CN113415293A - Vehicle positioning control method and device and vehicle - Google Patents

Vehicle positioning control method and device and vehicle Download PDF

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Publication number
CN113415293A
CN113415293A CN202110927287.2A CN202110927287A CN113415293A CN 113415293 A CN113415293 A CN 113415293A CN 202110927287 A CN202110927287 A CN 202110927287A CN 113415293 A CN113415293 A CN 113415293A
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China
Prior art keywords
vehicle
positioning
unlocked
posture information
body posture
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Pending
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CN202110927287.2A
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Chinese (zh)
Inventor
王宁
武锡斌
金大鹏
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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Priority to CN202110927287.2A priority Critical patent/CN113415293A/en
Publication of CN113415293A publication Critical patent/CN113415293A/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
    • 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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/18—Distance travelled

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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 provides a vehicle positioning control method, a vehicle positioning control device and a vehicle, wherein the vehicle comprises a positioning system for receiving a positioning signal, and the method comprises the following steps: determining that a positioning system is unlocked, and acquiring the running distance of a vehicle; and if the running distance is greater than the preset distance threshold value, controlling the vehicle to adopt a relative positioning mode for positioning, simultaneously performing auxiliary positioning according to the vehicle body posture information of the vehicle, and starting a lane keeping auxiliary system of the vehicle. When the positioning system is unlocked and the running distance is large, the positioning system and the vehicle body posture information are jointly positioned, so that accurate positioning mode switching is realized, the problem that the running safety of the vehicle is reduced due to unstable positioning signals caused by inaccurate switching time and signal jumping is avoided, and the lane keeping auxiliary system of the vehicle is started in the positioning process, so that the vehicle is kept running in a lane to the maximum extent, and the running safety is improved while the positioning accuracy is ensured.

Description

Vehicle positioning control method and device and vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle positioning control method and device and a vehicle.
Background
At present, many vehicles have an automatic driving function, and when the vehicles are driven automatically, the positioning system receives satellite positioning signals to position the vehicles, so that the driving safety of automatic driving is ensured. When the signal is good, the positioning system can normally receive the satellite positioning signal, and at the moment, the positioning system adopts a satellite absolute positioning mode to position the vehicle according to the satellite positioning signal.
However, under some specific conditions, the satellite positioning signal may be seriously attenuated, and even the signal is lost, for example, when the vehicle runs on a remote mountain road section, because there are many tunnels in the mountain road section, when the vehicle passes through the tunnel, the satellite positioning signal may become weak due to the shielding effect of the tunnel on the signal, or even the signal is lost, at this time, the positioning signal is unlocked, which causes inaccurate positioning or even impossible absolute positioning, thereby causing the reduction of driving safety. And when the vehicle just runs out of the tunnel or runs at the connection position between the tunnels, because the satellite positioning signals are not completely converged, the condition of continuous positioning is not met, at the moment, the vehicle faces to the switching between the positioning modes, the problem of unstable positioning signals caused by too early switching can occur, and the driving safety can be influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, a first object of the present invention is to provide a positioning control method for a vehicle, which, when a positioning system is unlocked and a driving distance is long, performs positioning together with a relative positioning mode and vehicle body posture information, thereby implementing accurate positioning mode switching, avoiding a problem that a positioning signal is unstable and a signal jumps due to inaccurate switching timing when performing positioning mode switching, and starting a lane keeping assist system of the vehicle during positioning to keep the vehicle running in a lane to the maximum extent, thereby improving driving safety while ensuring positioning accuracy.
To this end, a second object of the present invention is to provide a positioning control device for a vehicle.
To this end, a third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention proposes a positioning control method of a vehicle including a positioning system for receiving a positioning signal, the positioning control method including: determining that the positioning system is unlocked, and acquiring the running distance of the vehicle; and if the running distance is greater than a preset distance threshold value, controlling the vehicle to adopt a relative positioning mode for positioning, simultaneously controlling the vehicle to perform auxiliary positioning according to vehicle body posture information, and starting a lane keeping auxiliary system of the vehicle.
According to the positioning control method of the vehicle, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, when the running distance is larger than a preset distance threshold value, namely the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information of the vehicle as an auxiliary mode, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump to cause reduction of the running safety of the vehicle due to inaccurate switching time when the positioning mode is switched, starting the lane keeping auxiliary system of the vehicle in the positioning process, keeping the vehicle running in a lane to the maximum extent, and ensuring the positioning accuracy, the driving safety is improved.
