CN112590812A - Local path planning state switching method based on automatic driving - Google Patents
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4044—Direction of movement, e.g. backwards
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a local path planning state switching method based on automatic driving, which comprises the following steps of: s1, the decision vehicle normally runs along the lane under the automatic driving state; s2, sensing the surrounding environment and the surrounding road information in real time by a sensing system of the decision vehicle; s3, the vehicle-mounted computing unit judges whether to switch the path planning state according to the input information of the decision vehicle sensing system; s4, when the switching of the path planning state is not needed, the decision vehicle automatically drives to keep normal running; s5, interrupting the automatic driving system by switching to a manual takeover mode; s6, switching the local path planning state of the decision vehicle; s7, the decision vehicle monitors whether the vehicle reaches the destination through the sensing system, and the vehicle stops driving when reaching the destination; s8, the destination is not reached, and the step S2 is repeatedly executed. The invention relates to a switching method based on an automatic driving local path planning state, which aims to solve the problem that a local path planning method is difficult to adapt to automatic driving local path planning of an automobile with complexity and large calculation amount.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a local path planning state switching method based on automatic driving.
Background
The Chinese automobile driving automation is classified into 6 grades of 0-5 grades, wherein the conditional automatic driving is below 3 grades, the high automatic driving is at 4 grades, and the full automatic driving is at 5 grades.
Through research data, research on automatic driving is mainly focused in the fields of perception, decision, path planning and automatic control of the longitudinal direction and the transverse direction of a vehicle. In these research fields, path planning is mainly divided into global path planning and local path planning. In local path planning, an automatic driving vehicle mainly carries out local path planning in real time according to information sensed by the surrounding environment to plan a driving path of the vehicle.
At present, the local path planning method of the automatic driving vehicle is mainly a local path planning method of reference robot movement, but for the motion of the vehicle in a road complex environment, the local path planning method is difficult to be suitable for the automatic driving local path planning of the vehicle with complexity and large calculation amount.
Disclosure of Invention
In view of the above, the invention provides a method for switching states based on an automatic driving local path planning to solve the problem that the local path planning method is difficult to adapt to automatic driving local path planning of an automobile with complexity and large calculation amount.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for switching planning states based on an automatic driving local path comprises the following steps:
s1, the decision vehicle normally runs along the lane under the automatic driving state;
s2, sensing the surrounding environment and the surrounding road information in real time by a sensing system of the decision vehicle;
s3, the vehicle-mounted computing unit judges whether to make a decision for switching the path planning state according to the input information of the decision vehicle sensing system;
s4, when the switching of the path planning state is not needed, the decision vehicle automatically drives and keeps normal running, and the sensing system detects the surrounding environment information in real time;
s5, when the decision vehicle is in automatic driving, the decision vehicle interrupts the automatic driving system by switching to a manual take-over mode;
s6, when the path planning state needs to be switched, the decision vehicle switches the local path planning state;
s7, the decision vehicle monitors whether the destination is reached through the sensing system, and if the destination is reached, the decision vehicle stops driving;
and S8, if the destination is not reached, the decision vehicle environment sensing system continues to work, and the step S2 is repeatedly executed.
Further, the step of switching the local path planning state of the vehicle used in the step S6 specifically includes the following steps:
a: the vehicle-mounted computing unit computes the time distance between the decision vehicle and the obstacle according to the information input by the sensing system, and classifies the decision vehicle and the obstacle according to the time distance;
b: when the time interval is less than the preset value n1, the local path planning state is switched to an emergency braking state. At the moment, the vehicle stops and waits to avoid colliding with the barrier;
c: when the time interval is larger than a preset value n2, the local path planning state system decides that the vehicle normally runs at the moment;
d: and when the time distance n1 is less than or equal to n2, judging the type of the obstacle, and switching the local path planning state according to the judgment result.
Further, the switching of the local path planning state utilized in step D specifically includes the following steps:
step a: when the type of the obstacle is a motor vehicle, the local path planning state switching system switches states according to the vehicle speed and the driving direction of the obstacle;
step b: and when the type of the obstacle is a pedestrian or a static obstacle, the local path planning state switching system switches the state according to the driving area decision result and the adjacent lane identification result.
