CN113119970A - Automatic driving system used in complex environment - Google Patents
Automatic driving system used in complex environment Download PDFInfo
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- CN113119970A CN113119970A CN202110452918.XA CN202110452918A CN113119970A CN 113119970 A CN113119970 A CN 113119970A CN 202110452918 A CN202110452918 A CN 202110452918A CN 113119970 A CN113119970 A CN 113119970A
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- automatic driving
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Classifications
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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
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W40/08—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 drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
-
- 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
- B60W40/08—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 drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
Abstract
The invention discloses an automatic driving system used in a complex environment, which comprises a navigation module, a lane change information/vehicle driving state detection module, a vehicle control module, a driver fatigue detection module, an automatic driving intervention module and an automatic driving release module, wherein the navigation module is connected with the lane change information/vehicle driving state detection module, and the lane change information/vehicle driving state detection module, the vehicle control module, the driver fatigue detection module and the automatic driving release module are all connected with the automatic driving intervention module. The system utilizes the data information of the multiple sensors of the vehicle, timely intervenes automatic driving when a driver is in fatigue driving or other dangerous driving and abnormal driving of the vehicle, timely intervenes automatic driving when a high-speed intersection or other intersections change lanes, avoids entering wrong roads, improves driving safety and driving efficiency, enables the automatic driving to exit at any time through the automatic driving relieving module, and gives consideration to driving pleasure.
Description
Technical Field
The invention relates to a driving system, in particular to an automatic driving system used in a complex environment.
Background
Intelligent automobiles are gradually going into modern life, along with the integration of the traditional automobile industry with continuously innovative information technology and sensor technology, the intelligent level of automobiles is higher and higher, and the traditional manual driving mode is gradually transited to automatic driving.
Most of the existing automatic driving systems are fully intrusive, the mode covers the critical moment and the non-critical moment of driving, and the intervention at the non-critical moment undoubtedly reduces much fun of driving; however, at a critical moment, for example, when a driver is tired of driving, and needs to change lanes at a high-speed intersection or other intersections, intervention of automatic driving is necessary, so that an automatic driving mode in which intervention is performed at a critical moment and exit is performed at a non-critical moment is a mode having driving safety, driving efficiency and driving pleasure.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic driving system used in a complex environment, which can realize automatic driving intervention at a critical moment and quitting at a non-critical moment, and improve driving safety, driving efficiency and driving pleasure.
In order to achieve the purpose, the invention provides an automatic driving system used in a complex environment, which comprises a navigation module, a lane change information/vehicle driving state detection module, a vehicle control module, a driver fatigue detection module, an automatic driving intervention module and an automatic driving release module, wherein the navigation module is provided with a communication unit for receiving satellite map information;
the lane change information/vehicle running state detection module comprises a GPS sensor, a radar ranging sensor and a CCD imaging system arranged around the vehicle; the GPS sensor is used for receiving satellite signals and positioning the vehicle in real time; the radar ranging sensor is used for monitoring distance information between a current vehicle and surrounding vehicles, and timely intervenes in automatic driving to perform lane change driving when a set minimum distance is reached; the CCD imaging system is used for acquiring the surrounding environment information of the vehicle, and intervenes in automatic driving in time to change the driving state of the vehicle when judging that an obstacle is in front of the driving of the vehicle or other environments which are not beneficial to the driving of the vehicle;
the vehicle control module comprises an automatic steering control mechanism, an automatic throttle control mechanism, a vehicle automatic braking mechanism and an automatic light system;
the driver fatigue detection module comprises a camera and an intelligent bracelet, the camera is installed in front of the face of a driver, the camera judges whether the driver is in a doze state or not by observing the eye state of the driver and the head motion state of the driver, and transmits the collected facial feature data information of the driver to the automatic driving intervention module; the intelligent bracelet terminal is worn on the wrist of a driver operating a steering wheel, pulse signals collected by the intelligent bracelet are compared with a fatigue early warning threshold value set by the driver fatigue detection module, and comparison data signals are sent to the automatic driving intervention module;
the automatic driving intervention module comprises a signal receiver, a signal processor and a signal transmitter, wherein the signal receiver is used for receiving signals sent by the lane change information/vehicle driving state detection module and the driver fatigue detection module;
the automatic driving release module is integrated in the vehicle control system, a touch button for releasing automatic driving is formed on the operation interface, after the touch button is started, a signal is sent to the vehicle control module, the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic light system stop working, and the manual driving mode is switched.