In some embodiments, after determining that the positioning system is unlocked and acquiring the driving distance of the vehicle, the method further includes: and if the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting the lane keeping auxiliary system.
In some embodiments, the positioning control method of a vehicle further includes: and if the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle.
In some embodiments, the positioning control method of a vehicle further includes: and when the turn light module of the vehicle is determined to be in the on state, controlling the lane keeping auxiliary system of the vehicle to be closed.
In some embodiments, before performing the auxiliary positioning according to the body posture information of the vehicle, the method further includes: acquiring detection data of an inertial sensor of the vehicle and a wheel speed of the vehicle; and obtaining the vehicle body posture information according to the detection data and the wheel speed, wherein the vehicle body posture information at least comprises a running track and a vehicle speed of the vehicle.
To achieve the above object, an embodiment of a second aspect of the present invention proposes a positioning control apparatus of a vehicle including a positioning system for receiving a positioning signal, the positioning control apparatus including: the acquisition module is used for acquiring the running distance of the vehicle when the positioning system is unlocked; and the control module is used for controlling the vehicle to adopt a relative positioning mode for positioning when the running distance is greater than a preset distance threshold value, controlling the vehicle to carry out auxiliary positioning according to the posture information of the vehicle body, and starting a lane keeping auxiliary system of the vehicle.
According to the positioning control device of the vehicle, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, when the running distance is larger than the preset distance threshold value, namely the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information of the vehicle as an auxiliary mode, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump to cause reduction of the running safety of the vehicle due to inaccurate switching time when the positioning mode is switched, starting the lane keeping auxiliary system of the vehicle in the positioning process, keeping the vehicle running in a lane to the maximum extent, ensuring the positioning accuracy, the driving safety is improved.
In some embodiments, the control module is further configured to: and when the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting the lane keeping auxiliary system.
In some embodiments, the control module is further configured to: and when the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle.
In some embodiments, the obtaining module is further configured to: acquiring detection data of an inertial sensor of the vehicle and a wheel speed of the vehicle; and obtaining the vehicle body posture information according to the detection data and the wheel speed, wherein the vehicle body posture information at least comprises a running track and a vehicle speed of the vehicle.
To achieve the above object, an embodiment of a third aspect of the invention proposes a vehicle including: the positioning control device for a vehicle according to the above embodiment.
According to the vehicle provided by the embodiment of the invention, when the positioning system is unlocked, the running distance of the vehicle is acquired when the positioning system is unlocked, and when the running distance is larger than a preset distance threshold value, namely the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, and simultaneously, the vehicle is controlled to be positioned in an auxiliary positioning mode according to the vehicle body posture information, so that the vehicle is positioned together mainly in the relative positioning mode and secondarily in the vehicle body posture information, thereby realizing accurate positioning mode switching, avoiding the problem that the safety of the vehicle is reduced due to unstable positioning signals caused by inaccurate switching time when the positioning mode is switched, starting the lane keeping auxiliary system of the vehicle in the positioning process, keeping the vehicle running in a lane to the maximum extent, ensuring the positioning accuracy, the driving safety is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of position control of a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of position control of a vehicle according to an embodiment of the present invention;
FIG. 3 is a block diagram of a positioning control apparatus of a vehicle according to one embodiment of the invention;
FIG. 4 is a block diagram of a vehicle according to one embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
A method for controlling the positioning of a vehicle according to an embodiment of the present invention will be described below.
A positioning control method of a vehicle according to an embodiment of the present invention will be described with reference to fig. 1 to 2, the vehicle including a positioning system that receives a positioning signal, and further, according to a positioning result of the positioning system, safety of automatic driving of the vehicle can be ensured.
As shown in fig. 1, the positioning control method of the vehicle of the embodiment of the invention includes at least steps S1 and S2.
And step S1, determining that the positioning system is unlocked, and acquiring the running distance of the vehicle.
In an embodiment, the positioning system is configured to receive a positioning signal and position the vehicle in real time according to the received positioning signal. Specifically, the positioning system is, for example, a satellite positioning system, which can receive a satellite positioning signal and position the vehicle according to the satellite positioning signal. More specifically, the positioning System is, for example, a Global Navigation Satellite System (GNSS), and the GNSS can receive GNSS signals and position the vehicle in real time according to the received GNSS signals, and this positioning mode is also called a Satellite absolute positioning mode.
