CN112158198A - Transverse perception safe driving control method and system for L3-level automatic driving and vehicle - Google Patents
Transverse perception safe driving control method and system for L3-level automatic driving and vehicle Download PDFInfo
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- CN112158198A CN112158198A CN202011054172.9A CN202011054172A CN112158198A CN 112158198 A CN112158198 A CN 112158198A CN 202011054172 A CN202011054172 A CN 202011054172A CN 112158198 A CN112158198 A CN 112158198A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
Abstract
The invention discloses a transverse perception safe driving control method, a system and a vehicle based on L3 level automatic driving.A proper boundary is set through road information and environmental conditions, and the lateral moving object or static object information, road edge/guardrail information and the lane line information of the vehicle are combined, so that the perception capability of transversely controlling ASIL D in the lane is realized, and the driving safety is ensured.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a transverse perception safe driving control method and system for L3-level automatic driving and a vehicle.
Background
Intelligence is one of the important trends in the development of the automobile industry, and the automatic driving function is pursued in the industry as a key technology of intelligence, so that the automatic driving function is actively involved in the technical competition of automatic driving in various traditional host factories, suppliers or vehicle construction, even in extensive scientific research institutes and technical service institutions, and the rapid landing of the automatic driving function is promoted. It is well known that safety is one of the most critical issues that must be addressed to implement autonomous driving commercial applications. Numerous standards have been established for the automotive safety industry, wherein the road vehicle functional safety standard GB/T34590 provides guidance for solving the safety problem caused by a failure of the vehicle-mounted electronic appliance system. At present, the research on the functional safety of the whole industry is very vigorous, especially the functional safety implementation of the automatic driving system becomes a necessary high struggle, and the ability to make the automatic driving product which accords with the functional safety is a huge technical advantage which is competitive in the future market.
The research and commercial promotion of the Chinese automobile industry for automatic driving mainly focus on the level of L3, which defines that a driver can take off hands, feet and eyes during the function operation process, but needs to respond to a request for taking over when the system gives an alarm in time, and the automatic driving system should keep a certain control capability so that the user has sufficient time response and takes over control. In order to achieve the controlled safety state, the mainstream solution in the industry is to adopt a fully redundant or partially redundant design for sensing, controlling and executing the three parts, and the hardware cost is high and is an unbearable weight for commercialization of the automatic driver.
Among the many failure modes that can occur with an autopilot system, false lateral control is one of the most serious failures. The sensor is used as the 'eye' of the whole automatic driving system, plays a crucial role in the safe operation of functions, and does not perform redundant design on a sensing system any more, but in order to realize commercial landing, the optimization cost is also a practical problem which has to be considered while the function safety is met, and the industry does not provide a good solution in this respect.
Disclosure of Invention
The invention aims to provide a transverse perception safe driving control method, a transverse perception safe driving control system and a transverse perception safe driving control vehicle for L3-level automatic driving, which not only can realize the perception capability of transversely controlling ASIL D in a lane, but also can improve the safety of transverse perception driving of L3-level automatic driving.
In order to achieve the aim, the invention provides a transverse perception safe driving control method based on L3 level automatic driving, which comprises the following steps:
(S1) acquiring transverse sensing data through the sensing module 1, and controlling the vehicle to run in the vehicle channel; the transverse sensing data comprise lateral target information, road edge/guardrail information and lane line information; the lateral targets comprise a lateral moving object and a lateral standing object;
(S2) judging which lane the vehicle is in according to the transverse perception data, wherein the lanes comprise a leftmost lane, a rightmost lane and a middle lane; if the lane is the leftmost lane or the rightmost lane, executing the steps (S31) and (S34); if the vehicle is in the middle lane, executing the step (S41) -the step (S44);
(S31) judging whether the lane line is complete, if so, executing the step (S32); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S32) judging whether the road edge/guardrail is complete, if so, executing the step (S33); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S33) judging whether the curvature of the lane line and the curbs/guardrails is consistent, if so, executing the step (S34), otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S34) performing transverse control algorithm calculation based on the lane line and the road edge/guardrail information, outputting a transverse control instruction and executing transverse control, and ending the process;
(S41) judging whether the lane line is complete, if so, executing the step (S42); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S42) judging whether a lateral target with collision risk exists, if so, executing a step (S43); otherwise, returning to the step (S1);
(S43) determining whether the system cannot control the vehicle to follow the lane in the vehicle based on the vehicle lane line and the side direction target information; if not, executing step (S44); if so, sending out a take-over alarm or emergency brake, displaying the take-over alarm or emergency brake information, and ending the process;
(S44) determining whether or not the original travel path is changed based on the lateral object information; if so, recalculating the driving path based on the lane line and the lateral collision target information, executing transverse control, and ending the process; if not, the process returns to step (S1).
