CN113619574A - Vehicle avoidance method and device, computer equipment and storage medium - Google Patents
Vehicle avoidance method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle avoidance method, a vehicle avoidance device, computer equipment and a storage medium. The vehicle avoidance method comprises the following steps: detecting the driving data of the front vehicle in the same lane; detecting the type of the current vehicle avoidance according to the driving data of the front vehicle; and under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate, and controlling the current vehicle to run along the lane change path. The embodiment of the invention realizes the improvement of the safety of vehicle running.
Description
Technical Field
The embodiment of the invention relates to an intelligent driving technology, in particular to a vehicle avoidance method, a vehicle avoidance device, computer equipment and a storage medium.
Background
When the automobile runs, the automobile can meet obstacles and needs to avoid the obstacles.
In the prior art, the models produced by the whole domestic automobile factory are provided with an automatic emergency braking obstacle avoidance system to improve the active safety of the automobile when encountering obstacles in the driving process.
However, avoiding by braking requires a relatively large initial distance of the vehicle from the obstacle in front, otherwise a collision still occurs.
Disclosure of Invention
The embodiment of the invention provides a vehicle avoidance method, a vehicle avoidance device, computer equipment and a storage medium, so as to improve the safety of vehicle avoidance.
In a first aspect, an embodiment of the present invention provides a vehicle avoidance method, including:
detecting the driving data of the front vehicle in the same lane;
detecting the type of the current vehicle avoidance according to the driving data of the front vehicle;
and under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate, and controlling the current vehicle to run along the lane change path.
In a second aspect, an embodiment of the present invention further provides a vehicle avoidance apparatus, including:
the system comprises a front vehicle running data acquisition module, a front vehicle running data acquisition module and a front vehicle running data acquisition module, wherein the front vehicle running data acquisition module is used for detecting the running data of a front vehicle on the same lane;
the avoidance type determining module is used for detecting the avoidance type of the current vehicle according to the running data of the previous vehicle;
and the vehicle lane change control driving module is used for determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate under the condition that the current vehicle avoidance type is determined to be lane change avoidance, and controlling the current vehicle to drive along the lane change path.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle avoidance method according to the embodiment of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a vehicle avoidance method according to embodiments of the present invention.
According to the embodiment of the invention, when the avoidance type is lane change avoidance, the current vehicle is controlled to run along the lane change path based on the constraint conditions of lateral acceleration and lateral acceleration change rate, so that the problem that the avoidance needs to have a longer initial distance through braking and the collision can occur when the initial distance is shorter is solved, the efficiency of avoiding obstacles is improved, and the effect of improving the safety of automatic driving is realized.
Drawings
Fig. 1 is a flowchart of a vehicle avoidance method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a lane change avoidance type of a vehicle according to a first embodiment of the present invention;
fig. 3 is a flowchart of a vehicle avoidance method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a lane-change avoiding path of a vehicle according to a second embodiment of the present invention;
fig. 5 is a flowchart of a vehicle avoidance method according to a third embodiment of the present invention;
fig. 6 is a schematic view of a scene of vehicle avoidance path tracking control in the third embodiment of the present invention;
fig. 7 is a schematic view of a vehicle avoidance system in a fifth embodiment of the present invention;
fig. 8 is a schematic view of a vehicle avoidance apparatus in a fifth embodiment of the invention;
fig. 9 is a schematic structural diagram of a computer device in the sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle avoidance method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is to be avoided, for example, where the vehicle actively changes lane to avoid a vehicle ahead, and the method may be executed by a vehicle avoidance apparatus, where the apparatus may be implemented by software and/or hardware, and may generally be integrated in a computer device, for example, a vehicle-mounted terminal. The method specifically comprises the following steps:
and step 110, detecting the driving data of the front vehicle in the same lane.
The same-lane front vehicle refers to a vehicle that runs in the same lane as the current vehicle and in front of the own vehicle, and there is no other obstacle between the two vehicles. The running data of the preceding vehicle is used for acquiring the motion state of the preceding vehicle, including the distance between the preceding vehicle and the current vehicle, the running speed, the acceleration and the like. The driving data can be detected by a sensor, for example, the sensor can comprise a forward-looking camera and a front millimeter wave radar, and the like, wherein the forward-looking camera can detect whether the front vehicle is braked emergently; the front-side millimeter wave radar may detect the distance of the present vehicle from the preceding vehicle, and the initial speed and deceleration of the emergency braking. In addition, the sensor further comprises a left rear side millimeter wave radar and a right rear side millimeter wave radar, wherein the left rear side millimeter wave radar and the right rear side millimeter wave radar can respectively detect whether vehicles run on a left lane behind the current vehicle and a right lane behind the current vehicle. The in-vehicle terminal may further include a network communication module for downloading the map, and a register for storing the downloaded map.