The positioning system is unlocked, that is, the positioning system cannot receive the positioning signal, for example, under some working conditions, for example, when a vehicle passes through a tunnel, the tunnel can shield the positioning signal, so that the positioning signal is seriously weakened, even the signal is lost, and at this time, the positioning system is considered to be unlocked.
For example, when the vehicle is in a driving process, the positioning system can position the vehicle in real time, and when the positioning system positions, the quality of a positioning signal of the positioning system may be affected by a driving road section of the vehicle, specifically, when the vehicle is driven on a mountain road section, because the number of tunnels of the mountain road section is large, when the vehicle enters the tunnel, the positioning system is susceptible to the tunnel influence, for example, the positioning signal is shielded by the tunnel, so that the positioning system cannot receive the positioning signal, at this moment, it is determined that the positioning system is unlocked, after the positioning system is unlocked, the driving distance of the vehicle is detected, and the driving distance of the vehicle is determined according to the obtained driving distance of the vehicle, so that the positioning mode of the vehicle can be determined accurately and conveniently, thereby realizing accurate switching of the positioning mode of the vehicle, and further improving driving safety.
And step S2, after the vehicle is unlocked, when the driving distance is greater than a preset distance threshold value, controlling the vehicle to adopt a relative positioning mode for positioning, simultaneously performing auxiliary positioning according to vehicle body posture information of the vehicle, and starting a lane keeping auxiliary system of the vehicle, wherein the vehicle body posture information at least comprises a driving track and a vehicle speed of the vehicle, so that the vehicle is kept driving in the current lane, safety accidents caused by the fact that the vehicle deviates from the current lane due to the loss of positioning signals are avoided, and driving safety is improved.
In the embodiment of the invention, the running distance of the vehicle is an important factor for determining the positioning mode of the vehicle after the positioning system of the vehicle is unlocked, and in the embodiment of the invention, the running distances are different, the adopted positioning modes are different, and the positioning accuracy of the different positioning modes for the corresponding running distances is higher, so that the proper positioning mode can be selected according to the different running distances, and the positioning accuracy of the vehicle under different working conditions is further improved. Specifically, after determining that the positioning system is unlocked, determining the driving distance of the vehicle, and according to the driving distance of the vehicle, adopting a corresponding positioning mode, wherein the positioning mode of the vehicle can comprise a relative positioning mode, a positioning mode according to body posture information and the like, and it can be understood that the relative positioning mode of the vehicle is to position a characteristic point of the surrounding environment according to a sensor installed on the vehicle, such as a radar, for example, to position a special position in a tunnel, so as to determine the specific position of the current vehicle in the tunnel. The relative positioning mode is high in positioning precision when the vehicle runs for a long distance, so that when the running distance of the vehicle is large, namely the running distance of the vehicle is greater than the preset distance, the vehicle is positioned by adopting the relative positioning mode, and the positioning accuracy is improved; further, the vehicle is positioned in a relative positioning mode, and meanwhile, the vehicle is positioned in an auxiliary mode according to the vehicle body posture information, wherein the vehicle body posture information of the vehicle comprises the running track and the vehicle speed of the vehicle, the vehicle is positioned in an auxiliary mode according to the running track and the vehicle speed of the vehicle, the specific position of the vehicle is determined, and therefore the vehicle positioning is achieved, and the positioning accuracy and the positioning reliability can be further improved. That is to say, when the vehicle travels a long distance, the control vehicle is mainly in a relative positioning mode, and the control vehicle carries out auxiliary positioning according to the vehicle body posture information, so that the two positioning modes are integrated, the positioning accuracy of the vehicle after the positioning system is unlocked and during the long distance traveling process can be further improved, and the driving safety is further improved.
