CN112562414B

CN112562414B - Automatic driving assistance system and method based on 5G communication technology and storage medium

Info

Publication number: CN112562414B
Application number: CN202110210621.2A
Authority: CN
Inventors: 董社森; 杨华; 赵明渊; 门聪慧
Original assignee: Zhengzhou Senpeng Electronic Technology Co Ltd
Current assignee: Zhengzhou Senpeng Electronic Technology Co Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2021-07-13
Anticipated expiration: 2041-02-25
Also published as: CN112562414A

Abstract

The invention discloses an automatic driving auxiliary system, a method and a storage medium based on a 5G communication technology, which comprise a lane left side monitoring unit, a lane right side monitoring unit, a lane visual identification unit, an early warning prompting device and a 5G communication module which are all in signal connection with a vehicle-mounted ECU (electronic control Unit); the lane visual recognition unit, the lane left side monitoring unit and the lane right side monitoring unit preprocess monitoring data of monitoring modules in the respective units and send the preprocessed monitoring data to the vehicle-mounted ECU, and the vehicle-mounted ECU sends an operation analysis result to the early warning prompting device to send out early warning after operation analysis. Compared with the prior art, the lane-changing safety warning system can monitor the state of the vehicle in the lane in real time, can identify the safety state and perform early warning when the lane is changed, can remind a driver in time, and can realize cooperative work with other driving auxiliary systems.

Description

Automatic driving assistance system and method based on 5G communication technology and storage medium

Technical Field

The invention belongs to the technical field of automatic driving assistance, and particularly relates to an automatic driving assistance system and method based on a 5G communication technology and a storage medium.

Background

Although the development of modern traffic brings endless convenience to people, a plurality of potential safety hazards are increased at the same time, and high attention is always paid to traffic safety at home and abroad because the traffic safety is related to the life safety of everyone, the traffic safety is particularly closely related to drivers, the drivers are used as main participants of traffic activities, accidents caused by the responsibility of the drivers account for 70% of total accidents, and the research of the U.S. road safety organization shows that: about 50% of automobile traffic accidents are caused by the fact that an automobile deviates from a normal driving lane, and lane deviation is also regarded as a main cause of vehicle rollover accidents, so that the hazard of lane deviation is very large, and the safety problem during lane change of the vehicle is a special case of lane deviation and needs to be paid sufficient attention.

Therefore, how to solve the problems can monitor the state of the vehicle in the lane in real time, identify the safety state and give an early warning when changing lanes, remind the driver in time, assist the driver to reduce traffic accidents of the vehicle caused by lane departure, provide more response time for the driver, and greatly reduce collision accidents caused by lane departure, which is a problem which is urgently needed to be solved at present.

Disclosure of Invention

In order to solve the above problems, the present invention provides the following technical solutions:

on one hand, the invention provides an automatic driving assistance system based on a 5G communication technology, which is characterized by comprising a lane left side monitoring unit, a lane right side monitoring unit, a lane visual recognition unit, an early warning prompting device and a 5G communication module which are all in signal connection with a vehicle-mounted ECU (electronic control Unit); the lane left side monitoring unit comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, and the lane right side monitoring unit comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module;

the system comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, wherein the left front distance monitoring module, the left middle distance monitoring module, the left rear distance monitoring module and the left rear speed measuring module are used for respectively monitoring the distance between an obstacle and the left front direction of a vehicle, the distance between the obstacle and the left middle direction, the distance between the obstacle and the left rear direction and the speed of a left lane passing through the vehicle; the lane visual recognition unit monitors the width of a lane where a vehicle is located and the real-time distance between the vehicle and a left lane line and a right lane line; the lane visual recognition unit, the lane left side monitoring unit and the lane right side monitoring unit preprocess monitoring data of monitoring modules in the respective units and send the preprocessed monitoring data to the vehicle-mounted ECU, and the vehicle-mounted ECU sends an operation analysis result to the early warning prompting device to send out early warning after operation analysis;

the 5G communication module is communicated with the cloud server by utilizing a 5G communication technology, map information, real-time road condition information and navigation route information aiming at the vehicle are provided for a driver in real time, and the automatic driving assistance system calls the basic data to provide data support for subsequent state recognition and operation analysis.

The lane visual recognition unit adopts the existing mature image recognition technology to recognize and collect parameters such as lane width, deviation direction, deviation distance and the like, and the functions realized by the lane visual recognition unit are the prior art.

Furthermore, at least one or more distance monitoring modules and speed measuring modules in each direction in the lane left side monitoring unit and the lane right side monitoring unit are arranged; when a plurality of the data are set, an average value or an effective value of the obtained plurality of data is used as the monitoring data.

Furthermore, the left rear speed measurement module and the left rear distance monitoring module are arranged near the same position, and the right rear speed measurement module and the right rear distance monitoring module are arranged near the same position, so that the monitoring data are the same time data.

