CN113415273B - System and method for automobile to pass through obstacle intelligently - Google Patents

System and method for automobile to pass through obstacle intelligently Download PDF

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Publication number
CN113415273B
CN113415273B CN202110718429.4A CN202110718429A CN113415273B CN 113415273 B CN113415273 B CN 113415273B CN 202110718429 A CN202110718429 A CN 202110718429A CN 113415273 B CN113415273 B CN 113415273B
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vehicle
distance
obstacle
automobile
road
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CN113415273A (en
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王瑞林
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Dongfeng Motor Group Co Ltd
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Dongfeng Motor Group Co Ltd
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2552/50—Barriers
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a system and a method for an automobile to pass through obstacles intelligently, which comprises the steps of collecting road edge or marking information and position information of the whole body of the automobile and obstacles; converting the position information into a position under a finished automobile coordinate system; respectively calculating the transverse distance S between the road edge or the marked line and the central axis of the vehicle, and when the distance is less than the set safe distance, exiting the obstacle avoidance function; calculating the transverse movement acceleration of the vehicle when an obstacle exists, and if the transverse movement acceleration is larger than a safety range preset by a system, exiting the obstacle avoidance function; otherwise, calculating the transverse moving distance of the vehicle and controlling the vehicle to move. By using the method, the risks such as the road width risk, the too close distance between the vehicle and the barrier and the like can be automatically identified, the human judgment error is avoided, the risks such as vehicle collision, side turning and the like are reduced, the automatic safe driving of the barrier road section is realized, and the driving science and technology feeling and the comfort are improved.

Description

System and method for automobile to intelligently pass through obstacles
Technical Field
The invention belongs to the technical field of intelligent driving of automobiles, and particularly relates to an intelligent obstacle passing system and method for an automobile.
Background
With the continuous popularization of the application range of automobiles in daily production and life of people, the driving scene is increasingly complex. When a vehicle runs on a road section with the limited width, meeting the vehicle on a narrow road and passing on a narrow road or a narrow bridge, the judgment is possibly inaccurate through the experience of a driver, so that accidents are caused.
CN103832357B discloses a lane departure warning system based on machine vision, which includes an interface processing unit, a forward-looking camera, a digital signal processing unit and a power module, but is mainly applied to scenes with good road conditions and clear road marking lines.
CN108501959A discloses a lane departure warning system, a camera transmits acquired lane line boundary image information in front of a vehicle to a camera processing module, the camera processing module transmits a lane departure warning signal to a CAN bus according to the image information, the CAN bus transmits the warning signal to an instrument controller and gives an alarm by an automobile instrument, and the CAN bus transmits the warning signal to an electric power assisting module to generate steering wheel shake for giving an alarm. However, the speed of the intelligent driving system is generally required to be higher than 30Km/h, and the intelligent driving system can only change lanes according to road markings when driving forwards.
The invention is mainly applied to the passage of a limited-width roadblock, the meeting of vehicles on a narrow road surface and the passage of a narrow road surface or a narrow bridge, the information of a road side line, an adjacent vehicle or an obstacle and the like is sensed by a vehicle-mounted radar and a camera, a controller analyzes and processes the acquired information and plans a proper route by an algorithm, and then the vehicle is controlled by an associated system to safely pass through a narrow road section or an obstacle zone so as to avoid traffic accidents caused by psychological or technical reasons of artificial fear.
Disclosure of Invention
The invention aims to solve the problem of recognizing and extracting the road side line and the obstacle, calculate the distance between the vehicle and the road side line and the obstacle, recognize risks by comparing with the safe distance, and automatically adjust the direction of the vehicle to avoid reasonably.
The technical scheme of the method for realizing the intelligent obstacle passing of the automobile, which is one of the purposes of the invention, is as follows: collecting road edge or marking information and position information of the whole vehicle and obstacles; converting the position information into a position under a finished automobile coordinate system; respectively calculating the transverse distance S between the road edge or the marked line and the central axis of the vehicle, and when the distance is less than the set safe distance, exiting the obstacle avoidance function; calculating the transverse movement acceleration of the vehicle when an obstacle exists, and if the transverse movement acceleration is larger than a safety range preset by a system, exiting the obstacle avoidance function; otherwise, the transverse moving distance of the vehicle is calculated and the vehicle is controlled to move.