Further, the step a specifically comprises the following steps:
step a 1: when the driving directions of the decision vehicle and the barrier motor vehicle are opposite, the local path planning state switching system judges whether the decision vehicle can change the lane or not according to the information sensed around the sensor, if the system judges that the lane can be changed, the system switches to execute the obstacle avoidance path, and if the system judges that the lane can not be changed, the system sends a deceleration or parking instruction to the vehicle;
step a 2: when the speed of the barrier motor vehicle is greater than a preset value m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environment information, the decision vehicle drives with the vehicle, and the decision vehicle stably drives along with the barrier motor vehicle;
step a 3: when the speed of the obstacle motor vehicle is less than or equal to m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environmental information, the decision vehicle overtakes, the decision vehicle changes lanes in the overtaking process, and the decision vehicle returns to the original lane after passing the obstacle motor vehicle.
The step b specifically comprises the following steps:
step b 1: the local path planning state switching system calls a decision result of a driving feasible region of a front vehicle and an adjacent lane recognition result to judge whether the lane is changeable;
step b 2: if the local path planning state switching system judges that the path is changeable, the system is switched to a planned obstacle avoidance path;
step b 3: and if the local path planning state switching system judges that the lane is not changeable, the system is switched to a parking mode.
Compared with the prior art, the invention has the following advantages:
according to the method, the sensing system senses the surrounding environment and the surrounding road information in real time, and the vehicle-mounted computing unit judges whether to make a decision of switching the path planning state according to the input information of the vehicle sensing system, so that the more advanced, efficient and more convenient automatic driving local path planning is realized for different application scenes, the defect that the traditional local path planning system is single in applicable scene is overcome, and the method is suitable for complex road environments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a perception planning process of an automatic driving system according to an embodiment of the present invention;
fig. 2 is a schematic view of a local path planning process of an automatic driving system according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, a method for switching states based on an automatic driving local path planning includes the following steps:
s1, the decision vehicle normally runs along the lane under the automatic driving state;
s2, sensing the surrounding environment and the surrounding road information in real time by a sensing system of the decision vehicle;
s3, the vehicle-mounted computing unit judges whether to make a decision for switching the path planning state according to the input information of the decision vehicle sensing system;
s4, when the switching of the path planning state is not needed, the decision vehicle automatically drives and keeps normal running, and the sensing system detects the surrounding environment information in real time;
s5, when the decision vehicle is in automatic driving, the decision vehicle interrupts the automatic driving system by switching to a manual take-over mode;
s6, when the path planning state needs to be switched, the decision vehicle switches the local path planning state;
s7, the decision vehicle monitors whether the destination is reached through the sensing system, and if the destination is reached, the decision vehicle stops driving;
and S8, if the destination is not reached, the decision vehicle environment sensing system continues to work, and the step S2 is repeatedly executed.
As shown in fig. 2, the switching of the local path planning state by the vehicle used in step S6 specifically includes the following steps:
a: the vehicle-mounted computing unit computes the time distance between the decision vehicle and the obstacle according to the information input by the sensing system, and classifies the decision vehicle and the obstacle according to the time distance;
b: when the time interval is less than the preset value n1, the local path planning state is switched to an emergency braking state. At the moment, the vehicle stops and waits to avoid colliding with the barrier;
c: when the time interval is larger than a preset value n2, the local path planning state system decides that the vehicle normally runs at the moment;
d: and when the time distance n1 is less than or equal to n2, judging the type of the obstacle, and switching the local path planning state according to the judgment result.
As shown in fig. 2, the local path planning state switching utilized in step D specifically includes the following steps:
step a: when the type of the obstacle is a motor vehicle, the local path planning state switching system switches states according to the vehicle speed and the driving direction of the obstacle;
step b: and when the type of the obstacle is a pedestrian or a static obstacle, the local path planning state switching system switches the state according to the driving area decision result and the adjacent lane identification result.
As shown in fig. 2, step a specifically includes the following steps:
step a 1: when the driving directions of the decision vehicle and the barrier motor vehicle are opposite, the local path planning state switching system judges whether the decision vehicle can change the lane or not according to the information sensed around the sensor, if the system judges that the lane can be changed, the system switches to execute the obstacle avoidance path, and if the system judges that the lane can not be changed, the system sends a deceleration or parking instruction to the vehicle;
step a 2: when the speed of the barrier motor vehicle is greater than a preset value m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environment information, the decision vehicle drives with the vehicle, and the decision vehicle stably drives along with the barrier motor vehicle;
step a 3: when the speed of the obstacle motor vehicle is less than or equal to m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environmental information, the decision vehicle overtakes, the decision vehicle changes lanes in the overtaking process, and the decision vehicle returns to the original lane after passing the obstacle motor vehicle.
The step b specifically comprises the following steps:
step b 1: the local path planning state switching system calls a decision result of a driving feasible region of a front vehicle and an adjacent lane recognition result to judge whether the lane is changeable;
step b 2: if the local path planning state switching system judges that the path is changeable, the system is switched to a planned obstacle avoidance path;
step b 3: and if the local path planning state switching system judges that the lane is not changeable, the system is switched to a parking mode.