Furthermore, the system also comprises a vehicle steering system in signal connection with the vehicle-mounted ECU, and the vehicle-mounted ECU outputs the result after operation analysis to the vehicle steering system besides outputting the early warning information to the early warning prompting device, so that data and parameters are provided for automatic correction of the vehicle steering system.

Further, the left front distance monitoring module, the left rear distance monitoring module, the right front distance monitoring module, the right rear distance monitoring module, the left rear speed measuring module and the right rear speed measuring module are arranged in the front, the monitoring direction is at a certain angle with the planes of the two sides of the vehicle, the left middle distance monitoring module and the right middle distance monitoring module are perpendicular to the planes of the two sides of the vehicle, the monitoring angles of the left rear distance monitoring module and the left rear speed measuring module are consistent, and the monitoring angles of the right rear distance monitoring module and the right rear speed measuring module are consistent.

Furthermore, the monitoring data required by the lane left side monitoring unit and the lane right side monitoring unit are acquired in real time by adopting a separately arranged distance monitoring module and a speed measuring module, or corresponding monitoring data in a vehicle own system is directly adopted.

Further, the vehicle-mounted ECU performs operation and analysis according to lane width, vehicle width, real-time distance between the vehicle and the left and right lane lines, vehicle speed and the distance monitoring data in each direction and the speed of the left and right lanes passing through the vehicle, and the specific operation and analysis mode is as follows:

the vehicle-mounted ECU receives a judgment result of the lane changing intention of the vehicle, enters a lane keeping early warning regulation mode if no lane changing intention exists, and enters a lane changing safety recognition early warning mode if the lane changing intention exists; the specific mode is as follows:

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

after intervention deviation adjustment, the output of the steering wheel corner real-time adjustment quantity control value is as follows:

wherein the content of the first and second substances,

the real-time distance between the vehicle and the lane line on the left side of the main lane is the real-time distance between the vehicle and the lane line on the left side of the main lane;

the lane width of the vehicle in the main lane;

is the width of the vehicle;

the sensitivity adjustment coefficient is a threshold value of the early warning distance when the lane deviates from the central line to the left side;

a sensitivity adjustment coefficient of a deviation adjustment distance threshold value when the deviation lane central line deviates to the left side;

is the unit time selected in the pattern algorithm;

an early warning condition threshold value of the deviation rate when the center line of the deviated lane deviates to the left side;

an intervention deviation adjusting threshold value of a deviation rate when a lane deviation center line deviates to the left side;

adjusting a control value of a steering wheel corner in real time after the steering wheel corner is subjected to deviation adjustment when the center line of a deviated lane deviates to the left side;

the sensitivity of the right-hand turning of the vehicle steering wheel, namely the angle proportion between the steering angle of the vehicle steering wheel and the steering wheel steering angle;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the real-time distance between the vehicle and the right lane line on the main lane is obtained;

the lane width of the vehicle in the main lane;

is the width of the vehicle;

the sensitivity adjustment coefficient is the sensitivity adjustment coefficient of the early warning distance threshold value when the center line of the deviated lane deviates to the right side;

a sensitivity adjustment coefficient of a deviation adjustment distance threshold value when the center line of the deviated lane deviates to the right side;

is the unit time selected in the pattern algorithm;

an early warning condition threshold value of the deviation rate when the center line of the deviated lane deviates to the right side;

an intervention deviation adjusting threshold value of a deviation rate when the center line of the deviated lane deviates to the right side;

adjusting a control value of a steering wheel corner in real time after intervention deviation adjustment when the center line of a deviated lane deviates to the right side;

the sensitivity of the left-hand turning of the vehicle steering wheel, namely the angle proportion between the steering angle of the vehicle steering wheel and the steering wheel steering angle;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

and (3) control strategy: when the driving state of the vehicle meets the lane departure early warning condition, a lane keeping early warning mode is started, early warning information is prompted to a driver, the lane keeping state of the vehicle in the driving process is monitored in real time, when the lane departure state is not improved and is more serious, namely after the condition of intervention departure adjustment is met, a control program intervenes to adjust the steering wheel corner, a real-time adjustment quantity control value of the steering wheel corner is output, the position of the vehicle in a lane line is continuously corrected until the condition of intervention departure adjustment is not met, and the intervention program is ended;

(2) lane-changing safety identification early warning mode

In the mode, the safety state and the early warning level are identified according to the running speed of the vehicle on the left lane or the right lane, the passing time of the vehicle entering the lane change safety region and the safety distance grade, and the method specifically comprises the following steps:

when the vehicle is ready to change lane to the left lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein，

Monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

monitoring data of the left rear distance monitoring module;

a time threshold is pre-warned for the left lane;

the static error time after the sensor calibration of the left rear and left front distance monitoring modules;

an included angle between the detection direction of the left front distance monitoring module and a parallel line on the left side of the vehicle is formed;

an included angle between the detection direction of the right front distance monitoring module and a parallel line on the left side of the vehicle is formed;

the layout distance between the left front distance monitoring module and the left rear distance monitoring module is set;

detecting left side for left rear tachometer moduleSpeed of the vehicle passing by the lane;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

In a time period, when the left front distance monitoring module detects that the vehicle passes and meets a first early warning level identification condition, the fact that the vehicle normally passes in a left lane changing monitoring range is indicated, and the system outputs vehicle safety state information to an early warning prompting device, so that a driver can obtain the current safety state information of the vehicle;

b. the left rear distance monitoring module detects that the vehicle passes

In the period, the distance monitoring module before left side does not detect the vehicle and passes through, then divide following two kinds of situations:

in the condition 1, if the left middle distance monitoring module monitors that a vehicle is in a left lane changing monitoring range, the early warning information is sent to an early warning prompting device according to the early warning level identification condition, and a driver is early warned;

in case 2, if the left middle distance monitoring module does not monitor that the vehicle is in the left lane change monitoring range, whether the left rear distance monitoring module monitors the vehicle is checked;

at this time, if the left rear distance monitoring module has monitored the vehicle, and

if yes, the vehicle is decelerating to leave the lane changing area in the left lane changing monitoring range;

if yes, the vehicle runs at the same speed in the left lane changing monitoring range;

at the moment, if the left rear distance monitoring module does not monitor the vehicles, the fact that the vehicles change lanes in the sensor blind area or the monitoring range is shown;

according to the judgment rules, the system outputs corresponding early warning information to an early warning prompting device, so that a driver can obtain the current early warning information of the vehicle;

c. under other conditions, the vehicle is identified and pre-warned according to the pre-warning level identification condition, and pre-warning information is output to the pre-warning prompting device, so that the driver can obtain the current pre-warning information of the vehicle;

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

static error time after sensor calibration of the rear right and front right distance monitoring modules;

the included angle between the detection direction of the left rear distance monitoring module and the parallel line on the right side of the vehicle is determined;

an included angle between the detection direction of the right rear distance monitoring module and a parallel line on the right side of the vehicle is formed;

the layout distance between the right front distance monitoring module and the right rear distance monitoring module is set;

detecting the speed of the right lane passing through the vehicle by the right rear speed measurement module;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

In a time period, the right front distance monitoring module detects that the vehicle passes through and meets a first early warning level identification condition, then the right side lane changing monitoring range is indicated, the vehicle normally passes through, and the system outputs vehicle safety state information to the early warning prompting device, so that a driver obtains the current safety state of the vehicleState information;

b. the right rear distance monitoring module detects the vehicle passing

In the period, the distance monitoring module before the right side does not detect that the vehicle passes through, then divide following two kinds of situations:

in case 1, if the right-middle distance monitoring module monitors that a vehicle is in the right lane change monitoring range, the early warning information is sent to an early warning prompting device according to the early warning level identification condition, and a driver is warned;

in case 2, if the right middle distance monitoring module does not monitor that the vehicle is in the right lane change monitoring range, checking whether the right rear distance monitoring module monitors the vehicle;

at this time, if the right rear distance monitoring module has monitored the vehicle, and

if yes, the vehicle is decelerating to leave the lane changing area in the right lane changing monitoring range;

if so, indicating that the vehicles run at the same speed in the right lane changing monitoring range;

at the moment, if the right rear distance monitoring module does not monitor the vehicle, it indicates that the vehicle is in the sensor blind area or has changed the lane in the monitoring range in the right lane changing monitoring range;

description of the drawings: the early warning prompting device can perform early warning on a driver in various modes such as vibration, sound and images, different early warning modes correspond to early warning information in different display modes, the early warning information comprises early warning information of corresponding levels in various modes, and vehicle safety state information comprises non-early warning information such as whether a vehicle is in a safety range of lane keeping and whether lane change monitoring areas on the left side and the right side are safe; the left and right sides trade the monitoring area, specifically indicate: the left lane changing area is a left lane monitoring range formed by a left front distance monitoring module, a left middle distance monitoring module and a left rear distance monitoring module; the right lane changing area is a right lane monitoring range formed by a right front distance monitoring module, a right middle distance monitoring module and a right rear distance monitoring module; the sensor blind area refers to that a part of the detected object is out of the monitoring range of the sensor due to too small overall size of the detected object or too long arrangement distance between the sensors, in this case, the range which can not be monitored by the sensor is the sensor blind area, and the sensor blind area is generally positioned between the distance monitoring modules or between the sensors in the distance monitoring modules; the early warning information includes specific position parameters, speed parameters and the like of other vehicles or obstacles in the lane change monitoring range on the left side and the right side of the host vehicle, such as the positions and the speeds of the other vehicles or the obstacles, and information of relative positions, distances, relative speeds and the like of the host vehicle.

