CN112665538B - Vehicle autonomous navigation transverse ranging system and method - Google Patents
Vehicle autonomous navigation transverse ranging system and method Download PDFInfo
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Abstract
The invention discloses a vehicle autonomous navigation transverse ranging system and a method, wherein the system comprises the following steps: a special lane in which the vehicle runs; a reference surface provided on the dedicated lane and extending along a plurality of predetermined paths; a distance sensor for measuring a lateral distance in a traveling direction between the vehicle and the reference surface; a vehicle-mounted controller; the on-board controller includes a memory for storing a plurality of predetermined paths and a controller for correcting any lateral deviation of the vehicle from the predetermined paths by controlling the vehicle steering system in response to an output from the distance sensor. The distance between the vehicle and the reference surface can be accurately determined, normal running of the vehicle is guaranteed, and the stability and reliability of navigation are improved.
Description
Technical Field
The present invention relates to the field of automatic navigation technology, and more particularly, to a system and method for measuring a lateral distance of a vehicle traveling along a predetermined path.
Background
In general, personal Rapid Transit (PRT) includes a dedicated track that travels between stations. Each vehicle carries only one passenger or a group of passengers, and the vehicle runs continuously between a starting point and a destination without stopping at an intermediate station. PRT systems thus provide a compromise between traditional public transportation systems (such as buses, trains and subway systems) and individual buses.
The PRT is an autonomous vehicle navigation lateral ranging system which is imperative to ensure that unmanned individual fast traffic vehicles run stably and efficiently by means of a mode that a high rail is elevated above daily traffic, for example, an unmanned vehicle which is suitable for running on a rail.
Disclosure of Invention
In view of the above, the invention provides a vehicle autonomous navigation transverse ranging system and a vehicle autonomous navigation transverse ranging method, which can realize autonomous navigation, ensure normal running of a vehicle and improve the stability and reliability of navigation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a vehicle autonomous navigation lateral ranging system comprising:
a special lane in which the vehicle runs;
a reference surface provided on the dedicated lane and extending along a plurality of predetermined paths;
a distance sensor for measuring a lateral distance in a traveling direction between the vehicle and the reference surface; and
a vehicle-mounted controller;
the on-board controller includes a memory for storing a plurality of predetermined paths and a controller for correcting any lateral deviation of the vehicle from the predetermined paths by controlling the vehicle steering system in response to the output from the distance sensor.
The term "steering system" is intended to include any type of mechanism, device or control device capable of steering or guiding a vehicle along a path in response to an output or control signal from a controller, the vehicle being a wheeled vehicle, the steering system comprising steerable wheels and a steering mechanism that controls the steering direction of the steerable wheels.
Preferably, the distance sensor is a non-contact distance sensor, including an ultrasonic distance sensor, a laser distance sensor, or a radar distance sensor. The distance sensors are arranged in at least two groups, two of the distance sensors in each group are symmetrically arranged on the left side and the right side of the vehicle and are arranged in the middle, and a plurality of groups of the distance sensors are respectively and correspondingly arranged in the middle of or near the front end and the rear end of the vehicle.
For example, two or four sets of distance sensors may be provided, each located at or near a corner of the vehicle and facing sideways of the longitudinal axis of the vehicle. Two distance sensors are provided on each side of the vehicle, with a gap large enough to detect the angular position of the vehicle center axis relative to the reference plane.
Preferably, the curb is surrounded on both sides of the dedicated lane. The curb may provide a reference surface that is sensed by the distance sensor. The kerbs may be interrupted at intersections to enable the vehicle to move between the lanes of the application.
The term "dedicated lane" is intended to include any track, road or pavement on which a vehicle may travel, dedicated or otherwise. The system includes a dedicated lane having a generally flat running surface of the vehicle, laterally defined by a curb or other overhead structure.
Depending on the expected operating speed of the vehicle and the layout of the intersection, the vehicle may lean or lean over the lane turn. The distance sensor preferably detects a lateral distance of the sensor from the curb or the edge of the special lane in the direction of travel of the vehicle.
Or each distance sensor may be continuously operative to sense the distance from the distance sensor to the roadside, thereby enabling the controller to continuously correct for any lateral deviation from the predetermined path.