Further, still include warning suggestion module, warning suggestion module intervene the module with automatic driving and be connected, the automatic driving intervenes the module and receives unusual driving or send alarm command to warning suggestion module after lane change information, warning suggestion module control bee calling organ carries out buzzing warning.
Furthermore, the automatic driving release module also comprises a brake action detection sensor, when the brake action detection sensor detects the brake action, the automatic driving release module is activated, and the automatic driving release module sends an automatic driving release command to the vehicle beam control module.
Further, the type of the signal processor of the automatic driving intervention module is an STM32F030F4P6 single chip microcomputer.
Further, the pulse fatigue threshold set by the driver fatigue detection module is 1600Hq/min at the frequency of 6 Hz.
The invention sets a navigation module, a lane change information/vehicle driving state detection module, a vehicle control module, a driver fatigue detection module, an automatic driving intervention module and an automatic driving release module, wherein, the navigation module is connected with the lane change information/vehicle driving state detection module, the vehicle control module, the driver fatigue detection module and the automatic driving release module are all connected with the automatic driving intervention module, the automatic driving intervention module comprises a signal receiver for receiving signals sent by the lane change information/vehicle driving state detection module and the driver fatigue detection module, a signal processor for processing the signals and a signal emitter for sending the signals to the vehicle control module, when the lane change is judged to be needed, the automatic driving intervention module transmits a lane change command to the vehicle control module, the vehicle control module controls an automatic light system to turn on a steering lamp, the automatic steering control mechanism controls a steering wheel to steer, the automatic throttle control mechanism controls the speed of the vehicle, the speed control automatically controls the speed of the vehicle according to information of a radar ranging sensor and a GPS sensor, the vehicle is quickly changed, and the automatic braking mechanism of the vehicle is used for being matched with the automatic throttle control mechanism to realize the speed control of the vehicle during the change of the lane; the automatic driving release module is integrated in the vehicle control system, a touch button for releasing automatic driving is formed on the operation interface, after the touch button is started, a signal is sent to the vehicle control module, the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic lighting system stop working, and the manual driving mode is switched. The system comprehensively utilizes the data information of multiple sensors of the vehicle, timely intervenes automatic driving when a driver is in fatigue driving or other dangerous driving and abnormal driving of the vehicle, timely intervenes automatic driving when a high-speed intersection or other intersections change lanes, avoids entering wrong roads, greatly reduces the accident rate and the risks of the wrong roads, improves the driving safety and the driving efficiency, and can enable the automatic driving to exit at non-critical time by the automatic driving relieving module and take the driving pleasure into consideration.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a flow chart of the working principle of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, an automatic driving system for use in a complex environment includes a navigation module, the navigation module is provided with a communication unit for receiving satellite map information, and further includes a lane change information/vehicle driving state detection module, a vehicle control module, a driver fatigue detection module, an automatic driving intervention module, and an automatic driving release module, the navigation module is connected to the lane change information/vehicle driving state detection module, and the lane change information/vehicle driving state detection module, the vehicle control module, the driver fatigue detection module, and the automatic driving release module are all connected to the automatic driving intervention module;
the lane change information/vehicle running state detection module comprises a GPS sensor, a radar ranging sensor and a CCD imaging system arranged around the vehicle; the GPS sensor is used for receiving satellite signals and positioning the vehicle in real time; the radar ranging sensor is used for monitoring distance information between a current vehicle and surrounding vehicles, and timely intervenes in automatic driving to perform lane change driving when a set minimum distance is reached; the CCD imaging system is used for acquiring the surrounding environment information of the vehicle, and intervenes in automatic driving in time to change the driving state of the vehicle when judging that an obstacle is in front of the driving of the vehicle or other environments which are not beneficial to the driving of the vehicle;
the vehicle control module comprises an automatic steering control mechanism, an automatic throttle control mechanism, a vehicle automatic braking mechanism and an automatic light system;