Further, the following steps are also performed before the step (S1):
detecting whether the sensing module (1) breaks down, if so, sending a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process; otherwise, the step (S1) is executed.
Further, perception module includes 1 high definition digtal camera, 1 first millimeter wave radar and 4 second millimeter wave radars, high definition digtal camera and first millimeter wave radar set up at the vehicle front end, and the distribution of second millimeter wave radar sets up in four angles departments of vehicle.
Further, the lane in which the vehicle runs is judged according to the transverse perception data, wherein the lane comprises a left lane, a right lane and a middle lane; if the lane is a left lane or a right lane, executing the step (S3); if the vehicle is in the middle lane, executing step (S4), specifically executing the following steps:
if the distance between the left guardrail/road edge and the lane is smaller than a first fixed value, and the distance between the right guardrail/road edge and the lane is larger than a second fixed value, the vehicle is positioned in the leftmost lane, wherein the second fixed value is larger than the first fixed value;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is smaller than a first fixed value, the vehicle is positioned in the rightmost lane;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is larger than the second fixed value, the vehicle is in the middle lane.
The invention also provides a transverse perception safe driving control system based on L3 level automatic driving, which utilizes the transverse perception safe driving control method based on L3 level automatic driving and comprises the following steps:
the sensing module is used for acquiring transverse sensing data;
the control module is used for analyzing and judging whether to send a command of transverse control or emergency braking or taking over alarm according to the transverse sensing data;
the execution module is used for executing a transverse control command or taking over an alarm command or an emergency braking command;
the control module is connected with the sensing module, and the execution module is connected with the control module;
further, the execution module comprises a steering device, a braking device and an alarming device.
Further, perception module is including 1 high definition digtal camera, 1 first millimeter wave radar and 4 second millimeter wave radars, high definition digtal camera and first millimeter wave radar set up at the vehicle front end, and the distribution of second millimeter wave radar sets up in four angles departments of vehicle.
The invention also provides a vehicle comprising the lateral perception safe driving control system based on the L3 level automatic driving.
Compared with the prior art, the invention has the following advantages:
according to the transverse sensing safe driving control system, method and vehicle based on the L3 level automatic driving, a proper boundary is set through road information and environmental conditions, and the lateral moving object or static object information, the road edge/guardrail information and the lane line information of the vehicle are combined, so that the sensing capability of transversely controlling the ASIL D in the lane is realized, and the driving safety is ensured; the laser radar with the highest gold content in the traditional classical sensing scheme is removed, the number of other sensors is reduced, the requirement of the functional safety standard can be met under the condition of applying the least sensor hardware resources, the optimization of cost and safety is realized, the cost is greatly reduced, and large-scale commercial use can be realized; based on different failure modes of the sensing module, when a failure occurs, the system sends out and displays the taking-over alarm or the emergency brake, and the safety of transverse sensing driving of the L3-level automatic driving is improved.
Drawings
FIG. 1 is a flow chart of a lateral perception safety driving control method based on level L3 autopilot in accordance with the present invention;
fig. 2 is a schematic structural diagram of the lateral perception safe driving control system based on the L3 level automatic driving of the invention.
In the figure:
1-a sensing module, 11-a high-definition camera, 12-a first millimeter wave radar and 13-a second millimeter wave radar; 2-a control module; 3-execution module, 31-steering device, 32-braking device and 33-alarm device.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The invention aims at the L3-grade automatic driving, limits the designed operation area to be the congestion working condition under the structured roads such as expressways, urban expressways and the like, and limits the designed operation speed to be less than or equal to 60 km/h. The driver does not need to monitor the driving environment on line, but needs to respond to the take-over request of the system in time when the system prompts take-over.
