CN112721930A - Vehicle cornering deceleration planning method, system, vehicle and storage medium - Google Patents

Vehicle cornering deceleration planning method, system, vehicle and storage medium Download PDF

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Publication number
CN112721930A
CN112721930A CN202110053462.XA CN202110053462A CN112721930A CN 112721930 A CN112721930 A CN 112721930A CN 202110053462 A CN202110053462 A CN 202110053462A CN 112721930 A CN112721930 A CN 112721930A
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China
Prior art keywords
vehicle
curve
deceleration
target speed
curvature
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CN202110053462.XA
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Chinese (zh)
Inventor
肖雄
刘秀鹏
梁锋华
谭秀全
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202110053462.XA priority Critical patent/CN112721930A/en
Publication of CN112721930A publication Critical patent/CN112721930A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Abstract

The invention discloses a vehicle bending deceleration planning method, a system, a vehicle and a storage medium, comprising the following steps: step 1, establishing a finished automobile coordinate system by taking a front protection center of a vehicle as a coordinate origin, a forward driving direction of the vehicle as an X axis and a vertical forward driving direction as a Y axis; step 2, planning a curve target speed V according to the road curvature input by the camera1Judging whether the current vehicle speed is greater than the target speed V of the curve1If greater than, the deceleration a is planned1(ii) a Otherwise, the vehicle runs normally; planning out a curve target speed V according to the road curvature input by the ADAS map2Judging whether the current vehicle speed is greater than the target speed V of the curve2If greater than, the deceleration a is planned2(ii) a Otherwise, the vehicle runs normally; step 3. for the planned deceleration a1And a2Arbitration takes place, the smaller of the two being output as the deceleration that is ultimately used for control. Book (I)The invention enhances the bending stability; after entering the curve, the vehicle can be controlled to safely pass through in real time.