The intelligent obstacle-passing system for the automobile comprises operation keys, a sensor, a controller, an actuator and a display. The operation keys comprise a function selection switch, a forward button and a backward button, and can be integrated on a switch panel. The sensor comprises a look-around camera, a radar and an infrared sensor; actuators are implemented primarily by ESCs and EPS, controlling the longitudinal and lateral directions of the vehicle, respectively. The driver and the crew start the obstacle avoidance function after pressing the function confirmation button, the driver and the crew are required to press the function confirmation button again after the obstacle avoidance function exits, manual start is not required when the obstacle avoidance function is suspended, and the obstacle avoidance function is converted from a suspended state to an exiting state if the trigger condition of the obstacle avoidance function is not met within set time.
When a vehicle meets a specific scene, a driver parks and hangs a P gear, an EPB is pulled up, after a confirmation button of an obstacle avoidance function is pressed, the vehicle carries out self-checking, the function is activated after the self-checking is normal, after the driver selects a forward or backward key, a camera collects pictures around a vehicle body, a radar collects the distance between the vehicle and a road shoulder, surrounding vehicles and the road edge, a controller carries out fusion analysis on the collected data and plans a route, the ESC controls the vehicle to move longitudinally, and the EPS controls the vehicle to move transversely, so that the vehicle always keeps a safe distance with the road shoulder, surrounding vehicles, the road edge and the like, and the vehicle is ensured to run on the current road section safely until the function exits.
The specific scenes include the following scenes: 1. the width limiting road section: limiting the width of road pier at two sides of the road, and allowing a single vehicle to pass; 2. meeting at a narrow road section: no road mark line, and vehicles meeting oppositely; 3. passing through a narrow road section: no road marking is provided, and both sides are not protected; 4. passing through a narrow road section: no road mark line is arranged, and a road shoulder or a wall surface is arranged on one side or two sides of the road mark line; 5. narrow bridge passage: no protection is provided on two sides; 6. an S-shaped road: and continuously turning a narrow road section.
The safe distance is the distance from the central axis of the vehicle to the wheels on one side and the preset distance S from the wheels on the side to the road edge or the road marking1Sum of the predetermined distance S1Can be set according to actual conditions.
The further technical scheme comprises the following steps: the method comprises the steps of vehicle self-checking, wherein when the self-checking is failed, the obstacle avoidance function exits; and after the obstacle avoidance function is started, whether the self-checking condition is met or not is always monitored, if the self-checking condition is not met, the obstacle avoidance function is suspended, waiting and continuous monitoring are carried out, and if the self-checking condition is not met within the set waiting time, the obstacle avoidance function exits.
The self-check comprises whether the gear is P gear; whether the EPB is pulled up; whether the door is closed; whether the safety belt is fastened or not.
The further technical scheme comprises the following steps: after the obstacle avoidance function is started, the vehicle body stability control system controls the vehicle speed to be a longitudinal constant speed for driving, and the longitudinal constant speed is smaller than or equal to a set value.
The further technical scheme comprises the following steps: and in the moving process of the vehicle, monitoring whether the transverse distance S between the road edge or the marked line and the central axis of the vehicle is smaller than the safety distance or not all the time, and if the transverse distance S is smaller than the safety distance, exiting the obstacle avoidance function.
The further technical scheme comprises the following steps: and the collected position information coordinate is subjected to dimension reduction processing and is converted into a finished automobile coordinate system, wherein the finished automobile coordinate system is established, the central point of the front bumper is used as the origin of coordinates when the front bumper moves forwards, and the central point of the rear bumper is used as the origin of coordinates when the rear bumper moves backwards.
The further technical scheme comprises the following steps: in the moving process of the vehicle, the sum of the X coordinates of the road edges or the marked lines on the two sides is always kept smaller than a set value so as to ensure that the vehicle runs in the middle.