Referring to fig. 1, the embodiment discloses a lateral perception safe driving control method based on L3 level automatic driving, which includes the following steps:
(S1) acquiring transverse sensing data through the sensing module 1, and controlling the vehicle to run in the vehicle channel; the transverse sensing data comprise lateral target information, road edge/guardrail information and lane line information; the lateral targets comprise a lateral moving object and a lateral standing object;
(S2) judging which lane the vehicle is in according to the transverse perception data, wherein the lanes comprise a leftmost lane, a rightmost lane and a middle lane; if the lane is the leftmost lane or the rightmost lane, executing the steps (S31) and (S34); if the vehicle is in the middle lane, executing the step (S41) -the step (S44);
(S31) judging whether the lane line is complete, if so, executing the step (S32); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S32) judging whether the road edge/guardrail is complete, if so, executing the step (S33); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S33) judging whether the curvature of the lane line and the curbs/guardrails is consistent, if so, executing the step (S34), otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S34) performing transverse control algorithm calculation based on the lane line and the road edge/guardrail information, outputting a transverse control instruction and executing transverse control, and ending the process;
(S41) judging whether the lane line is complete, if so, executing the step (S42); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S42) judging whether a lateral target with collision risk exists, if so, executing a step (S43); otherwise, returning to the step (S1);
(S43) determining whether the system cannot control the vehicle to follow the lane in the vehicle based on the vehicle lane line and the side direction target information; if not, executing step (S44); if so, sending out a take-over alarm or emergency brake, displaying the take-over alarm or emergency brake information, and ending the process;
(S44) determining whether or not the original travel path is changed based on the lateral object information; if so, recalculating the driving path based on the lane line and the lateral collision target information, executing transverse control, and ending the process; if not, the process returns to step (S1). The line-following driving is a centering driving process in which the vehicle is controlled according to the curvature of the lane line of the vehicle, and the line-following driving is centering driving or normal driving.
In the present embodiment, the following steps are also performed before step (S1): detecting whether the sensing module 1 has a fault, if so, sending a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process; otherwise, the step (S1) is executed. According to the functional safety standard, when the sensing module 1 breaks down, the safety state of the whole vehicle needs to be defined, and for the L3-level automatic driving function, an alarm is required to be sent to a user to take over and emergency braking is required.
In this embodiment, the sensing module 1 includes at least 1 high definition camera 11, at least 1 first millimeter wave radar 12 and at least 4 second millimeter wave radars 13, the high definition camera 11 and the first millimeter wave radar 12 are disposed at the front end of the vehicle, and the second millimeter wave radars 13 are disposed at four corners of the vehicle.
In this embodiment, the number of the high-definition camera 11 and the number of the first millimeter wave radar 12 are both 1, and the number of the second millimeter wave radar 13 is 4.
In this embodiment, the lane in which the vehicle runs is determined according to the lateral sensing data, where the lane includes a left lane, a right lane, and a middle lane; if the lane is a left lane or a right lane, executing the step (S3); if the vehicle is in the middle lane, executing step (S4), specifically executing the following steps:
if the distance between the left guardrail/road edge and the lane is smaller than a first fixed value, and the distance between the right guardrail/road edge and the lane is larger than a second fixed value, the vehicle is positioned in the leftmost lane, wherein the second fixed value is larger than the first fixed value;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is smaller than a first fixed value, the vehicle is positioned in the rightmost lane;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is larger than the second fixed value, the vehicle is in the middle lane.
Referring to fig. 2, the present embodiment discloses a lateral awareness safe driving control system based on L3 level automatic driving, and the lateral awareness safe driving control method based on L3 level automatic driving includes:
the sensing module 1 is used for acquiring transverse sensing data;
the control module 2 is used for analyzing and judging whether to send out a command of transverse control or emergency braking or taking over alarm according to the transverse sensing data;
the execution module 3 is used for executing transverse control or taking over an alarm or emergency braking instruction;
the control module 2 is connected with the sensing module 1, and the execution module 3 is connected with the control module 2. The execution module 3 comprises a steering device 31, a braking device 32 and an alarm device 33.
In this embodiment, the sensing module 1 includes at least 1 high definition camera 11, at least 1 first millimeter wave radar 12 and at least 4 second millimeter wave radars 13, the high definition camera 11 and the first millimeter wave radar 12 are disposed at the front end of the vehicle, and the second millimeter wave radars 13 are disposed at four corners of the vehicle. The high-definition camera is arranged at the front end of the vehicle to realize the detection of the lane line, provide accurate data of the lane line and detect the detection data of moving objects, static objects or remote guardrail information in a certain area in front; the first millimeter wave radar is arranged at the front end of the vehicle to realize the detection of information of moving objects, static objects or long-distance guardrails in a certain area in front of the lane and the data detection of laterally moving objects or static objects; the second millimeter wave radar is used for being arranged at four corners of the vehicle to realize detection of road edges/guardrails in a certain area around the side face of the vehicle body and detection of a side target, and safety standards of ASILB can be realized through the high-definition camera, the first millimeter wave radar and the second millimeter wave radar. The number of the high-definition cameras and the number of the first millimeter wave radars are 1, and the number of the second millimeter wave radars is 4 and are respectively arranged at four angular positions of the vehicle. The first millimeter wave radar and the high-definition camera can guarantee detection of moving objects or static objects in a certain area in front and serve as longitudinal control.