The difference or error between the actual position of the vehicle detected by the distance sensor and the ideal position of the vehicle determined by the predetermined path may be used to correct lateral deviations of the vehicle from the predetermined path and alignment of the vehicle with the predetermined path.
Preferably, at least one reference mark is provided at a known location in the predetermined path, the reference mark being positionable at intervals along the predetermined path for determining the actual position of the vehicle on the predetermined path. The reference mark may be a reflectivity change of a protrusion or undercut provided by the curb side. The controller may compare the actual position of the vehicle on the predetermined path (as determined by the reference mark) with an estimated position derived from the stored predetermined path by a distance travelled measuring device (e.g. an odometer) and may reset the position of the vehicle along the predetermined path accordingly.
Preferably, a further remote control device remote from the vehicle may also be provided, which device may communicate wirelessly with the onboard controller of the vehicle. The vehicle-mounted controller is particularly a remote control device and can be controlled or partially controlled, so that the vehicle is remotely controlled.
Preferably, the remote control device may override the control of the on-board controller to start or stop the vehicle, for example for use by a system operator supervising the vehicle network in an emergency.
A method for lateral ranging of a vehicle autonomous navigation system, comprising the steps of:
step 1: selecting one of a plurality of predetermined paths stored in a memory;
step 2: each group of distance sensors positioned on the left side and the right side of the vehicle sense the transverse distance between the vehicle and the reference surface;
step 3: the controller calculates the width of the lane at the current estimated position based on the lateral distance sensed by each of the distance sensors on the opposite sides of the vehicle, and compares the calculated width of the lane with the stored width of the lane to check the integrity of the roadside distance value provided by the distance sensor. The set of distance sensor measurements is considered valid if the error between the sensed width of the lane and the stored width of the lane is within a given first tolerance.
If the error exceeds a given first tolerance, the controller may compare the sensed distance of each sensor of the set to a stored estimated distance value. If the error of a given sensor is within a given second tolerance, the sensor measurement is deemed valid. If exceeded, the sensor measurement will be deemed invalid. The controller may ignore any identified invalid measurements and control the vehicle based on the valid measurements obtained.
The steps have the advantages that: the abnormal sensor output caused by garbage or other materials accumulated on the special lane is ignored, and the operation of the vehicle navigation system is not affected.
Compared with the prior art, the invention discloses the transverse ranging system and the method for autonomous navigation of the vehicle, which can accurately determine the distance between the vehicle and the reference plane, ensure the normal running of the vehicle and improve the stability and reliability of navigation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a vehicle autonomous navigation lateral distance measurement system according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the present invention.
FIG. 3 is a flow chart of a method for lateral ranging for a vehicle autonomous navigation system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
An embodiment of the present invention discloses a vehicle autonomous navigation lateral ranging system, as shown in fig. 2, showing an unmanned Personal Rapid Transit (PRT) vehicle 10 traveling along a dedicated lane 11. Although only a portion of the length of a straight dedicated lane is shown, it forms part of a PRT network, including a plurality of vehicles and a plurality of stations connected by the dedicated lane.
There are four distance sensors on the vehicle 10. The distance sensors 5,6, 7, 8 are located at or near the middle of the front and rear ends of the vehicle 10. The distance sensors 5,6 are a group, are respectively arranged on the bilateral symmetry two sides of the vehicle, the distance sensors 5, 7 are positioned on one side of the vehicle 10, and the other two distance sensors 6, 8 are positioned on the other side of the vehicle 10. A distance sensor on each side of the vehicle 10 is used to detect the angular position of the vehicle relative to a reference plane. The farther the distance between the distance sensors 5 and 7 or 6 and 8 located on the vehicle side, the more accurate the determination of the angular position of the vehicle 10 relative to the reference plane.
Wherein the distance sensor may be a laser distance sensor or any other suitable distance sensor for sensing distance.
The direction of travel of the vehicle indicated by arrow a, the distance sensors 5,6, 7, 8 are connected to an on-board controller comprising a memory 4 and a controller 3, the memory 4 being adapted to store a plurality of predetermined paths, one of which may be selected by the occupant of the ride vehicle, the controller 3 being adapted to correct any lateral deviation of the vehicle from the predetermined paths by controlling the vehicle steering system in response to output from the distance sensors.