The further technical scheme comprises the following steps: the method comprises the following steps:
step 1, a driver parks and hangs a P gear, an EPB is pulled up, a function confirmation button is pressed, and a system carries out self-checking; if the self-check is not satisfied, the instrument sends out a buzzing sound, the MP5 pops up the window to remind and wait for the set time, and if the self-check is still not satisfied within the set time, the function exits; and if the self-checking is successful, prompting the driver to select a forward or backward key.
Step 2, collecting distance and angle information of the whole body of the vehicle and the surrounding environment, the vehicle and obstacles and road edge information by a sensor; and processing the image data to identify the barrier or the road marking or the road edge line.
And 3, establishing a whole vehicle coordinate system by taking the central points of the front and rear bumpers of the vehicle as the origin of coordinates, wherein the central point of the front bumper is taken as the origin of coordinates when the vehicle moves forwards, and the central point of the rear bumper is taken as the origin of coordinates when the vehicle moves backwards. And converting the three-dimensional coordinates of the barrier or the road edge or the road marking line into two-dimensional coordinates under a finished automobile coordinate system.
Step 4, calculating the distance S between the coordinate origin and the wheel on the single side under the coordinate system of the whole vehicle1And the safe distance S between the side wheel and the road edge or the marked line2The sum of S1 and S2 is compared with a preset safety distance SsafeComparing if less than the safety distance SsafeWarning that the vehicle cannot pass; if the distance is larger than or equal to the safe distance, whether the obstacle exists is continuously judged.
If no obstacle exists, the transverse moving distance of the vehicle can be calculated, the controller controls the vehicle to pass through, and meanwhile, the direction is adjusted until the sum of the X coordinates of the road edge or the marked line is smaller than a set value.
If the obstacle exists, the required advancing distance Y and the transverse moving distance X of the current vehicle are calculated. Calculating transverse movement acceleration according to the constant longitudinal speed, if the transverse movement acceleration is less than or equal to the preset safety range of the system, judging that the vehicle can continue to pass, and periodically monitoring the S in the advancing process1And S2Whether the sum is less than a preset safety distance SsafeComparing if less than the safety distance SsafeWarning that the vehicle cannot pass; if the transverse movement acceleration is larger than the safety range preset by the system, the obstacle cannot be passed through, and the traffic is warned to be impossible.
The safety distance SsafeThe distance from the central axis of the vehicle to the wheels on one side and the preset distance S from the wheels on the side to the road edge or the road mark line1Sum of the predetermined distance S1Can be set according to actual conditions.
The system for realizing the second purpose of the invention is characterized in that: a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring data of road edges and obstacles around a vehicle; an image recognition module: processing the data acquired by the data acquisition module, and identifying road edge or obstacle information; a coordinate conversion module: the system comprises a sensor, a data acquisition module and a data processing module, wherein the sensor is used for acquiring data of a vehicle coordinate system; a road planning module: the system is used for planning the obstacle avoidance driving route of the vehicle; and the obstacle avoidance starting and stopping module is used for starting or stopping the obstacle avoidance function.
The further technical scheme comprises the following steps: the automobile obstacle avoidance system further comprises a self-checking module, when the automobile is powered on and after the obstacle avoidance function is started, states of the automobile and the sensors are detected, and whether the conditions for starting the obstacle avoidance function are met or not is judged.
The further technical scheme comprises the following steps: the road planning module also comprises a calculation module which is used for judging whether the vehicle can pass through the barrier or not in real time and calculating the transverse distance, the longitudinal distance and the acceleration of the vehicle which need to move.
By using the method, the risks such as road width risk, too short distance between the vehicle and the barrier and the like can be automatically identified, the human judgment error is avoided, the risks such as vehicle collision, rollover and the like are reduced, the automatic safe driving of the barrier road section is realized, and the driving science and technology feeling and the driving comfort are improved.
Drawings
FIG. 1 is a diagram of the system architecture of the present invention;
FIG. 2 is a flow chart of the system logic control according to the present invention;
FIG. 3 is a system graph according to the present invention;
FIG. 4 is a schematic diagram of system coordinates during unobstructed passage in accordance with the present invention;
fig. 5 is a schematic diagram of system coordinates when an obstacle passes through the system according to the present invention.