The L3 automatic driving control unit sends out alarm information requesting a driver to take over the vehicle within a certain time after receiving a fault state of any one sensor of the high-definition camera, the first millimeter-wave radar and the four second millimeter-wave radars, and the alarm device displays the alarm information to the driver within a certain time after receiving the alarm information requesting the driver to take over the vehicle; or an emergency braking request is sent out, and after the braking device receives the emergency braking request, the emergency braking action is executed within a certain time, so that the safety standard of the ASILD is realized. The sensor combination related to the invention cannot meet the requirement that the system judges whether the operation area and the environmental condition meet or not in the activation process, so that a driver is required to actively check the operation area and the environmental condition before activating the L3 automatic driving function, if the driver is not activated in an emergency lane. The alarm device comprises an instrument and sends alarm information for requesting a driver to take over the vehicle within a certain time, and in some embodiments, the alarm device further comprises a lamp strip, steering wheel vibration and seat vibration so as to further ensure that the driver can take over the vehicle within a certain time.
The embodiment also discloses a vehicle which comprises the transverse perception safe driving control system based on the L3 level automatic driving.
The security objectives applicable to the present invention are as follows:
SG 01: and the transverse offset out-of-tolerance caused by over-large steering, ASIL C, is avoided.
SG 02: and the transverse offset out-of-tolerance caused by understeer, ASIL C, is avoided.
SG 03: avoiding out-of-tolerance lateral offset, ASIL D, caused by unintended steering.
SG 04: and the transverse offset out-of-tolerance caused by reverse steering, ASIL C, is avoided.
SG 05: avoid the steering jamming to lead to the lateral deviation out of tolerance, ASIL C.
First, in order to achieve the lateral sensing capability of ASIL D, the sensing module 1 detects data as the input of control, which plays a decisive role in performing precise control, and since a data error of the sensing module would cause a direct violation of the above safety objectives, the sensing module should provide data that ensures accurate lateral control by the controller. Secondly, from the perspective of lateral control of hazard occurrence, it is necessary to avoid hazards in two situations: the first is vehicle instability caused by over-large transverse control steering when the vehicle speed is high; the second is a side impact in the event of vehicle instability. If the above two hazards can be reasonably avoided, the above 5 safety targets of transverse control can be realized. Aiming at the first hazard, the steering range limitation can be realized by the actuator end under the conditions of different vehicle speeds, the industry is well known, and the detailed description is omitted; for the second kind of harm, as long as guarantee that the perception module has the target of collision risk to the side direction and pinpoint, control module carries out reasonable lateral control and also can realize. The control module based on the transverse control can meet the following functions: the control module ensures that the vehicle keeps running in the vehicle lane within a certain deviation range according to the vehicle lane line data provided by the sensing module; the control module ensures that the vehicle is prevented from colliding with the road edge/guardrail in the running process according to the road edge/guardrail data provided by the sensing module; the control module ensures that the vehicle is prevented from colliding with the laterally moving object or the static object in the driving process according to the data of the laterally moving object or the static object provided by the sensing module. Therefore, the invention can reasonably avoid the two hazards and realize the 5 safety targets of the transverse control.