Description

Vehicle cornering deceleration planning method, system, vehicle and storage medium
Technical Field
The invention belongs to the technical field of vehicle curve control, and particularly relates to a vehicle curve-passing deceleration planning method, a vehicle curve-passing deceleration planning system, a vehicle and a storage medium.
Background
With the popularization of automobiles in China becoming more and more extensive, traffic accidents occurring in curves have a remarkable growth trend every year, wherein the main reason for accidents is that drivers pay attention and the speed of the automobiles is too high. The prior control method for the vehicle passing through the curve speed, such as the vehicle curve deceleration method and device in patent document CN107571858A, adopts a single front camera to identify and acquire the road radius information. However, the front camera is limited by environmental influences, such as rain, fog, night, and road line abrasion on the road, and the road curvature output by the camera is not ideal. Meanwhile, due to the limitation of the visual field range of the camera, the phenomenon that the speed of the vehicle is not reduced timely or is reduced too much before the vehicle enters a curve is finally generated due to the fact that the distance in front of the road is short.
Therefore, there is a need to develop a new vehicle over-curve deceleration planning method, system, vehicle and storage medium.
Disclosure of Invention
The invention aims to provide a vehicle bending deceleration planning method, a vehicle bending deceleration planning system, a vehicle and a storage medium, which can enhance the stability of bending; after entering the curve, the vehicle can be controlled to safely pass through in real time.
In a first aspect, the invention provides a vehicle over-bending deceleration planning method, which comprises the following steps:
step 1, establishing a finished automobile coordinate system by taking a front protection center of a vehicle as a coordinate origin, a forward driving direction of the vehicle as an X axis and a vertical forward driving direction as a Y axis;
step 2, planning a curve target speed V according to the road curvature input by the camera1Judging whether the current vehicle speed is greater than the target speed V of the curve1If greater than, the deceleration a is planned1(ii) a Otherwise, the vehicle runs normally;
planning out a curve target speed V according to the road curvature input by the ADAS map2Judging whether the current vehicle speed is greater than the target speed V of the curve2If greater than, the deceleration a is planned2(ii) a Otherwise, the vehicle runs normally;
step 3. for the planned deceleration a1And a2Arbitration takes place, the smaller of the two being output as the deceleration that is ultimately used for control.
Further, in the step 2, a curve target speed V is planned according to the road curvature input by the camera1The method specifically comprises the following steps:
step 2-1, identifying the lane line through a front camera, and fitting lane line information by using a cubic polynomial, wherein the specific expression of the lane line is as follows: y = A0+A1*X+A2*X2+A3*X3；
Wherein Y is the transverse distance from the lane line to the front bumper center of the vehicle; x is the longitudinal distance from a point on the lane line to the front bumper center of the vehicle; a. the0The transverse distance from the current position of the vehicle to the lane line; a. the1Is a course angle coefficient; a. the2Is the lane line curvature coefficient; a. the3Is the coefficient of rate of change of the lane line curvature;
step 2-2, aiming time t is predicted according to the current vehicle speed1Position X of the vehiclet1，Xt1=V*t1；
Step 2-3. calculating t1Curvature C of the road at the moment1；
Step 2-4, for t1Curvature of moment C1Calculating the reciprocal to obtain the radius R of the curve1，R1=1/C1；
Step 2-5, based on the radius R of the curve1Determining a corresponding curve target speed V1。
Further, said C1The calculation method of (2) is as follows: c1=（2*A2+6*A3*Xt1）/（1+A1+2*A2*Xt1+3*A3*Xt1 2）3/2。
Further, in the step 2, a curve target speed V is planned according to the road curvature input by the ADAS map2The method specifically comprises the following steps:
step 2-1, outputting road curvature information in a certain range in front of the vehicle according to a fixed interval distance period after the ADAS map positions the current road position;
step 2-2, according to the current vehicle speedPreview time t2At the moment, i.e. X, where the vehicle is locatedt2=V*t2；
Step 2-3, determining at t according to curvature information output by ADAS map2Curve curvature of moment C2；
Step 2-4, for t2Curvature of moment C2Calculating the reciprocal to obtain the radius R of the curve2=1/C2；
Step 2-5, based on the radius R of the curve2Determining a corresponding curve target speed V2。
In a second aspect, the present invention provides a vehicle cornering deceleration planning system, which includes a memory and a controller, wherein the memory stores a computer readable program, and the controller, when invoking the computer readable program, can execute the steps of the vehicle cornering deceleration planning method according to the present invention.
In a third aspect, the invention provides a vehicle employing a vehicle over-curve deceleration planning system according to the invention.
In a fourth aspect, the present invention provides a storage medium including a memory and a controller, wherein the memory stores a computer readable program, and the controller can execute the steps of the vehicle over-bending deceleration planning method according to the present invention when the controller calls the computer readable program.
The invention has the following advantages: obtaining vehicle far-end road information and vehicle dynamic information according to the ADAS map to realize deceleration before the vehicle enters a bend and enhance the stability of the vehicle entering the bend; and obtaining the road information near the vehicle according to the front-view camera, and controlling the vehicle to safely pass in real time after entering a curve.
Drawings
FIG. 1 is a flowchart of the present embodiment;
FIG. 2 is a diagram of the electrical apparatus of the entire vehicle in the present embodiment;
fig. 3 is a schematic diagram of a coordinate system of the entire vehicle in the embodiment.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the electric appliance architecture of the whole vehicle includes an automatic driving system controller 1, an automatic driving system front radar 2, an automatic driving system front camera 3, an automatic driving system angle radar 4, an automatic parking system 5, a gateway 6, an ADAS map 7, an intelligent vehicle body controller 8, an instrument 9, a vehicle-mounted display 10, an electric power steering system 11, an electronic gear shifting system 12, an engine management system 13, a vehicle body stabilizing system 14, a transmission system 15, a corner sensor 16 and an automatic driving system switch 17.
As shown in fig. 2, a vehicle over-curve deceleration planning method includes the following steps:
step 1, taking the front bumper center of the vehicle as a coordinate origin, taking the forward driving direction of the vehicle as an X axis, and taking the vertical forward driving direction as a Y axis, establishing a coordinate system of the whole vehicle, namely the vehicle 18, a left lane line 19, a virtual center line 20 of the vehicle lane and a right lane line 21, and referring to fig. 3.
Step 2, planning a curve target speed V according to the road curvature input by the camera1Judging whether the current vehicle speed is greater than the target speed V of the curve1If greater than, the deceleration a is planned1(ii) a Otherwise, the vehicle runs normally;
planning out a curve target speed V according to the road curvature input by the ADAS map2Judging whether the current vehicle speed is greater than the target speed V of the curve2If greater than, the deceleration a is planned2(ii) a Otherwise, the vehicle runs normally;
step 3. for the planned deceleration a1And a2Performing arbitration, and outputting the smaller of the two as the final deceleration for control; the vehicle body stabilizing system 14 performs vehicle deceleration control according to the final deceleration to realize curve deceleration control of the vehicle, and the vehicle-mounted display 10 prompts deceleration information.
In this embodiment, in step 2, a curve target speed V is planned according to the road curvature input by the camera1The method specifically comprises the following steps:
step 2-1, identifying the lane line through a front camera, and fitting lane line information by using a cubic polynomial, wherein the specific expression of the lane line is as follows: y = A0+A1*X+A2*X2+A3*X3。
Wherein Y is the transverse distance from the lane line to the front bumper center of the vehicle; x is the longitudinal distance from a point on the lane line to the front bumper center of the vehicle; a. the0The transverse distance from the current position of the vehicle to the lane line; a. the1Is a course angle coefficient; a. the2Is the lane line curvature coefficient; a. the3Is the coefficient of rate of change of the curvature of the lane line.
Step 2-2, aiming time t is predicted according to the current vehicle speed1Position X of the vehiclet1，Xt1=V*t1。
Step 2-3. calculating t1Curvature C of the road at the moment1(ii) a Said C is1The calculation method of (2) is as follows: c1=（2*A2+6*A3*Xt1）/（1+A1+2*A2*Xt1+3*A3*Xt1 2）3/2。
Step 2-4, for t1Curvature of moment C1Calculating the reciprocal to obtain the radius R of the curve1，R1=1/C1。
Step 2-5, based on the radius R of the curve1Determining a corresponding curve target speed V1。
In this embodiment, in the step 2, a curve target speed V is planned according to the road curvature input by the ADAS map2The method specifically comprises the following steps:
step 2-1, outputting road curvature information in a certain range in front of the vehicle according to a fixed interval distance period after the ADAS map positions the current road position;
step 2-2, aiming time t is predicted according to the current vehicle speed2At the moment, i.e. X, where the vehicle is locatedt2=V*t2；
Step 2-3, determining at t according to curvature information output by ADAS map2Curve curvature of moment C2；
Step 2-4, for t2Curvature of moment C2Calculating the reciprocal to obtain the radius R of the curve2=1/C2；
Step 2-5, based on the radius R of the curve2Determining a corresponding curve target speed V2。
In this embodiment, a vehicle cornering deceleration planning system includes a memory and a controller, where the memory stores a computer readable program, and the controller, when calling the computer readable program, can execute the steps of the vehicle cornering deceleration planning method as described in this embodiment.
In the present embodiment, a vehicle employs the vehicle cornering deceleration planning system as described in the present embodiment.
In this embodiment, a storage medium includes a memory having a computer readable program stored therein and a controller, which when invoked by the controller is capable of executing the steps of the vehicle cornering deceleration planning method according to the present embodiment.