According to the method, the sensing system senses the surrounding environment and the surrounding road information in real time, and the vehicle-mounted computing unit judges whether to make a decision of switching the path planning state according to the input information of the vehicle sensing system, so that the more advanced, efficient and more convenient automatic driving local path planning is realized for different application scenes, the defect that the traditional local path planning system is single in application scene is overcome, and the method is suitable for complex road environments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A local path planning state switching method based on automatic driving is characterized in that: the method comprises the following steps:
s1, the decision vehicle normally runs along the lane under the automatic driving state;
s2, sensing the surrounding environment and the surrounding road information in real time by a sensing system of the decision vehicle;
s3, the vehicle-mounted computing unit judges whether to switch the path planning state according to the input information of the decision vehicle sensing system;
s4, when the switching of the path planning state is not needed, the decision vehicle automatically drives to keep normal running, and the sensing system detects the surrounding environment information in real time;
s5, when the decision vehicle is in automatic driving, the decision vehicle interrupts the automatic driving system by switching to a manual take-over mode;
s6, when the path planning state needs to be switched, the decision vehicle switches the local path planning state;
s7, the decision vehicle monitors whether the destination is reached through the sensing system, and if the destination is reached, the decision vehicle stops driving;
and S8, if the destination is not reached, the decision vehicle environment sensing system continues to work, and the step S2 is repeatedly executed.
2. The automatic driving local path planning-based state switching method according to claim 1, wherein: the switching of the local path planning state of the vehicle used in step S6 specifically includes the following steps:
a: the vehicle-mounted computing unit computes the time distance between the decision vehicle and the obstacle according to the information input by the sensing system, and classifies the decision vehicle and the obstacle according to the time distance;
b: when the time interval is less than the preset value n1, the local path planning state is switched to an emergency braking state. At the moment, the vehicle stops and waits to avoid colliding with the barrier;
c: when the time interval is larger than a preset value n2, the local path planning state system decides that the vehicle normally runs at the moment;
d: and when the time distance n1 is less than or equal to n2, judging the type of the obstacle, and switching the local path planning state according to the judgment result.
3. The automatic driving local path planning-based state switching method according to claim 2, wherein: the switching of the local path planning state utilized in the step D specifically includes the following steps:
step a: when the type of the obstacle is a motor vehicle, the local path planning state switching system switches states according to the vehicle speed and the driving direction of the obstacle;
step b: and when the type of the obstacle is a pedestrian or a static obstacle, the local path planning state switching system switches the state according to the driving area decision result and the adjacent lane identification result.
4. The automatic driving local path planning-based state switching method according to claim 3, wherein: the step a specifically comprises the following steps:
step a 1: when the driving directions of the decision vehicle and the barrier motor vehicle are opposite, the local path planning state switching system judges whether the decision vehicle can change the lane or not according to the information sensed around the sensor, if the system judges that the lane can be changed, the system switches to execute the obstacle avoidance path, and if the system judges that the lane can not be changed, the system sends a deceleration or parking instruction to the vehicle;
step a 2: when the speed of the barrier motor vehicle is greater than a preset value m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environment information, the decision vehicle drives with the vehicle, and the decision vehicle stably drives along with the barrier motor vehicle;
step a 3: when the speed of the obstacle motor vehicle is less than or equal to m and the driving direction is the same as that of the decision vehicle, the local path planning state switching system judges according to the existing environmental information, the decision vehicle overtakes, the decision vehicle changes lanes in the overtaking process, and the decision vehicle returns to the original lane after passing the obstacle motor vehicle.
5. The automatic driving local path planning-based state switching method according to claim 3, wherein: the step b specifically comprises the following steps:
step b 1: the local path planning state switching system calls a decision result of a driving feasible region of a front vehicle and an adjacent lane recognition result to judge whether the lane is changeable;
step b 2: if the local path planning state switching system judges that the path is changeable, the system is switched to a planned obstacle avoidance path;
step b 3: and if the local path planning state switching system judges that the lane is not changeable, the system is switched to a parking mode.
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| CN115016470A (en) * | 2022-05-30 | 2022-09-06 | 东风汽车集团股份有限公司 | Automatic driving local path planning optimization method and device based on learning |
| CN115903626A (en) * | 2022-12-27 | 2023-04-04 | 霍州煤电集团亿能电气股份有限公司 | Intelligent network connection control system of toothed rail vehicle |
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