties at the current lane closely with the car, do not receive the information disappearance interference of the lane line of place ahead.
The scheme that this application embodiment provided utilizes the different characteristics of detection range of making a video recording, fuses the place ahead camera and look around the video information that the camera was shot about with, the accurate lane line information that obtains to receiving sheltering from or under the disappearance condition appearing the place ahead lane line, also can confirm to come out from the position of car for the lane line, thereby can be steady make from the car keep going in current lane, reduce the influence of front truck position to automatic traveling, avoid snakelike traveling, improve the travelling comfort of system.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 6, in the foregoing step S52, controlling the host vehicle to travel in the driving lane following the previous vehicle according to the first probe information, the second probe information, and the lane line information of the driving lane, includes the following steps:
s61: determining at least one of the following lane line parameters of the driving lane according to the lane line information of the driving lane: lane line course angle, lane line curvature change rate;
s62: and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line parameters.
For example, the camera performs pixel interpolation calculation or edge detection and coordinate conversion on an input picture extraction region of interest (ROI) through an image preprocessing technology, and provides relevant parameters for the detected lane line by using a Clothoid model modeling
Figure BDA0002658327930000121
Distance d of lane line from origin of coordinatesy0The included angle between the lane line and the X-axis direction of the coordinate system, i.e. the course angle of the lane line and the curvature C of the lane line0Rate of change of curvature of lane line C1The lane line identification distance x;
since the target trajectory is the centerline of the left and right lane lines, the target trajectory equation:
Figure BDA0002658327930000122
the all-round-looking camera can also perform pixel interpolation calculation or edge detection and coordinate conversion on an input picture extraction region of interest (ROI) through an image preprocessing technology, and provide related parameters for a detected lane line by using a Clothoid model for modeling. Especially when the front lane line is not clear or the department is shielded, the main control ECU provides parameters required by the model based on the look-around feedback image information, and the distance d between the lane line and the origin of coordinatesy0Heading angle' of lane line, curvature C of lane line0Gradient of rate of change of curvature of lane line C1And information such as 'and the like' enables the vehicle to keep running stably in the middle of the lane.
By the same principle, the parameters required by the fused lane line model can be obtained, and the distance d between the lane line and the origin of coordinates is usedy0fuFor example.
dy0fu＝λdy0+(1-λ)dy0`
λ is the weight occupied by the forward looking camera probe data.
Similarly, the course angle of the lane line after fusion can be obtainedfuCurvature of lane line C0fuRate of change of curvature of lane line C1fuAnd (4) parameters.
Therefore, by using the scheme, the vehicle can stably run following the front vehicle in a short distance in the current lane, the load of the driver is reduced, and the functional comfort is improved.
According to the above technical scheme provided by the embodiment of the application, the detection interval and the resolution ratio of the radar sensor are utilized, the millimeter wave radar and the ultrasonic radar are fused to detect information of a front vehicle, data fusion and processing are carried out on the detected information, the short-distance vehicle following running is realized, the self vehicle is prevented from being jammed and repeatedly braked, and the comfort of the system is improved. Utilize the different detection scope of camera sensor, fuse the place ahead camera and control the video information who looks around the camera, the accurate lane line information that obtains to receiving sheltering from or under the disappearance condition appearing the place ahead lane line, can be steady make the car keep going in current lane, do not receive external environment interference, improve the travelling comfort of system.
In order to solve the problems in the prior art, an embodiment of the present application further provides a system for controlling a vehicle to travel along with a preceding vehicle, as shown in fig. 7, including:
a short-distance detection radar 71 that collects first detection information of a preceding vehicle when the vehicle is traveling following the preceding vehicle;
the long-distance detection radar 72 collects second detection information of the front vehicle when the front vehicle is driven, and the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
and the main control module 73 is in communication connection with the short-distance detection radar 71 and the long-distance detection radar 72, and when the first detection information indicates that the distance between the own vehicle and the preceding vehicle is less than a first preset distance, the own vehicle is controlled to run along with the preceding vehicle according to the first detection information and the second detection information.