The lane 11 comprises surrounding by the kerbs 1, 2 running along both sides of the lane, a reference surface 12, 13, the inner surface of which provides a reference. The distance to the reference surfaces 12, 13 can be measured by the distance sensors 5,6, 7, 8.
Preferably, the protruding portions identified on the sides of the curbs 1, 2 are positioned, as shown by reference numerals 14, 15, at known intervals along the dedicated lane 11. The reference marks 14, 15 are preferably symmetrically arranged on both sides of the dedicated lane 11, or only one reference mark may be arranged on one side of the dedicated lane 11. The distance sensors 5,6, 7, 8 are able to detect when they reach the reference marks 14, 15, because the sensing distance between each distance sensor and the reference surface changes when the distance sensor passes the reference marks, which the distance sensor can recognize as a step discontinuity in the distance signal it outputs.
In use, the vehicle 10 is stored in the memory 4 along a predetermined travel path of the dedicated lane 11. The predetermined path may be obtained from original lane design parameters or by manually guiding the vehicle along the lane 11 on a desired path while perceiving the path followed and recording the distance travelled. When the predetermined path is generated, reference distance sensor readings of the distance sensors 5,6, 7, 8 are stored, corresponding to different positions along the path. At the same time, road widths at different locations along the path are determined and stored.
An input device, such as a touch screen or keypad, is provided in or outside the vehicle to enable the passenger to select a travel destination. When the vehicle 10 is instructed to travel to the destination, the controller 3 controls the vehicle to reach the destination along an appropriate predetermined path or combination of predetermined paths. The distance sensors 5,6, 7, 8 measure the lateral distance of the distance sensor from the reference surface 12, 13 in the direction of travel a of the vehicle. When the controller 3 detects that the width of the lane calculated by the lateral distance deviates from the stored width of the lane, the control vehicle corrects any lateral deviation from the predetermined path detected by the distance sensors 5,6, 7, 8. Ideally, the vehicle 10 is travelling centrally along the dedicated lane 11, i.e. the predetermined path is equally spaced between the curbs 1, 2.
When the vehicle encounters a curve on the dedicated lane, the controller 3 will control the vehicle to pass the curve. If the vehicle follows the predetermined path accurately, this is confirmed by the outputs of the distance sensors 5,6, 7, 8, and no corrective action is required. However, if the vehicle deviates from the predetermined path, this will be detected by the output of the distance sensors 5,6, 7, 8 and a corrected steering input is generated.
When the distance sensors 5,6, 7, 8 detect the reference marks 14, 15, the control device 3 compares the actual position of the vehicle 10 in the predetermined path with the position calculated based on the measured distance traveled along the stored predetermined path. Any deviation or error in position is corrected by the controller 3.
As shown in fig. 3, a method for lateral ranging of a vehicle autonomous navigation system includes:
step 1: the controller 3 estimates the position of the vehicle 10 on the dedicated lane 12 according to a predetermined path.
Step 2: the controller 3 calculates the width of the lane at the estimated position from the output lateral distance of each group of distance sensors and compares it with the width of the lane stored in the memory 4;
if the sensed width of the lane and the stored width of the lane are within a given first tolerance, i.e., the road width error is not greater than the tolerance, then the distance sensor measurements of the set of distance sensors are deemed valid for calculating the lateral vehicle position;
specifically, in the present embodiment, two sets of data, that is, the lateral distance measured by the first set of distance sensors 5,6 and the lateral distance measured by the second set of distance sensors 7, 8 are output, and if the lane width calculated by the first set of distance sensors 5,6 is not greater than the first tolerance, the data of the distance sensors 5,6 are valid, whereas the second set of distance sensors 7, 8 is greater than the first tolerance, each sensor 7, 8 is individually compared.
If the error exceeds a given first tolerance, the controller compares the sensed distance of each distance sensor in each group to an estimated distance calculated by correcting stored predictor-mined reference distance readings from estimated vehicle lateral and directional errors of the reference path;
if the error of a given distance sensor is within a given second tolerance, i.e. less than the tolerance, the distance sensor measurement is valid. Otherwise, the measurement value of the distance sensor will be regarded as invalid, and the controller 3 ignores any invalid measurement value and determines the lateral position of the vehicle from the valid measurement value.