In a specific embodiment, after the positioning system is unlocked, when it is determined that the running distance of the vehicle is greater than a preset distance threshold, for example, greater than 1Km, it is determined that the running distance of the vehicle is greater under the condition that the positioning system is unlocked, for example, the running distance of the vehicle in a tunnel exceeds 1Km, at this time, the vehicle is controlled to be positioned in a relative positioning mode, and meanwhile, the vehicle is controlled to perform auxiliary positioning according to vehicle body posture information of the vehicle, and a lane keeping auxiliary system is started, so that the positioning accuracy under the condition that the positioning system is unlocked and the vehicle runs for a long distance can be effectively improved, and the driving safety is further improved. It can be understood that when the driving distance is greater than 1Km, and the vehicle is positioned by the two methods, the weights occupied by the different positioning methods are different, wherein the relative positioning method is mainly used, the degree of participation in positioning is larger, that is, the weight occupied by the relative positioning method is larger, for example, 70%; the positioning method based on the vehicle body posture information is used as an auxiliary method, and the degree of the positioning method participating in the positioning is small, namely the weight occupied by the positioning method is small, such as 20%; meanwhile, the lane keeping auxiliary system of the vehicle participates in the lane keeping auxiliary system, mainly ensures that the vehicle runs in the current lane, avoids lane departure caused by large positioning error, further improves the driving safety, and has small participation degree, for example, the participation degree is 10 percent. Namely, when the positioning system is unlocked and the vehicle runs for a long distance, the vehicle is controlled to be positioned together by the relative positioning mode and the vehicle body posture information, so that the accuracy of vehicle positioning is improved, and the problem that the driving safety of the vehicle is low due to unstable positioning signals and jump caused by inaccurate switching time, such as too early switching, when the positioning mode is switched is avoided. And in the driving process of the vehicle, the lane keeping auxiliary system of the vehicle is started, so that the vehicle can keep driving in the current lane, lane deflection caused by errors in vehicle positioning is avoided, and safety accidents are avoided, so that the driving safety is improved.
According to the positioning control method of the vehicle, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, when the running distance is larger than a preset distance threshold value, namely the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information of the vehicle as an auxiliary mode, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump to cause reduction of the running safety of the vehicle due to inaccurate switching time when the positioning mode is switched, starting the lane keeping auxiliary system of the vehicle in the positioning process, keeping the vehicle running in a lane to the maximum extent, and ensuring the positioning accuracy, the driving safety is improved.
In some embodiments, after determining that the positioning system is unlocked and acquiring the driving distance of the vehicle, the method further comprises: and when the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting a lane keeping auxiliary system.
In a specific embodiment, after the positioning system is unlocked, when the running distance of the vehicle is determined to be less than or equal to a preset distance threshold value, for example, less than or equal to 1Km, the running distance of the vehicle is considered to be relatively short after the positioning system is unlocked, for example, the running distance in a tunnel does not exceed 1Km, and then the vehicle is controlled to be positioned according to the body posture information of the vehicle. It can be understood that the positioning mode according to the vehicle body posture information is suitable for the working condition that the vehicle runs at a short distance, and the positioning accuracy of the positioning mode is higher under the working condition. Therefore, in the embodiment of the invention, when the vehicle runs for a short distance after the positioning system is unlocked, for example, the running distance does not exceed 1Km, the vehicle is controlled to perform positioning according to the vehicle body posture information, so that the positioning accuracy is improved. Specifically, for example, the travel locus, the vehicle speed, and the like of the vehicle can be accurately calculated from the vehicle body posture information within a short distance, thereby positioning the vehicle with high accuracy. Meanwhile, in the process of short-distance driving of the vehicle, the lane keeping auxiliary system is also started, so that the vehicle can be kept driving in the current lane to the maximum extent, and the driving safety is improved.
In some embodiments, before performing the auxiliary positioning according to the body posture information of the vehicle, the method further includes: acquiring detection data of an Inertial sensor (IMU) of a vehicle and wheel speed information of the vehicle; vehicle body attitude information such as a running track and a vehicle speed of the vehicle is obtained from the detection data and the wheel speed information. Specifically, the detection data acquired by the inertial sensor of the vehicle includes, for example, but is not limited to, acceleration, a travel angle, and the like of the vehicle. According to the wheel speed sensor on the vehicle, the wheel speed information of the vehicle can be obtained, and then after the detection data of the IMU and the wheel speed information of the vehicle are obtained, the body attitude information of the vehicle can be determined according to the detection data and the wheel speed information, so that the vehicle can be accurately positioned according to the body attitude information (such as the vehicle running track, the vehicle speed and the like).