Description of the drawings: the first early warning level to the third early warning level are from low to high, and the higher the level is, the higher the danger degree is; the first early warning level is a safe state, and the second early warning level and the third early warning level are unsafe states; the vehicle speed monitoring system comprises a left front distance monitoring module, a left rear distance monitoring module, a right front distance monitoring module, a right rear distance monitoring module, a left rear speed measuring module and a right rear speed measuring module, wherein the mounting positions of the left front distance monitoring module, the left rear distance monitoring module, the right rear distance monitoring module, the left rear speed measuring module and the right rear speed measuring module are respectively provided with a certain angle with the plane of a vehicle; if and only if

Or

When the temperature of the water is higher than the set temperature,

or

It is significant to indicate that the left or right lane monitoring range has normal vehicles passing through.

In another aspect, the present invention further provides an automatic driving assistance method based on a 5G communication technology, where the method is applied to any one of the automatic driving assistance systems, and the method includes:

the system comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, wherein the left front distance monitoring module, the left middle distance monitoring module, the left rear distance monitoring module and the left rear speed measuring module are used for respectively monitoring the distance between an obstacle and the left front direction of a vehicle, the distance between the obstacle and the left middle direction, the distance between the obstacle and the left rear direction and the speed of the left lane passing through the vehicle, and transmitting data back;

the system comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module, wherein the right front distance monitoring module, the right middle distance monitoring module, the right rear distance monitoring module and the right rear speed measuring module are used for respectively monitoring the distance between an obstacle and the right front direction of a vehicle, the distance between the obstacle and the right middle direction, the distance between the obstacle and the right rear direction and the speed of the right lane passing through the vehicle, and transmitting data;

the lane visual recognition unit monitors the width of a lane where a vehicle is located and the real-time distance between the vehicle and a left lane line and a right lane line;

the 5G communication module is communicated with the cloud server by utilizing a 5G communication technology, map information, real-time road condition information and navigation route information aiming at the vehicle are provided for a driver in real time, and the automatic driving auxiliary system calls the basic data to provide data support for subsequent state recognition and operation analysis;

the lane visual recognition unit, the lane left side monitoring unit and the lane right side monitoring unit are used for preprocessing monitoring data of monitoring modules in the respective units and then sending the preprocessed monitoring data to the vehicle-mounted ECU in real time;

the system judges whether the driver has the intention of changing lanes or not and sends the judgment result to the vehicle-mounted ECU, and the vehicle-mounted ECU sends the early warning information and the vehicle safety state information to the early warning prompting device after operation and analysis so that the driver can obtain the current early warning information and the vehicle safety state information;

the result of the vehicle-mounted ECU after operation and analysis can be output to an early warning prompting device, and data can be shared with other driving auxiliary systems on the vehicle, so that cooperative work is realized.

Description of the drawings: the system judges whether the driver has the intention of changing the lane, and can judge whether the intention of changing the lane exists by adopting the prior art, for example, monitoring whether the driver turns on the operation of a steering lamp;

further, in the method, the vehicle-mounted ECU performs operation analysis according to lane width, vehicle width, real-time distance between the vehicle and the left and right lane lines and vehicle speed, and by combining the monitoring data of the distance in each direction and the speed of the left and right lanes passing through the vehicle, and the specific operation analysis mode is as follows:

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

wherein，

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

for the width of the vehicle in the main lane；

Is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

(2) lane-changing safety identification early warning mode

when the vehicle is ready to change lane to the left lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

monitoring data of the left rear distance monitoring module;

a time threshold is pre-warned for the left lane;

is a left front distance monitoring module and a left rear distanceThe arrangement distance between the monitoring module and the ground;

detecting the speed of the left lane passing through the vehicle for the left rear speed measuring module;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

b. the left rear distance monitoring module detects that the vehicle passes

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

In a time period, the right front distance monitoring module detects that the vehicle passes and meets a first early warning level identification condition, if the right lane changing monitoring range is met, the fact that the vehicle normally passes is indicated, and the system outputs vehicle safety state information to an early warning prompting device, so that a driver can obtain the current safety state information of the vehicle;

b. the right rear distance monitoring module detects the vehicle passing

Description of the drawings: the first early warning level to the third early warning level are from low to high, and the higher the level is, the higher the danger degree is; the first early warning level is a safe state, and the second early warning level and the third early warning level are unsafe states; left front distance monitoring module, left back distance monitoring module, right front distance monitoring module, right back distance monitoring module, left back speed measuring module and right back speed measuring module, the mounted position all has certain angle with the vehicle plane, left middle distance monitoring module and right middle distance monitoring module, the mounted position is perpendicular with the vehicle plane, in order to make the monitoring constantly unanimous, left back distance monitoring module and left back distance monitoring moduleThe rear speed measurement module has the same monitoring angle, and the right rear distance monitoring module and the right rear speed measurement module have the same monitoring angle; if and only if