the driver fatigue detection module comprises a camera and an intelligent bracelet, the camera is installed in front of the face of a driver, the camera judges whether the driver is in a doze state or not by observing the eye state of the driver and the head motion state of the driver, and transmits the collected facial feature data information of the driver to the automatic driving intervention module; the intelligent bracelet terminal is worn on the wrist of a driver operating a steering wheel, pulse signals collected by the intelligent bracelet are compared with a fatigue early warning threshold value set by the driver fatigue detection module, and comparison data signals are sent to the automatic driving intervention module;
the automatic driving intervention module comprises a signal receiver, a signal processor and a signal transmitter, wherein the signal receiver is used for receiving signals sent by the lane change information/vehicle driving state detection module and the driver fatigue detection module;
the automatic driving release module is integrated in the vehicle control system, a touch button for releasing automatic driving is formed on the operation interface, after the touch button is started, a signal is sent to the vehicle control module, the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic light system stop working, and the manual driving mode is switched.
In order to draw attention of a driver and achieve the purpose of reminding, the system further comprises an alarm prompting module, the alarm prompting module is connected with the automatic driving intervention module, the automatic driving intervention module receives abnormal driving or lane change information and then sends an alarm instruction to the alarm prompting module, and the alarm prompting module controls a buzzer to conduct buzzing alarm.
As another implementation form of switching, the automatic driving release module further comprises a brake action detection sensor, when the brake action detection sensor detects a brake action, the automatic driving release module is activated, and the automatic driving release module sends an automatic driving release command to the vehicle beam control module; the brake action detection sensor adopts the existing sensor.
Preferably, the signal processor of the automatic driving intervention module is an STM32F030F4P6 single chip microcomputer.
Preferably, the pulse fatigue threshold set by the driver fatigue detection module is 1600Hq/min at a frequency of 6 Hz.
As shown in fig. 2, the working process of the system is as follows: before driving, a driving destination is set through a navigation module, a lane change information/vehicle driving state detection module integrates distance information with surrounding vehicles and surrounding image information shot by a CCD (charge coupled device) according to the advanced lane change information of the navigation module, so as to judge whether the vehicle has risks such as collision, falling and the like, meets lane change conditions or not and deviates from a road, when the lane change is judged to be performed without the risks, a lane change signal is sent to an automatic driving intervention module, the automatic driving intervention module transmits a lane change command to a vehicle control module after receiving a lane change data signal, the vehicle control module controls an automatic light system to turn on a steering lamp, an automatic steering control mechanism controls a steering wheel to steer, an automatic throttle control mechanism controls the speed of the vehicle, and the speed control automatically controls the speed of the vehicle according to information of a radar ranging sensor and a GPS (global positioning system) sensor, the automatic braking mechanism of the vehicle is used for matching with the automatic throttle control mechanism to realize the speed control of the vehicle during lane changing, and simultaneously, the alarm prompting module is started to buzz and warn;
the camera and the intelligent bracelet in the driver fatigue detection module respectively collect facial feature signals and pulse signals of a driver and analyze and process the collected data signals, when the facial feature signals are processed, the fact that the driver has a dozing phenomenon of closing eyes and rapidly moving down the head or the pulse reaches a pulse fatigue threshold value is displayed, the driver fatigue detection module sends the data signals to the automatic driving intervention module, and the automatic driving intervention module is started after receiving the signals and enters an automatic driving mode;
when a driver wants to remove the automatic driving mode, the driver only needs to press a touch button for removing the automatic driving on the operation interface, after the touch button is started, a signal is sent to the vehicle control module, the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic light system stop working, and the manual driving mode is switched, wherein the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic light system are the existing mechanisms or systems; or the automatic driving release module is activated through the action of stepping on the brake, and the automatic driving release module sends an automatic driving release command to the vehicle control module.