According to a large amount of experimental data, after the positioning system is unlocked, if the driving distance does not exceed 1Km, namely, when the vehicle is driven in a short distance, the vehicle body posture information (namely, IMU + wheel speed information) is adopted for positioning, the positioning error is small, the driving requirement of the vehicle in the short distance is met, and along with the gradual increase of the distance, the error of the positioning mode is also increased, so that the positioning accuracy is reduced, and when the vehicle is driven in a long distance, the positioning accuracy of the relative positioning mode is higher. Therefore, after the positioning system is unlocked, the length of the running distance of the vehicle is judged by determining the relation between the running distance of the vehicle and the preset distance threshold value, and then the vehicle is controlled to be positioned by adopting different corresponding positioning modes, so that the positioning accuracy is improved conveniently. For example, when the vehicle is driven at a short distance, the vehicle is controlled to adopt the vehicle body posture information (namely IMU + wheel speed information) for high-precision positioning; when the vehicle runs at a long distance, the vehicle is controlled to be positioned in a relative positioning mode, and the vehicle is assisted to be positioned by adopting vehicle body posture information (namely IMU + wheel speed information), so that the positioning accuracy is further improved, and the driving safety is further improved. Meanwhile, in the whole driving process of the vehicle, the lane keeping auxiliary system is started to ensure that the vehicle continuously drives in the current lane, so that the driving safety is further improved.
In some embodiments, the positioning control method of the vehicle further includes: and if the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle.
In particular embodiments, determining that the positioning system has not been unlocked may include the positioning system of the vehicle having not been unlocked and returning to normal after being unlocked. For example, in the driving process of a vehicle, the vehicle does not enter any tunnel, at this time, a positioning signal is kept good, the positioning system continuously receives the positioning signal, that is, the positioning system is not unlocked, or the vehicle is unlocked after entering the tunnel but is driven out of the tunnel after a period of time, and the positioning signal is kept stable for a period of time after being converged, that is, the positioning signal is kept good within the period of time, and the positioning system continuously receives the positioning signal, that is, the positioning system is recovered to be normal after being unlocked, and both of the above two cases belong to the situation that the positioning system is not unlocked. That is, when the positioning system is in the unlocked state, the positioning system can normally receive the positioning signal, and at this time, it is further determined whether the time in the unlocked state continues to reach the preset time, for example, it is determined that the time in which the positioning system normally receives the positioning signal reaches 15s, the vehicle is controlled to position the vehicle according to the positioning signal received by the positioning system, for example, the vehicle is positioned by using a satellite absolute positioning method, and the lane keeping assist system of the vehicle is turned on. Therefore, the safety of vehicle driving is improved while the accurate positioning of the vehicle is realized.
In some embodiments, the positioning control method of the vehicle further includes: when the turn light module of the vehicle is determined to be in the on state, the driver is considered to be actively involved at the moment, for example, the driver manually drives the vehicle to change the lane or turn the lane, and the lane keeping auxiliary system of the vehicle is controlled to be turned off. For example, when a driver needs to manually control the vehicle to turn or change lanes, a steering module in the vehicle, such as a steering lamp operating rod, is operated, at this time, the steering lamp module of the vehicle is determined to be in an on state, and then the lane keeping auxiliary system of the vehicle is controlled to be turned off so as to respond to an operating instruction of the driver, so that the vehicle can smoothly turn or change lanes, thereby meeting the driving requirement of the driver and improving the intelligence of the vehicle.
In summary, the positioning control method of the vehicle according to the embodiment of the present invention is applicable to, but not limited to, a scene where the vehicle travels in a mountain road section with a tunnel, and when a positioning signal is good, that is, when the positioning system is not out of lock, a satellite absolute positioning manner is adopted to perform accurate positioning, and meanwhile, a lane keeping assist system is turned on; when the positioning signal is lost, namely the positioning system is unlocked, if the running distance of the vehicle is short, for example, less than or equal to 1Km, the vehicle is accurately positioned according to the vehicle body posture information (IMU + wheel speed information), and meanwhile, the lane keeping auxiliary system is started; when the positioning signal is lost, namely the positioning system is unlocked, if the vehicle travels a long distance, for example, more than 1Km, the relative positioning mode is adopted for positioning, and meanwhile, the vehicle is subjected to auxiliary positioning according to vehicle body attitude information (IMU + wheel speed information), so that the positioning accuracy is improved. Therefore, the driving safety can be effectively improved. The following describes a positioning control method for a vehicle according to an embodiment of the present invention with reference to fig. 2, which is a flowchart of the positioning control method for a vehicle according to an embodiment of the present invention, as shown in fig. 2.