Or

When the temperature of the water is higher than the set temperature,

or

In addition, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the automatic driving assistance method as described above, the steps of:

(1) starting the system, carrying out electric inspection on each part in the system, and entering a control program of the system after the starting detection is passed;

(2) the system enters a real-time monitoring state, a front left distance monitoring module, a middle left distance monitoring module, a rear left distance monitoring module and a rear left speed measuring module respectively monitor the distance between an obstacle and the left front direction of the vehicle, the distance between the obstacle and the left middle direction, the distance between the obstacle and the left rear direction and the speed of the left lane passing through the vehicle, and transmit data back to the left monitoring unit in real time; the system comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module, wherein the right front distance monitoring module, the right middle distance monitoring module, the right rear distance monitoring module and the right rear speed measuring module are used for respectively monitoring the distance between an obstacle and the right front direction of a vehicle, the distance between the obstacle and the right middle direction, the distance between the obstacle and the right rear direction and the speed of the right lane passing through the vehicle, and transmitting data; the lane visual recognition unit monitors the width of a lane where a vehicle is located and the real-time distance between the vehicle and a left lane line and a right lane line;

(3) the 5G communication module is communicated with the cloud server by utilizing a 5G communication technology, map information, real-time road condition information and navigation route information aiming at the vehicle are provided for a driver in real time, and the automatic driving auxiliary system calls the basic data to provide data support for subsequent state recognition and operation analysis;

(4) the lane visual recognition unit, the lane left side monitoring unit and the lane right side monitoring unit are used for preprocessing monitoring data of monitoring modules in the respective units and then sending the preprocessed monitoring data to the vehicle-mounted ECU in real time;

(5) the system judges whether the driver has the intention of changing lanes or not and sends the judgment result to the vehicle-mounted ECU, and the vehicle-mounted ECU sends the early warning information and the vehicle safety state information to the early warning prompting device after operation and analysis so that the driver can obtain the current early warning information and the vehicle safety state information;

(6) the result of the vehicle-mounted ECU after operation and analysis can be output to an early warning prompting device, and data can be shared with other driving auxiliary systems on the vehicle, so that cooperative work is realized.

The system operation principle, control method and mode strategy are the same as those described in the above-mentioned automatic driving assistance method, and are not described herein again.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention monitors the safety state of the left and right lanes of the vehicle on the whole, monitors the safety states of the left and right lanes related to the lane departure and lane change safety of the vehicle in real time by using a real-time monitoring and intelligent recognition algorithm and a control strategy, and outputs early warning information and correction data after operation and analysis, so that on one hand, the invention can early warn the driver in time and reduce the accident probability, and on the other hand, the invention can cooperate with other systems on the vehicle to carry out active correction, and has the functions of passive safety and active safety; the safety, the monitoring intelligence degree and the early warning level of the vehicle are greatly improved;

(2) the invention not only identifies the distance and relative position between the vehicle and the vehicle on the left and right lanes, but also identifies a special condition of a fatal blind area by using an algorithm and a control strategy in a lane-changing safety identification early-warning mode, namely, the vehicle enters a monitoring module or a sensor gap, runs synchronously with the vehicle, but cannot be monitored, and then lane changing is very dangerous;

(3) the invention can not only recognize the state and realize early warning, but also provide the monitoring data and the operation analysis result for other driving auxiliary systems for use, thereby not only sharing the data, but also working cooperatively, and realizing more accurate and efficient vehicle safety performance;

(4) the deviation state can be monitored before the vehicle reaches a large deviation degree, and correction quantity can be provided for a steering system before the deviation state is more serious, so that the deviation degree of the vehicle can be automatically corrected;

(5) the invention not only can find the state of the vehicle deviating from the lane and carry out early warning and correction in time, but also can identify various safety states and carry out early warning aiming at the special condition of lane changing of the vehicle;

(6) the distance monitoring modules are flexibly and conveniently arranged, and the monitoring and early warning range can be adjusted by adjusting the included angles between the monitoring modules and parallel lines on the left side and the right side of the vehicle, so that the vehicle type monitoring device can be conveniently adapted to vehicle types with different overall dimensions, and the application range of the vehicle type monitoring device is expanded;

(7) the driving habit can be monitored, the reference of the vehicle steering system monitoring can be used, and powerful data support is provided for monitoring and researching the driving habit and the working state of the steering system of a driver;

(8) each monitoring module can directly adopt the own sensor or monitoring data of the original vehicle which meets the function, thereby further reducing the cost, simplifying the system structure, being convenient for installation and realization and improving the working efficiency of the system;