Claims (7)

1.A method for vehicle over-curve deceleration planning, comprising the steps of:
step 1, establishing a finished automobile coordinate system by taking a front protection center of a vehicle as a coordinate origin, a forward driving direction of the vehicle as an X axis and a vertical forward driving direction as a Y axis;
step 2, planning a curve target speed V according to the road curvature input by the camera1Judging whether the current vehicle speed is greater than the target speed V of the curve1If greater than, the deceleration a is planned1(ii) a Otherwise, the vehicle runs normally;
planning out a curve target speed V according to the road curvature input by the ADAS map2Judging whether the current vehicle speed is greater than the target speed V of the curve2If greater than, the deceleration a is planned2(ii) a Otherwise, the vehicle runs normally;
step 3. for the planned deceleration a1And a2Arbitration takes place, the smaller of the two being output as the deceleration that is ultimately used for control.
2. The vehicle over-curve deceleration planning method according to claim 1, characterized in that: in the step 2, a curve is planned according to the road curvature input by the cameraTrack target speed V1The method specifically comprises the following steps:
step 2-1, identifying the lane line through a front camera, and fitting lane line information by using a cubic polynomial, wherein the specific expression of the lane line is as follows: y = A0+A1*X+A2*X2+A3*X3；
Wherein Y is the transverse distance from the lane line to the front bumper center of the vehicle; x is the longitudinal distance from a point on the lane line to the front bumper center of the vehicle; a. the0The transverse distance from the current position of the vehicle to the lane line; a. the1Is a course angle coefficient; a. the2Is the lane line curvature coefficient; a. the3Is the coefficient of rate of change of the lane line curvature;
step 2-2, aiming time t is predicted according to the current vehicle speed1Position X of the vehiclet1，Xt1=V*t1；
Step 2-3. calculating t1Curvature C of the road at the moment1；
Step 2-4, for t1Curvature of moment C1Calculating the reciprocal to obtain the radius R of the curve1，R1=1/C1；
Step 2-5, based on the radius R of the curve1Determining a corresponding curve target speed V1。
3. The vehicle over-curve deceleration planning method according to claim 2, characterized in that: said C is1The calculation method of (2) is as follows: c1=（2*A2+6*A3*Xt1）/（1+A1+2*A2*Xt1+3*A3*Xt1 2）3/2。
4. The vehicle over-curve deceleration planning method according to any one of claims 1 to 3, characterized in that: in the step 2, a curve target speed V is planned according to the road curvature input by the ADAS map2The method specifically comprises the following steps:
step 2-1, outputting road curvature information in a certain range in front of the vehicle according to a fixed interval distance period after the ADAS map positions the current road position;
step 2-2, aiming time t is predicted according to the current vehicle speed2At the moment, i.e. X, where the vehicle is locatedt2=V*t2；
Step 2-3, determining at t according to curvature information output by ADAS map2Curve curvature of moment C2；
Step 2-4, for t2Curvature of moment C2Calculating the reciprocal to obtain the radius R of the curve2=1/C2；
Step 2-5, based on the radius R of the curve2Determining a corresponding curve target speed V2。
5. A vehicle over-curve deceleration planning system comprising a memory and a controller, the memory having a computer readable program stored therein, characterized in that: the controller, when invoking the computer readable program, is capable of performing the steps of the vehicle over-curve deceleration planning method of any of claims 1 to 4.
6. A vehicle, characterized in that: a vehicle over-curve deceleration planning system according to claim 5 is employed.
7. A storage medium comprising a memory and a controller, the memory having a computer-readable program stored therein, wherein: the controller, when invoking the computer readable program, is capable of performing the steps of the vehicle cornering deceleration planning method according to any one of claims 1 to 4.
CN202110053462.XA 2021-01-15 2021-01-15 Vehicle cornering deceleration planning method, system, vehicle and storage medium Pending CN112721930A (en)

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Application publication date: 20210430