Detailed Description
The following detailed description is provided for the purpose of explaining the claimed embodiments of the present invention so that those skilled in the art can understand the claims. The scope of the invention is not limited to the following specific implementation configurations. It is within the purview of one skilled in the art to effect the invention in variations of the embodiments described below including what is claimed herein and other embodiments.
The scheme of the invention is mainly used for the scenes of limited width roadblock passage, narrow road meeting, narrow road or narrow bridge and the like, is mainly applied to the low-speed range of 0-10Km/h, can go forward or backward, continuously optimizes the driving direction according to the road condition, has the specific control logic as shown in figure 2, and is implemented as follows.
The sensor in the embodiment comprises 4 all-round cameras and 12 ultrasonic radars. Actuators are implemented by ESCs and EPS, controlling the longitudinal and lateral directions of the vehicle, respectively.
After the vehicle is powered on, the system starts self-checking to detect whether the sensor is shielded or damaged, whether the related message/signal is normal or not and whether the actuator works normally or not.
The driver and the crew press the function opening button, the vehicle state check is carried out, the gear is in the P gear, the EPB is pulled up, the vehicle door is closed, the safety belt is fastened, the state meets the requirement, the function indicating lamp is lightened, the function is opened, and the vehicle enters the system to take over. If the requirement is not met, the instrument sends out a buzzing sound, and the MP5 pops up the window to remind and wait.
Through the radar probe of placing on front and rear bumper, can detect the distance and the angle information of vehicle whole body and surrounding environment, vehicle and obstacle. The method comprises the following steps that a camera collects road edge information, and for a road with a marking line, an outer marking line is selected as a road edge; for the non-road marking line, the edge of the actual road is taken as the edge of the road.
The controller firstly carries out gray image processing on the received image data, and degrades the color space from three dimensions to one dimension; then, gaussian blur is carried out, noise is removed from the image, and the image obtained in the last step is smoother; and finally, performing edge detection, and finding an edge line of the image through the obtained gray image subjected to Gaussian blur, wherein the edge is an area with a suddenly jumping gray value in the image.
The central points of the front and rear bumpers of the vehicle are used as the origin of coordinates to establish a whole vehicle coordinate system, the central points of the front and rear bumpers are used as the origin of coordinates when the vehicle moves forwards, the central points of the rear bumpers are used as the origin of coordinates when the vehicle moves backwards, the vehicle moving direction is used as the positive direction of a y axis, the direction parallel to the vertical vehicle moving direction is used as the positive direction of an x axis to the right, and the vertical direction of the ground is used as the positive direction of a z axis to the upward. After the radar detects the distance and angle information of the obstacle, the coordinate of the obstacle relative to the origin is calculated by combining the position of the radar on the vehicle body, the Z-direction coordinate is deleted and degraded into a two-dimensional coordinate, and the coordinate information is input into a coordinate system of the whole vehicle. Meanwhile, the camera collects road edge or identification line images, the images are input into a whole vehicle coordinate system and are compared with the position of the vehicle image in the coordinate system, and the abscissa with the ordinate being 0 is taken to obtain the coordinates of the road sideline at the moment, as shown in fig. 3.
The driver and the crew press the forward or backward key, the switch sends a message to the EPS, the TCU and the EPB controller through the CAN line, the EPS reads the data of the torque sensor and returns to the positive steering wheel, the TCU adjusts the gear to the D gear or the R gear, and the EPB releases the calipers.
When the radar does not detect that the obstacle exists in the road, the camera detects the road edges or the road marking at two sides, and the position of the camera is coordinated into (X)1,0)(X2,0)，As shown in fig. 4, if | X1| ≧ S and | X2| ≧ S, judging to continue driving, and adjusting direction to X1And X2Is less than the set value SjIn this embodiment, the set value SjSet to 10cm, i.e., X1+ X2 ≦ 10cm, but not limited to this value to ensure that the vehicle is running centered. Where S = L1+ L2, L1 is the distance from the coordinate origin to the unilateral wheel, and L2 is the safe distance from the wheel to the road edge or the marked line, which may be set to 10cm, but is not limited thereto.