(9) the control method of the system, namely the operational analysis mode of the vehicle-mounted ECU, not only considers lane width, vehicle width, real-time distance between the vehicle and the left and right lane lines and vehicle speed, but also combines the distance monitoring data of all directions and the speed of the left and right lanes passing through the vehicle, the method is scientific, the operational analysis accuracy is high, the mode setting is reasonable, the system can carry out intelligent monitoring, the dynamic response speed is high, the real-time performance is high, the control is timely, and the intelligent level in the aspect of automatic driving or auxiliary driving is improved to a higher level;

(10) aiming at the problem that continuous correction and excessive correction are easy to occur in system deviation adjustment after lane deviation in automatic driving assistance, the invention sets a lane keeping early warning adjustment mode

、

And

、

the two groups of adjustment coefficients are used for constraining deviation adjustment intervention conditions in combination with practical problems, and further segmenting and refining the intervention time and the ending time of a deviation adjustment program, so that the deviation adjustment method more accords with the actual conditions of vehicle running and driver operation on the premise of meeting the deviation adjustment function, and is more intelligent and humanized.

(11) The invention can further save cost and simplify the system by combining with a simplified scheme, and on the basis of meeting the complete function, the system is more optimized and practical in structure, more saved in cost and obviously improved in performance.

Drawings

For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic layout of the vehicle of the present invention;

FIG. 3 is a control flow diagram of the present invention.

In the figure: the system comprises a 1-left front distance monitoring module, a 2-left middle distance monitoring module, a 3-left rear distance monitoring module, a 4-right front distance monitoring module, a 5-right middle distance monitoring module, a 6-right rear distance monitoring module, a 7-vehicle left side parallel line, an 8-vehicle right side parallel line and a 9-lane visual identification unit.

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

Example 1

Referring to fig. 1, in a specific embodiment, the method of the present invention may be implemented in a manner of a vehicle-driving-guidance auxiliary system based on a 5G communication technology, where the system includes a lane left-side monitoring unit, a lane right-side monitoring unit, a lane visual recognition unit, an early warning device, and a 5G communication module, all of which are in signal connection with a vehicle-mounted ECU; the lane left side monitoring unit comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, and the lane right side monitoring unit comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module;

At least one or more distance monitoring modules and speed measuring modules in each direction in the lane left side monitoring unit and the lane right side monitoring unit are arranged; when a plurality of the data are set, an average value or an effective value of the obtained plurality of data is used as the monitoring data.

The left rear speed measuring module and the left rear distance monitoring module are arranged near the same position, and the right rear speed measuring module and the right rear distance monitoring module are arranged near the same position, so that the monitoring data are data at the same moment.

The system also comprises a vehicle steering system in signal connection with the vehicle-mounted ECU, and the vehicle-mounted ECU outputs the result after operation analysis to the vehicle steering system besides outputting the early warning information to the early warning prompting device, so that data and parameters are provided for automatic correction of the vehicle steering system.

Distance monitoring module, left back distance monitoring module, right front distance monitoring module, right back distance monitoring module, left back speed measuring module and right back speed measuring module, the monitoring direction all has certain angle with vehicle both sides plane, distance monitoring module and right middle distance monitoring module in the left side, the monitoring direction is perpendicular with vehicle both sides plane, left back distance monitoring module is unanimous with left back speed measuring module monitoring angle, right back distance monitoring module is unanimous with right back speed measuring module monitoring angle.

The monitoring data required by the lane left side monitoring unit and the lane right side monitoring unit are acquired in real time by adopting a distance monitoring module and a speed measuring module which are independently arranged, or corresponding monitoring data in a vehicle self-owned system are directly adopted.

Example 2

In a specific embodiment, as shown in fig. 1-2, the method of the present invention can be implemented in a manner of a vehicle-driving-guidance auxiliary system based on 5G communication technology, wherein the system includes a lane left side monitoring unit, a lane right side monitoring unit, a lane visual recognition unit, an early warning device and a 5G communication module, which are all in signal connection with a vehicle-mounted ECU; the lane left side monitoring unit comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, and the lane right side monitoring unit comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module;

The vehicle-mounted ECU performs operation and analysis according to lane width, vehicle width, real-time distance between a vehicle and a left lane line and a right lane line, vehicle speed and the distance monitoring data in all directions and the speed of the left lane and the right lane passing through the vehicle, and the specific operation and analysis mode is as follows:

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

for deviation and pitch adjustment when deviation of central line of deviated lane to right sideA sensitivity adjustment factor from a threshold;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

(2) lane-changing safety identification early warning mode

when the vehicle is ready to change lane to the left lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

monitoring data of the left rear distance monitoring module;

a time threshold is pre-warned for the left lane;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

In a time interval, the left front distance monitoring module detects that the vehicle passes through and meets a first early warning level identification condition, and then the condition indicates that the vehicle normally passes through in a left lane changing monitoring rangeThe system outputs the vehicle safety state information to the early warning prompting device, so that a driver can obtain the current safety state information of the vehicle;

b. the left rear distance monitoring module detects that the vehicle passes

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

for rear right and front right distance monitoringStatic error time after calibration of the sensors of the module;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

b. the right rear distance monitoring module detects the vehicle passing

Or

When the temperature of the water is higher than the set temperature,

or

It is significant to indicate that there is a normal vehicle in the monitoring range of the left or right laneAnd (4) passing the vehicle.