If the distance sensor fails or if refuse or other material accumulates on the dedicated lane 11, any erroneous distance sensor readings will be ignored and the operation of the vehicle navigation system will not be affected, ensuring accuracy of lateral ranging.
The invention is suitable for transverse ranging of the vehicle guiding system of the unmanned personal rapid transit vehicle, but the application scene is not particularly limited.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The vehicle autonomous navigation lateral distance measurement system is characterized by comprising:
a special lane in which the vehicle runs;
a reference surface provided on the dedicated lane and extending along a plurality of predetermined paths;
a distance sensor for measuring a lateral distance in a traveling direction between the vehicle and the reference surface; the distance sensors are arranged in at least two groups, each group of two distance sensors are symmetrically arranged on the left side and the right side of the vehicle and are arranged in the middle, and a plurality of groups of distance sensors are respectively and correspondingly arranged in the middle of or near the front end and the rear end of the vehicle; and
a vehicle-mounted controller;
the on-board controller includes a memory for storing a plurality of predetermined paths, and a controller for correcting any lateral deviation of the vehicle from the predetermined paths by controlling the vehicle steering system in response to the output from the distance sensor; the method comprises the following steps:
the controller calculates the width of the special lane at the current estimated position according to the lateral distance sensed by each group of distance sensors at the two corresponding sides of the vehicle;
comparing the calculated width of the lane with the stored width of the lane, and verifying whether each set of distance sensor distance measurements is within a first tolerance range;
if the set of distance sensor measurement data on the corresponding sides of the vehicle is valid within the first tolerance range, determining a lateral vehicle position based on the valid measurement values; otherwise, entering the next step:
comparing each of said distance sensor sensing distances in each set separately to stored estimated measurements to verify whether each of said distance sensor sensing distances is within a second tolerance range;
if the distance sensor measurement data is indicated to be valid within the second tolerance range, otherwise, the valid measurement data is not used to determine the vehicle lateral position.
2. The vehicle autonomous navigation lateral ranging system of claim 1, wherein the distance sensor is a non-contact distance sensor comprising an ultrasonic distance sensor, a laser distance sensor, or a radar distance sensor.
3. The vehicle autonomous navigation lateral ranging system of claim 1, further comprising a wireless communication module and a remote control device, the remote control device implementing remote control of the vehicle through the wireless communication module.
4. The vehicle autonomous navigational lateral distance measurement system of claim 1, wherein a curb is enclosed on both sides of the dedicated lane, the curb providing the reference surface sensed by the distance sensor.
5. The vehicle autonomous navigational lateral distance measurement system of claim 1, wherein at least one reference mark is provided at a known location in a predetermined path, said reference mark being identified by the distance sensor.
6. A method for lateral ranging of a vehicle autonomous navigation system, comprising the steps of:
step 1: selecting one of a plurality of predetermined paths stored in a memory;
step 2: each group of distance sensors positioned on the left side and the right side of the vehicle sense the transverse distance between the vehicle and the reference surface; step 2 includes multiple groups of distance sensors sensing multiple lateral distances simultaneously;
step 3: the controller compares the width of the lane calculated by the lateral distance with the stored width of the lane, and if there is a deviation, corrects any lateral deviation of the vehicle from the selected predetermined path;
the step 3 specifically comprises the following steps:
step 31: the controller calculates the width of the special lane at the current estimated position according to the lateral distance sensed by each group of distance sensors at the two corresponding sides of the vehicle;
step 32: comparing the calculated width of the lane with the stored width of the lane, and verifying whether each set of distance sensor distance measurements is within a first tolerance range;
if the set of distance sensor measurement data on the corresponding sides of the vehicle is valid within the first tolerance range, determining a lateral vehicle position based on the valid measurement values; otherwise, entering the next step:
step 33: comparing each of said distance sensor sensing distances in each set separately to stored estimated measurements to verify whether each of said distance sensor sensing distances is within a second tolerance range;
if the distance sensor measurement data is indicated to be valid within the second tolerance range, otherwise, the valid measurement data is not used to determine the vehicle lateral position.
7. The method for lateral ranging of a vehicle autonomous navigation system of claim 6, further comprising step 4: the actual position of the vehicle is calculated using the reference marks.
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