According to the system provided by the embodiment of the application, when the system runs along with a front vehicle, first detection information of the front vehicle is collected through the short-distance detection radar; acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar; and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information. According to the scheme of the embodiment of the invention, the detection information of the front vehicle is acquired by two radars with different longitudinal resolutions, and the vehicle is controlled to run along with the front vehicle according to the two acquired detection information, so that the accuracy of the acquired detection information can be effectively improved, and the method is suitable for controlling the vehicle to run along with the front vehicle safely in a congested road section.
Preferably, an embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the electronic device implements each process of the above-mentioned method for controlling a vehicle to run following a preceding vehicle, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned method for controlling a vehicle to travel following a preceding vehicle, and can achieve the same technical effect, and is not described herein again to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A method of controlling a vehicle to follow a preceding vehicle, comprising:
when the vehicle runs following the front vehicle, first detection information of the front vehicle is collected through a short-distance detection radar;
acquiring second detection information of a front vehicle through a long-distance detection radar, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
and when the first detection information indicates that the distance between the self vehicle and the front vehicle is less than a first preset distance, controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information.
2. The method according to claim 1, wherein controlling the own vehicle to travel following a preceding vehicle based on the first probe information and the second probe information comprises:
and controlling the distance between the self vehicle and the front vehicle when the self vehicle runs along with the front vehicle between a second preset distance and a third preset distance according to the first detection information and the second detection information, wherein the second preset distance is smaller than or equal to the first preset distance, and the third preset distance is smaller than the second preset distance.
3. The method according to claim 2, wherein the first probe information and the second probe information further include a speed of the preceding vehicle, respectively, and the controlling the inter-vehicle distance between the second preset distance and the third preset distance when the own vehicle travels along with the preceding vehicle according to the first probe information and the second probe information includes:
determining the running speed of a front vehicle according to the first detection information and the second detection information;
determining the running speed of the self-vehicle according to the running speed of the front vehicle and the distance between the self-vehicle and the front vehicle;
and controlling the self vehicle to run along with the front vehicle at the running speed of the self vehicle so as to control the distance between the self vehicle and the front vehicle when the self vehicle runs along with the front vehicle between the second preset distance and the third preset distance.
4. The method according to claim 2, wherein controlling the inter-vehicle distance when the own vehicle travels following the preceding vehicle between the second preset distance and a third preset distance based on the first probe information and the second probe information comprises:
determining a detection distance between the own vehicle and the previous vehicle according to the first detection information, the second detection information and a preset weight value;
and controlling the self vehicle to run along with the front vehicle according to the detection distance so as to control the vehicle distance between the second preset distance and the third preset distance when the self vehicle runs along with the front vehicle.
5. The method of any one of claims 1 to 4, further comprising:
acquiring lane line information of a driving lane, wherein the lane line information comprises at least partial lane line information between a self vehicle and a front vehicle and lane line information on the side of the self vehicle;
controlling the self vehicle to run along with the front vehicle according to the first detection information and the second detection information, and the method comprises the following steps:
and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line information of the running lane.
6. The method according to claim 5, wherein controlling the own vehicle to travel in the travel lane following a preceding vehicle based on the first probe information, the second probe information, and lane line information of the travel lane includes:
determining at least one of the following lane line parameters of the driving lane according to the lane line information of the driving lane: lane line course angle, lane line curvature change rate;
and controlling the self vehicle to run along with the front vehicle in the running lane according to the first detection information, the second detection information and the lane line parameters.
7. The method of any one of claims 1 to 4, wherein the short range detection radar comprises an ultrasonic radar and the long range detection radar comprises a millimeter wave radar.
8. A system for controlling a vehicle to follow a preceding vehicle, comprising:
the short-distance detection radar acquires first detection information of a front vehicle when the front vehicle is driven;
the long-distance detection radar acquires second detection information of the front vehicle when the front vehicle is driven, wherein the longitudinal resolution of the long-distance detection radar is smaller than that of the short-distance detection radar;
and the main control module is in communication connection with the short-distance detection radar and the long-distance detection radar, and when the first detection information indicates that the distance between the self-vehicle and the front vehicle is less than a first preset distance, the self-vehicle is controlled to run along with the front vehicle according to the first detection information and the second detection information.
9. A vehicle control apparatus characterized by comprising: a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
CN202010895468.7A 2020-08-31 2020-08-31 Method and system for controlling vehicle to run along with front vehicle Pending CN112141103A (en)

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