Example 3

A method applied to the automatic driving assist system according to embodiments 1 and 2, as shown in fig. 3, includes:

according to the method, a vehicle-mounted ECU performs operation and analysis according to lane width, vehicle width, real-time distance between a vehicle and a left lane line and a right lane line and vehicle speed, and distance monitoring data in all directions and the speed of the left lane and the right lane passing through the vehicle, wherein the specific operation and analysis mode is as follows:

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

(2) lane-changing safety identification early warning mode

when the vehicle is ready to change lane to the left lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

monitoring data of the left rear distance monitoring module;

a time threshold is pre-warned for the left lane;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

b. the left rear distance monitoring module detects that the vehicle passes

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

b. the right rear distance monitoring module detects the vehicle passing

Or

When the temperature of the water is higher than the set temperature,

or

In addition, the present invention can also be embodied by a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the automatic driving assistance method as described above, the steps of:

Example 4

This example is a simplified scheme based on the standard scheme of example 1 or example 2, and aims to reduce the number of system components, the system volume, the steps and the matching cost.

The main simplification is as follows:

scheme 1: if the vehicle is provided with all or part of monitoring modules or sensors at all distances in all directions in the system, all or part of the modules in the left side monitoring unit and the right side monitoring unit of the lane can be eliminated under the condition of meeting the system monitoring requirement and the data precision requirement, and the collected monitoring data on the vehicle is directly adopted, so that the system cost is saved, the number of system parts is reduced, and the installation is simplified;

scheme 2: in order to further improve the integration degree of the system, the existing operation controller which meets the functions of the vehicle-mounted ECU on the vehicle can be adopted, the algorithm and the control strategy in the operation analysis mode of the invention are added into the original control system to be used as a subsystem for operation, so that the cost can be saved, the installation is simplified, and the system has higher operation response speed and higher code execution efficiency due to the simultaneous improvement of the integration degree and the matching degree;

scheme 3: each component in the system relates to a part of data I/O, and a processing chip or an integrated circuit board with an AD converter and a DA converter can be adopted as much as possible on the premise of meeting the requirement, so that frequent conversion between analog data and digital data can be omitted, the input data can be directly processed and used no matter whether the input data is analog data or digital data, the quantity and the volume of parts are reduced, and the response speed of the system is improved;

the other related contents are the same as those described in embodiment 1 or 2, and are not described herein. The simplified schemes can be used independently or in combination of multiple schemes.

、

And

、

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An automatic driving assistance system based on a 5G communication technology is characterized by comprising a lane left side monitoring unit, a lane right side monitoring unit, a lane visual recognition unit, an early warning prompting device and a 5G communication module which are in signal connection with a vehicle-mounted ECU (electronic control Unit); the lane left side monitoring unit comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, and the lane right side monitoring unit comprises a right front distance monitoring module, a right middle distance monitoring module, a right rear distance monitoring module and a right rear speed measuring module;

the system comprises a left front distance monitoring module, a left middle distance monitoring module, a left rear distance monitoring module and a left rear speed measuring module, wherein the left front distance monitoring module, the left middle distance monitoring module, the left rear distance monitoring module and the left rear speed measuring module are used for respectively monitoring the distance between an obstacle and the left front direction of a vehicle, the distance between the obstacle and the left middle direction, the distance between the obstacle and the left rear direction and the speed of a left lane passing through the vehicle; the lane visual recognition unit monitors the width of a lane where a vehicle is located and the real-time distance between the vehicle and a left lane line and a right lane line; the lane visual recognition unit, the lane left side monitoring unit and the lane right side monitoring unit preprocess monitoring data of monitoring modules in the respective units and send the preprocessed monitoring data to the vehicle-mounted ECU, and the vehicle-mounted ECU sends an operation analysis result to the early warning prompting device after operation analysis, so that a driver can obtain early warning information and vehicle safety state information;

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

deviation when deviating from the central line of the lane to the rightAn intervening departure from rate adjustment threshold;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

(2) lane-changing safety identification early warning mode

when the vehicle is ready to change lane to the left lane

First early warning level recognition condition:

；

Second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

monitoring data of the left rear distance monitoring module;

a time threshold is pre-warned for the left lane;

is a left rear and left front distance monitoring moduleThe static error time after sensor calibration;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

b. the left rear distance monitoring module detects that the vehicle passes

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

b. the right rear distance monitoring module detects the vehicle passing

c. under other conditions, the vehicle early warning system carries out identification and early warning according to the early warning level identification conditions, and outputs early warning information to the early warning prompting device, so that the driver can obtain the current early warning information of the vehicle.