When the radar detects that the obstacle exists in the road, the distance and the angle of the obstacle are obtained and are converted into two-dimensional coordinates (X)3,Y3) As shown in fig. 5, in order to ensure that the vehicle safely avoids the obstacle, the theoretical calculation indicates that the vehicle origin needs to pass through the target point (X, Y), where X = X3-S,Y＝Y3The required advancing distance Y and the transverse moving distance X of the current vehicle can be calculated. According to the fact that the forward speed is constant as v, the longitudinal moving time t = Y/v can be calculated, the acceleration of transverse movement can be further calculated, if the acceleration of transverse movement is smaller than or equal to a safety range preset by a system, the vehicle can be judged to pass continuously, if the acceleration of transverse movement is larger than the safety range preset by the system, the obstacle cannot pass through is judged, at the moment, an MP5 alarm is given, the obstacle cannot pass through is displayed, and the vehicle is required to stop in time, wherein the preset safety range is (0-9.8 m/s)2). When the vehicle moves towards a target point (X, Y), the controller receives the coordinates (X) of the road edges or the road marking lines at intervals of fixed frequency, wherein the coordinates (X) are detected by the cameras at two sides of the road edges or the road marking lines4,Y4)(X5,Y5) If | X4| ≧ S and | X5≧ S, i.e., it is determined that the vehicle can safely pass through the obstacle and continue to travel, in this embodiment, the fixed frequency is set to 50ms, where S = L1+ L2, L1 is the distance from the origin of coordinates to the one-side wheel, L2 is the safe distance from the one-side wheel to the road edge or the marking line, and this safe distance may be set to 10cm, but is not limited thereto.
When the forward button is selected, the vehicle moves forward, the ESC controls the vehicle speed to be constant in low-speed running, in the embodiment, the speed is set to be 5Km/h for running, but the ESC is not limited to the value; when the backward button is selected, the vehicle moves backward, and in order to facilitate calculation, a whole vehicle coordinate system is established by taking the central point of the rear wheel shaft of the vehicle as a coordinate origin, the calculation method is the same as that of forward movement of the vehicle.
The vehicle moving process always monitors an acceleration pedal, a brake pedal, a vehicle door state and a safety belt state, if the acceleration pedal and the brake pedal are stepped on or a vehicle door is opened and the safety belt is not fastened, a forward or backward function is suspended, the system defaults to wait for a period of time, in the embodiment, the function is set to be one minute, if the vehicle is recovered in one minute, the function is continued, and if the vehicle is not recovered in one minute, the obstacle avoidance system exits. If the obstacle avoidance function needs to be started again after the system quits, the driver and passengers need to press the function starting button.
After the vehicle passes through the current road section, the function starting button is pressed again, the function exits, the system adjusts the gear P, the EPB is pulled up, and the instrument displays the taking-over information of the driver.

Claims (9)

1. An intelligent obstacle passing method for an automobile is characterized by collecting road edge or marking information and position information of the whole body of the automobile and an obstacle; converting the position information into a position under a finished automobile coordinate system; respectively calculating the transverse distance S between the road edge or the marked line and the central axis of the vehicle, and when the distance is less than the set safe distance, exiting the obstacle avoidance function; calculating the transverse movement acceleration of the vehicle when an obstacle exists, and if the transverse movement acceleration is larger than a safety range preset by a system, exiting the obstacle avoidance function; otherwise, calculating the transverse moving distance of the vehicle and controlling the vehicle to move;
the method specifically comprises the following steps:
step 1, a driver parks and hangs a P gear, an EPB is pulled up, a function confirmation button is pressed, and a system carries out self-checking; if the self-test is not satisfied, the meter sends out a buzzing sound, the MP5 pops up the window to remind and wait for the set time, and the function exits if the self-test is still not satisfied within the set time; if the self-checking is successful, prompting the driver to select a forward or backward key;
step 2, collecting distance and angle information of the whole body of the vehicle and the surrounding environment, the vehicle and obstacles and road edge information by a sensor; processing the image data to identify an obstacle or a road marking or a road edge line;
step 3, establishing a whole vehicle coordinate system by taking the central point of the front bumper and the central point of the rear bumper of the vehicle as a coordinate origin, wherein the central point of the front bumper is taken as the coordinate origin when the vehicle moves forwards, and the central point of the rear bumper is taken as the coordinate origin when the vehicle moves backwards; converting the three-dimensional coordinates of the barrier or the road edge or the road marking line into two-dimensional coordinates under a finished automobile coordinate system;