Step S11, start.
Step S12, judging whether the positioning system is unlocked, if yes, executing step S13; if not, go to step S15.
Step S13, acquiring the driving distance of the vehicle, judging whether the driving distance is larger than a preset distance threshold value, and if so, executing step S14; if not, go to step S16.
And step S14, controlling the vehicle to position in a relative positioning mode, simultaneously controlling the vehicle to perform auxiliary positioning according to vehicle body posture information (IMU + wheel speed information), starting a lane keeping auxiliary system of the vehicle, and finally jumping to step S17.
And step S15, determining that the positioning system is not unlocked and the time for keeping the unlocking state continuously reaches the preset time, positioning the vehicle according to the positioning signal received by the positioning system, starting a lane keeping auxiliary system of the vehicle, and finally jumping to step S17.
And step S16, controlling the vehicle to position according to the vehicle body posture information (IMU + wheel speed information), starting a lane keeping auxiliary system, and finally jumping to step S17.
Step S17, judging whether the turn light module of the vehicle is in the on state, if yes, executing step S18; if not, go to step S19.
In step S18, the lane keeping assist system of the vehicle is controlled to be off.
In step S19, the lane keeping assist system of the vehicle is controlled to remain on.
Step S20 ends.
According to the vehicle positioning method provided by the embodiment of the invention, when the positioning system is unlocked, the running distance of the vehicle is acquired, when the running distance is larger than the preset distance threshold value, namely the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information of the vehicle as an auxiliary, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump to cause the reduction of the running safety of the vehicle due to inaccurate switching time when the positioning mode is switched, and starting the vehicle keeping auxiliary system in the positioning process to keep the vehicle running in the lane to the maximum extent, thereby ensuring the positioning accuracy, the driving safety is improved.
The following describes a positioning control apparatus of a vehicle of an embodiment of the invention.
As shown in fig. 3, the positioning control device 2 of the vehicle according to the embodiment of the present invention includes an obtaining module 20 and a control module 21, where the obtaining module 20 is configured to obtain a driving distance of the vehicle when determining that the positioning system is unlocked; the control module 21 is configured to control the vehicle to perform positioning in a relative positioning manner when the travel distance is greater than the preset distance threshold, and at the same time, control the vehicle to perform auxiliary positioning according to the vehicle body posture information, and start a lane keeping auxiliary system of the vehicle.
According to the positioning control device 2 of the vehicle of the embodiment of the invention, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, when the running distance is greater than the preset distance threshold value, namely, the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary positioning mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information as an auxiliary positioning mode, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump caused by inaccurate switching time when the positioning mode is switched, reducing the running safety of the vehicle, and starting the lane keeping auxiliary system of the vehicle in the positioning process, so that the vehicle can be kept running in a lane to the maximum extent, thereby, ensuring the positioning accuracy, the driving safety is improved.
In some embodiments, the control module 21 is further configured to: and when the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting a lane keeping auxiliary system.
In a specific embodiment, after the positioning system is unlocked, when the running distance of the vehicle is determined to be less than or equal to a preset distance threshold value, for example, less than or equal to 1Km, the running distance of the vehicle is considered to be relatively short after the positioning system is unlocked, for example, the running distance in a tunnel does not exceed 1Km, and then the vehicle is controlled to be positioned according to the body posture information of the vehicle. It can be understood that the positioning mode according to the vehicle body posture information is suitable for the working condition that the vehicle runs at a short distance, and the positioning accuracy of the positioning mode is higher under the working condition. Therefore, in the embodiment of the invention, when the vehicle runs for a short distance after the positioning system is unlocked, for example, the running distance does not exceed 1Km, the vehicle is controlled to perform positioning according to the vehicle body posture information, so that the positioning accuracy is improved. Specifically, for example, the travel locus, the vehicle speed, and the like of the vehicle can be accurately calculated from the vehicle body posture information within a short distance, thereby positioning the vehicle with high accuracy. Meanwhile, in the process of short-distance driving of the vehicle, the lane keeping auxiliary system is also started, so that the vehicle can be kept driving in the current lane to the maximum extent, and the driving safety is improved.