2. The automatic driving assistance system based on the 5G communication technology as claimed in claim 1, wherein at least one or more distance monitoring modules and speed measuring modules are arranged in each direction of the lane left side monitoring unit and the lane right side monitoring unit; when a plurality of the data are set, an average value or an effective value of the obtained plurality of data is used as the monitoring data.

3. The automatic driving assistance system based on 5G communication technology as claimed in claim 1, wherein the left rear speed measurement module and the left rear distance monitoring module are disposed near the same location, and the right rear speed measurement module and the right rear distance monitoring module are disposed near the same location, so that the monitored data are the same time data.

4. The automatic driving assistance system based on the 5G communication technology as claimed in claim 1, wherein the system further comprises a vehicle steering system in signal connection with the vehicle-mounted ECU, and the vehicle-mounted ECU outputs the result after the operation and analysis to the vehicle steering system in addition to the early warning information to the early warning prompting device, so as to provide data and parameters for automatic correction of the vehicle steering system.

5. The automatic driving assistance system based on 5G communication technology of claim 1, wherein the left front distance monitoring module, the left rear distance monitoring module, the right front distance monitoring module, the right rear distance monitoring module, the left rear speed measuring module and the right rear speed measuring module are arranged in a manner that the monitoring directions are at a certain angle with respect to the planes of the two sides of the vehicle, the monitoring directions of the left middle distance monitoring module and the right middle distance monitoring module are perpendicular to the planes of the two sides of the vehicle, the monitoring angles of the left rear distance monitoring module and the left rear speed measuring module are consistent, and the monitoring angles of the right rear distance monitoring module and the right rear speed measuring module are consistent.

6. The automatic driving assistance system based on the 5G communication technology as claimed in claim 1, wherein the monitoring data required by the lane left side monitoring unit and the lane right side monitoring unit are acquired in real time by using a separately arranged distance monitoring module and a speed measuring module, or corresponding monitoring data in a vehicle-owned system is directly used.

7. An automatic driving assistance method based on 5G communication technology, characterized in that the method is applied to the automatic driving assistance system according to any one of claims 1 to 6, and the method comprises:

8. The automatic driving assistance method based on the 5G communication technology according to claim 7, wherein the specific operational analysis of the vehicle-mounted ECU is as follows:

(1) lane keeping early warning adjustment mode

When deviating from the center line of the lane to the left side

Early warning of start conditions：

Conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for right-hand rotation of a vehicle steering wheel;

② when the center line of the deviated lane deviates to the right side

Early warning starting conditions:

conditions for intervention deviation adjustment:

wherein the content of the first and second substances,

the lane width of the vehicle in the main lane;

is the width of the vehicle;

is the unit time selected in the pattern algorithm;

real-time vehicle speed for the vehicle;

a corner static error for left-hand rotation of the vehicle steering wheel;

(2) lane-changing safety identification early warning mode

when the vehicle is ready to change lane to the left lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

left lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the left front distance monitoring module;

monitoring data of the left middle distance monitoring module;

is the left rearMonitoring data of the distance monitoring module;

a time threshold is pre-warned for the left lane;

the control strategy is as follows:

a. the left rear distance monitoring module detects that the vehicle passes

In a time interval, the left front distance monitoring module detects that the vehicle passes through and meets a first early warning level identification condition, and then the condition indicates that the vehicle normally passes through and the system outputs in a left lane changing monitoring rangeThe vehicle safety state information is sent to an early warning prompting device, so that a driver can obtain the current safety state information of the vehicle;

b. the left rear distance monitoring module detects that the vehicle passes

② when the vehicle is ready to change lane to right lane

First warning level identification condition:

；

second early warning level recognition condition:

；

third early warning level recognition condition:

；

right lane early warning time threshold:

wherein the content of the first and second substances,

monitoring data of the right front distance monitoring module;

monitoring data of the right-middle distance monitoring module;

monitoring data of the right rear distance monitoring module;

a right lane early warning time threshold;

the control strategy is as follows:

a. the right rear distance monitoring module detects the vehicle passing

b. the right rear distance monitoring module detects the vehicle passing

Within a time period, rightThe front distance monitoring module does not detect that the vehicle passes through, then divide following two kinds of condition:

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the automatic driving assistance method based on the 5G communication technology according to any one of claims 7 to 8.