step 4, calculating the distance S between the coordinate origin and the wheel on one side under the coordinate system of the whole vehicle1And the safe distance S between the side wheel and the road edge or the marked line2Will S1And S2The sum is separated from a preset safety distance SsafeComparing, if less than the safe distance SsafeWarning that the vehicle cannot pass; if the distance is larger than or equal to the safety distance, continuously judging whether an obstacle exists;
if no obstacle exists, the transverse moving distance of the vehicle can be calculated, the controller controls the vehicle to pass through, and meanwhile, the direction is adjusted until the sum of the X coordinates of the road edge or the marked line is smaller than a set value;
if the obstacle exists, calculating the required advancing distance Y and the transverse moving distance X of the current vehicle; calculating the transverse moving acceleration according to the constant longitudinal speed, judging to continue passing if the transverse moving acceleration is less than or equal to the safety range preset by the system, and periodically monitoring the S in the advancing process1And S2Whether the sum is less than a preset safety distance SsafeComparing, if less than the safe distance SsafeWarning that the vehicle cannot pass; if the transverse movement acceleration is larger than the safety range preset by the system, the obstacle cannot be passed through is judged, and the passing is not warned.
2. The method for the intelligent automobile obstacle crossing according to claim 1, further comprising a vehicle self-check, wherein when the self-check fails, the obstacle avoidance function exits; and after the obstacle avoidance function is started, whether the self-checking condition is met or not is always monitored, if the self-checking condition is not met, the obstacle avoidance function is suspended, waiting and continuous monitoring are carried out, and if the self-checking condition is not met within the set waiting time, the obstacle avoidance function exits.
3. The method for the automobile to intelligently pass through the obstacle as claimed in claim 1, wherein after the obstacle avoidance function is started, the automobile body stability control system controls the automobile speed to be a longitudinal constant speed for driving, and the longitudinal constant speed is less than or equal to a set value.
4. The method for the automobile to intelligently pass through the obstacle as claimed in claim 1, wherein whether the transverse distance S between the road edge or the marked line and the central axis of the automobile is smaller than the safety distance is always monitored in the moving process of the automobile, and if the transverse distance S is smaller than the safety distance, the obstacle avoidance function exits.
5. An intelligent automobile obstacle crossing method according to claim 1, wherein the collected position information coordinate is subjected to dimension reduction processing and converted into an entire automobile coordinate system, and the entire automobile coordinate system is established with a front bumper center point as an origin of coordinates in forward movement and a rear bumper center point as an origin of coordinates in backward movement.
6. The method for the intelligent obstacle crossing of the automobile as claimed in claim 1 or 5, wherein the sum of the X coordinates of the road edges or marked lines on the two sides is always kept smaller than the set value during the moving process of the automobile so as to ensure that the automobile runs in the middle.
7. A system for intelligent obstacle-crossing of a vehicle according to the method of claim 1, comprising: a data acquisition module: the system comprises a data acquisition module, a data acquisition module and a data processing module, wherein the data acquisition module is used for acquiring data of road edges and obstacles around a vehicle; an image recognition module: processing the data acquired by the data acquisition module, and identifying road edge or obstacle information; a coordinate conversion module: the system is used for converting data acquired by the sensor into data of a vehicle coordinate system; a road planning module: the system is used for planning the obstacle avoidance driving route of the vehicle; and the obstacle avoidance starting and stopping module is used for starting or stopping the obstacle avoidance function.
8. The system for the intelligent obstacle passing of the automobile of claim 7, further comprising a self-checking module, which detects the states of the vehicle and the sensor when the automobile is powered on and after the obstacle avoidance function is started, and determines whether the conditions for starting the obstacle avoidance function are met.
9. The system for intelligent obstacle crossing of an automobile of claim 7, wherein the road planning module further comprises a calculating module for real-time judging whether the vehicle can pass through the obstacle and calculating the lateral distance, the longitudinal distance and the acceleration of the vehicle which need to move.
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