In some embodiments, the control module 21 is further configured to: and if the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle. In particular embodiments, determining that the positioning system has not been unlocked may include the positioning system of the vehicle having not been unlocked and returning to normal after being unlocked. For example, in the driving process of a vehicle, the vehicle does not enter any tunnel, at this time, a positioning signal is kept good, the positioning system continuously receives the positioning signal, that is, the positioning system is not unlocked, or the vehicle is unlocked after entering the tunnel but is driven out of the tunnel after a period of time, and the positioning signal is kept stable for a period of time after being converged, that is, the positioning signal is kept good within the period of time, and the positioning system continuously receives the positioning signal, that is, the positioning system is recovered to be normal after being unlocked, and both of the above two cases belong to the situation that the positioning system is not unlocked. That is, when the positioning system is in the unlocked state, the positioning system can normally receive the positioning signal, and at this time, it is further determined whether the time in the unlocked state continues to reach the preset time, for example, it is determined that the time in which the positioning system normally receives the positioning signal reaches 15s, the vehicle is controlled to position the vehicle according to the positioning signal received by the positioning system, for example, the vehicle is positioned by using a satellite absolute positioning method, and the lane keeping assist system of the vehicle is turned on. Therefore, the safety of vehicle driving is improved while the accurate positioning of the vehicle is realized.
In some embodiments, the control module 21 is further configured to: when the turn light module of the vehicle is determined to be in the on state, the driver is considered to be actively involved at the moment, for example, the driver manually drives the vehicle to change the lane or turn the lane, and the lane keeping auxiliary system of the vehicle is controlled to be turned off. For example, when a driver needs to manually control the vehicle to turn or change lanes, a steering module in the vehicle, such as a steering lamp operating rod, is operated, at this time, the steering lamp module of the vehicle is determined to be in an on state, and then the lane keeping auxiliary system of the vehicle is controlled to be turned off so as to respond to an operating instruction of the driver, so that the vehicle can smoothly turn or change lanes, thereby meeting the driving requirement of the driver and improving the intelligence of the vehicle.
In some embodiments, the obtaining module 20 is further configured to: acquiring detection data of an inertial sensor IMU of a vehicle and wheel speed information of the vehicle; vehicle body attitude information such as a running track and a vehicle speed of the vehicle is obtained from the detection data and the wheel speed information. Specifically, the detection data acquired by the inertial sensor of the vehicle includes, for example, but is not limited to, acceleration, a travel angle, and the like of the vehicle. According to the wheel speed sensor on the vehicle, the wheel speed information of the vehicle can be obtained, and then after the detection data of the IMU and the wheel speed information of the vehicle are obtained, the body attitude information of the vehicle can be determined according to the detection data and the wheel speed information, so that the vehicle can be accurately positioned according to the body attitude information (such as the vehicle running track, the vehicle speed and the like).
It should be noted that, when the vehicle positioning control device 2 according to the embodiment of the present invention performs positioning control on a vehicle, a specific implementation manner of the vehicle positioning control device is similar to a specific implementation manner of the vehicle positioning control method according to any of the above embodiments of the present invention, and for details, reference is specifically made to the description of the method portion, and details are not repeated here in order to reduce redundancy.
According to the positioning control device 2 of the vehicle of the embodiment of the invention, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, when the running distance is greater than the preset distance threshold value, namely, the running distance is larger, the vehicle is controlled to be positioned in a relative positioning mode, meanwhile, the vehicle is controlled to be positioned in an auxiliary positioning mode according to the vehicle body posture information of the vehicle, so that the vehicle is positioned mainly in the relative positioning mode and is positioned together with the vehicle body posture information as an auxiliary positioning mode, thereby realizing accurate positioning mode switching, avoiding the problem that the positioning signal is unstable and has signal jump caused by inaccurate switching time when the positioning mode is switched, reducing the running safety of the vehicle, and starting the lane keeping auxiliary system of the vehicle in the positioning process, so that the vehicle can be kept running in a lane to the maximum extent, thereby, ensuring the positioning accuracy, the driving safety is improved.
A vehicle according to an embodiment of the third aspect of the invention is described below with reference to fig. 4.