According to the transverse sensing safe driving control system, method and vehicle based on the L3 level automatic driving, a proper boundary is set through road information and environmental conditions, and the lateral moving object or static object information, road edge/guardrail information and the lane line information of the vehicle are combined, so that the sensing capability of transversely controlling the ASIL D in the lane is realized, and the driving safety is ensured; the laser radar with the highest gold content in the traditional classical sensing scheme is removed, the number of other sensors is reduced, the requirement of the functional safety standard can be met under the condition of applying the least sensor hardware resources, the optimization of cost and safety is realized, the cost is greatly reduced, and large-scale commercial use can be realized; based on different failure modes of the sensing module, when a failure occurs, the system sends out and displays the taking-over alarm or the emergency brake, and the safety of transverse sensing driving of the L3-level automatic driving is improved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A transverse perception safe driving control method based on L3 level automatic driving is characterized by comprising the following steps:
(S1) acquiring transverse sensing data through the sensing module (1) and controlling the vehicle to run in the vehicle channel; the transverse sensing data comprise lateral target information, road edge/guardrail information and lane line information; the lateral targets comprise a lateral moving object and a lateral standing object;
(S2) judging which lane the vehicle is in according to the transverse perception data, wherein the lanes comprise a leftmost lane, a rightmost lane and a middle lane; if the lane is the leftmost lane or the rightmost lane, executing the steps (S31) and (S34); if the vehicle is in the middle lane, executing the step (S41) -the step (S44);
(S31) judging whether the lane line is complete, if so, executing the step (S32); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S32) judging whether the road edge/guardrail is complete, if so, executing the step (S33); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S33) judging whether the curvature of the lane line and the curbs/guardrails is consistent, if so, executing the step (S34), otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S34) performing transverse control algorithm calculation based on the lane line and the road edge/guardrail information, outputting a transverse control instruction and executing transverse control, and ending the process;
(S41) judging whether the lane line is complete, if so, executing the step (S42); otherwise, sending out a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process;
(S42) judging whether a lateral target with collision risk exists, if so, executing a step (S43); otherwise, returning to the step (S1);
(S43) determining whether the system cannot control the vehicle to follow the lane in the vehicle based on the vehicle lane line and the side direction target information; if not, executing step (S44); if so, sending out a take-over alarm or emergency brake, displaying the take-over alarm or emergency brake information, and ending the process;
(S44) determining whether or not the original travel path is changed based on the lateral object information; if so, recalculating the driving path based on the lane line and the lateral collision target information, executing transverse control, and ending the process; if not, the process returns to step (S1).
2. The lateral perception safety driving control method based on L3 level auto-driving according to claim 1, wherein the following steps are further performed before the step (S1):
detecting whether the sensing module (1) breaks down, if so, sending a take-over alarm or emergency brake, displaying the information of the take-over alarm or emergency brake, and ending the process; otherwise, the step (S1) is executed.
3. The lateral perception safety driving control method based on L3 level auto-driving according to claim 1 or 2, characterized in that, the perception module (1) includes 1 high definition camera (11), 1 first millimeter wave radar (12) and 4 second millimeter wave radars (13), the high definition camera (11) and the first millimeter wave radar (12) are arranged at the front end of the vehicle, and the second millimeter wave radars (13) are distributed at four corners of the vehicle.
4. The lateral perception safety driving control method based on L3 level autopilot according to claim 1 or 2, characterized in that the determination of which lane the host vehicle is traveling in based on lateral perception data includes a left lane, a right lane and a middle lane; if the lane is a left lane or a right lane, executing the step (S3); if the vehicle is in the middle lane, executing step (S4), specifically executing the following steps:
if the distance between the left guardrail/road edge and the lane is smaller than a first fixed value, and the distance between the right guardrail/road edge and the lane is larger than a second fixed value, the vehicle is positioned in the leftmost lane, wherein the second fixed value is larger than the first fixed value;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is smaller than a first fixed value, the vehicle is positioned in the rightmost lane;
if the distance between the left guardrail/road edge and the lane is larger than a second fixed value, and the distance between the right guardrail/road edge and the lane is larger than the second fixed value, the vehicle is in the middle lane.
5. A lateral perception safe driving control system based on automatic driving at level L3, which utilizes the lateral perception safe driving control method based on automatic driving at level L3 as claimed in any one of claims 1 to 6, characterized by comprising:
the sensing module (1) is used for acquiring transverse sensing data;
the control module (2) is used for analyzing and judging whether to send out a command of transverse control or emergency braking or taking over alarm according to the transverse sensing data;
the execution module (3) is used for executing transverse control or taking over the command of alarm or emergency brake;
the control module (2) is connected with the sensing module (1), and the execution module (3) is connected with the control module (2).
6. The lateral perception safety driving control system based on level L3 autopilot according to claim 5, characterized in that the implementation module (3) includes a steering device, a braking device and a warning device.
7. The lateral perception safety driving control system based on L3 level autopilot of claim 5 or 6, characterized in that, the perception module (1) includes 1 high definition camera (11), 1 first millimeter wave radar (12) and 4 second millimeter wave radars (13), the high definition camera (11) and the first millimeter wave radar (12) are arranged at the front end of the vehicle, and the second millimeter wave radars (13) are distributed and arranged at four corners of the vehicle.
8. A vehicle characterized by comprising the lateral perception safety driving control system based on the level L3 automatic driving according to any one of claims 5 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011054172.9A CN112158198B (en) | 2020-09-30 | 2020-09-30 | Transverse perception safe driving control method and system for L3-level automatic driving and vehicle |
Applications Claiming Priority (1)
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