Claims (5)
1. An automatic driving system used in a complex environment comprises a navigation module, wherein the navigation module is provided with a communication unit for receiving satellite map information and is characterized by also comprising a lane change information/vehicle driving state detection module, a vehicle control module, a driver fatigue detection module, an automatic driving intervention module and an automatic driving release module;
the lane change information/vehicle running state detection module comprises a GPS sensor, a radar ranging sensor and a CCD imaging system arranged around the vehicle; the GPS sensor is used for receiving satellite signals and positioning the vehicle in real time; the radar ranging sensor is used for monitoring distance information between a current vehicle and surrounding vehicles, and timely intervenes in automatic driving to perform lane change driving when a set minimum distance is reached; the CCD imaging system is used for acquiring the surrounding environment information of the vehicle, and intervenes in automatic driving in time to change the driving state of the vehicle when judging that an obstacle is in front of the driving of the vehicle or other environments which are not beneficial to the driving of the vehicle;
the vehicle control module comprises an automatic steering control mechanism, an automatic throttle control mechanism, a vehicle automatic braking mechanism and an automatic light system;
the driver fatigue detection module comprises a camera and an intelligent bracelet, the camera is installed in front of the face of a driver, the camera judges whether the driver is in a doze state or not by observing the eye state of the driver and the head motion state of the driver, and transmits the collected facial feature data information of the driver to the automatic driving intervention module; the intelligent bracelet terminal is worn on the wrist of a driver operating a steering wheel, pulse signals collected by the intelligent bracelet are compared with a fatigue early warning threshold value set by the driver fatigue detection module, and comparison data signals are sent to the automatic driving intervention module;
the automatic driving intervention module comprises a signal receiver, a signal processor and a signal transmitter, wherein the signal receiver is used for receiving signals sent by the lane change information/vehicle driving state detection module and the driver fatigue detection module;
the automatic driving release module is integrated in the vehicle control system, a touch button for releasing automatic driving is formed on the operation interface, after the touch button is started, a signal is sent to the vehicle control module, the automatic steering control mechanism, the automatic throttle control mechanism, the vehicle automatic braking mechanism and the automatic light system stop working, and the manual driving mode is switched.
2. The automatic driving system used in the complex environment according to claim 1, further comprising an alarm prompting module, wherein the alarm prompting module is connected with the automatic driving intervention module, the automatic driving intervention module sends an alarm instruction to the alarm prompting module after receiving the abnormal driving or lane change information, and the alarm prompting module controls a buzzer to give a buzzer alarm.
3. The autopilot system for use in complex environments of claim 1 or 2 wherein the autopilot deactivation module further includes a brake actuation detection sensor, wherein the autopilot deactivation module is activated when the brake actuation detection sensor detects a brake actuation, and wherein the autopilot deactivation module sends an autopilot deactivation command to the sill control module.
4. The autopilot system for use in complex environments of claim 3 wherein the signal processor of the autopilot intervention module is of the type STM32F030F4P6 singlechip.
5. The autopilot system for use in a complex environment of claim 4 wherein the driver fatigue detection module sets the pulse fatigue threshold to 1600Hq/min at a frequency of 6 Hz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110452918.XA CN113119970A (en) | 2021-04-26 | 2021-04-26 | Automatic driving system used in complex environment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110452918.XA CN113119970A (en) | 2021-04-26 | 2021-04-26 | Automatic driving system used in complex environment |
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| CN113119970A true CN113119970A (en) | 2021-07-16 |
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Cited By (3)
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| CN113911138A (en) * | 2021-11-12 | 2022-01-11 | 董昊天 | Initiative vehicle intelligence direction driver assistance system based on wireless location |
| CN114419914A (en) * | 2022-01-30 | 2022-04-29 | 重庆长安汽车股份有限公司 | Driving system and method for early warning of traffic restriction and automatic avoidance of restricted number road section |
| CN114954647A (en) * | 2022-07-19 | 2022-08-30 | 松果新能源汽车有限公司 | New energy automobile steering control system and method |
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Application publication date: 20210716 |