Fig. 4 is a block diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 4, a vehicle 3 according to an embodiment of the present invention includes the vehicle positioning control device 2 according to the above-described embodiment.
It should be noted that, when the vehicle 3 according to the embodiment of the present invention performs positioning control, a specific implementation manner of the vehicle 3 is similar to a specific implementation manner of the positioning control device 2 according to any of the above embodiments of the present invention, and for details, please refer to the description of the device part, and details are not repeated here in order to reduce redundancy.
According to the vehicle 3 of the embodiment of the invention, when the positioning system is determined to be unlocked, the running distance of the vehicle is acquired, and when the running distance is greater than the preset distance threshold value, namely, when the running distance is larger, the control vehicle adopts a relative positioning mode to position, and simultaneously, the control vehicle carries out auxiliary positioning according to the posture information of the vehicle body, the vehicle is positioned by taking the relative positioning mode as the main mode and the vehicle body posture information positioning as the auxiliary mode, thereby realizing the accurate positioning mode switching and avoiding the situation that when the positioning mode is switched, the problem of reduced vehicle driving safety due to unstable positioning signal and signal jump caused by inaccurate switching time, the lane keeping auxiliary system of the vehicle is started in the positioning process, so that the vehicle can be kept to run in a lane to the maximum extent, and the driving safety is improved while the positioning accuracy is ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A positioning control method of a vehicle, characterized in that the vehicle includes a positioning system for receiving a positioning signal, the positioning control method comprising:
determining that the positioning system is unlocked, and acquiring the running distance of the vehicle;
and if the running distance is greater than a preset distance threshold value, controlling the vehicle to adopt a relative positioning mode for positioning, simultaneously controlling the vehicle to perform auxiliary positioning according to vehicle body posture information, and starting a lane keeping auxiliary system of the vehicle.
2. The vehicle positioning control method according to claim 1, further comprising, after determining that the positioning system is unlocked and acquiring the travel distance of the vehicle:
and if the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting the lane keeping auxiliary system.
3. The positioning control method of a vehicle according to claim 1, characterized by further comprising:
and if the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle.
4. The positioning control method of a vehicle according to any one of claims 1 to 3, characterized by further comprising:
and when the turn light module of the vehicle is determined to be in the on state, controlling the lane keeping auxiliary system of the vehicle to be closed.
5. The method of vehicle positioning according to claim 1, further comprising, before controlling the vehicle to perform auxiliary positioning according to body attitude information:
acquiring detection data of an inertial sensor of the vehicle and a wheel speed of the vehicle;
and obtaining the vehicle body posture information according to the detection data and the wheel speed, wherein the vehicle body posture information at least comprises a running track and a vehicle speed of the vehicle.
6. A positioning control apparatus of a vehicle, characterized in that the vehicle includes a positioning system for receiving a positioning signal, the positioning control apparatus comprising:
the acquisition module is used for acquiring the running distance of the vehicle when the positioning system is unlocked;
and the control module is used for controlling the vehicle to adopt a relative positioning mode for positioning when the running distance is greater than a preset distance threshold value, controlling the vehicle to carry out auxiliary positioning according to the posture information of the vehicle body, and starting a lane keeping auxiliary system of the vehicle.
7. The positioning control device of a vehicle according to claim 6, wherein the control module is further configured to:
and when the driving distance is smaller than or equal to the preset distance threshold value, controlling the vehicle to position according to the vehicle body posture information, and starting the lane keeping auxiliary system.
8. The positioning control device of a vehicle according to claim 6, wherein the control module is further configured to:
and when the positioning system is determined not to be unlocked and the time for keeping the unlocking state continuously reaches the preset time, controlling the positioning system to position the vehicle according to the received positioning signal and starting a lane keeping auxiliary system of the vehicle.
9. The vehicle positioning control apparatus according to claim 6, wherein the acquisition module is further configured to:
acquiring detection data of an inertial sensor of the vehicle and a wheel speed of the vehicle;
and obtaining the vehicle body posture information according to the detection data and the wheel speed, wherein the vehicle body posture information at least comprises a running track and a vehicle speed of the vehicle.
10. A vehicle characterized by comprising the positioning control apparatus of the vehicle according to any one of claims 6 to 9.
CN202110927287.2A 2021-08-13 2021-08-13 Vehicle positioning control method and device and vehicle Pending CN113415293A (en)

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