And 120, detecting the current vehicle avoidance type according to the running data of the previous vehicle.
The avoidance type is used for determining a mode for avoiding a front vehicle, and the avoidance type can comprise two types of brake avoidance and lane change avoidance. According to the driving data of the front vehicle, the specific detection of the current vehicle avoidance type is as follows: and calculating the minimum deceleration of the current vehicle which adopts braking to avoid and cannot collide with the front vehicle according to the detected running data of the front vehicle. If the minimum deceleration obtained through calculation is larger than the preset maximum deceleration, the current vehicle can collide with the front vehicle through braking avoidance, and the lane change avoidance type is determined to be selected; if the minimum deceleration obtained through calculation is smaller than or equal to the preset maximum deceleration, the current vehicle does not collide with the front vehicle through braking avoidance, and a lane changing avoidance or braking avoidance type can be selected according to actual conditions. Specifically, when it is detected that vehicles run in both a left lane and a right lane of a current vehicle, a braking avoidance type is selected; and when at least one lane of the left lane of the current vehicle and the right lane of the current vehicle is detected to have no vehicle running, selecting a lane change avoidance type. The preset maximum deceleration may be the maximum deceleration at which the current vehicle brakes itself, or may also be a user-defined maximum deceleration, for example, a maximum deceleration selected to meet the ride comfort requirement.
In an optional embodiment, the detecting the current vehicle avoidance type according to the traveling data of the preceding vehicle includes: determining collision time and a vehicle distance between a preceding vehicle and the current vehicle according to the running data of the preceding vehicle; detecting a braking prediction result of the current vehicle according to a preset maximum deceleration, the collision time and the vehicle distance; and determining the avoidance type of the current vehicle according to the corresponding relation between the braking prediction result and the avoidance type.
The collision time is the time when the front vehicle in the same-direction lane runs at a constant speed at the current running speed, the current vehicle runs at a preset maximum deceleration speed, and just collides with the front vehicle. The preset maximum deceleration refers to the maximum deceleration at the time of braking of the preceding vehicle. The vehicle distance between the preceding vehicle and the current vehicle refers to a distance between the current vehicle and the preceding vehicle, for example, a distance between a head of the current vehicle and a tail of the preceding vehicle, and the distance may be obtained by a millimeter wave radar on the front side. The braking prediction result is used for indicating whether the current vehicle collides with the front vehicle when the current vehicle adopts the preset maximum deceleration braking. The braking prediction result includes a result that a collision does not occur, and a result that a collision occurs. And the corresponding relation between the braking prediction result and the avoidance type is used for selecting the avoidance type according to the braking prediction result. Exemplarily, the corresponding relation is as follows, when the braking prediction result is that the current vehicle collides with the front vehicle, the lane change is avoided; and when the braking prediction result is that the front vehicle does not collide with the front vehicle, correspondingly performing two types of braking avoidance and lane change avoidance.
For example, whether a running vehicle exists in the left lane of the current vehicle is detected through the left rear millimeter wave radar and the front millimeter wave radar of the current vehicle, and whether a running vehicle exists in the right lane of the current vehicle is detected through the right rear millimeter wave radar and the front millimeter wave radar of the current vehicle. It should be noted that the detection range of the millimeter wave radar is a preset value, and when the distance between the vehicle on the right or left lane and the current vehicle in the driving direction exceeds the preset value, the current vehicle does not collide with the vehicle on the right or left lane when the current vehicle changes lanes. When the braking prediction result shows that no collision occurs, if the situation that no vehicle exists in the left lane of the current vehicle and the lane changing condition of the vehicle to the left lane is met, the lane changing to the left lane can be selected for avoiding; if the condition that the vehicle changes to the right lane is met if no vehicle is detected in the right lane of the current vehicle, the vehicle can be selected to change to the right lane for avoiding; when no vehicle is detected in the right lane of the vehicle and the left lane of the current vehicle, the lane changing condition of the vehicle to the left and the right lanes is met, and any lane can be selected to change lanes for avoiding; when the fact that vehicles exist in the right lane of the vehicle and the left lane of the current vehicle is detected, the condition that the vehicles change lanes to the left lane or the right lane is not met, and a deceleration brake avoiding mode with high riding comfort degree is selected in the range smaller than the preset deceleration. And when the braking prediction result indicates that collision can occur, selecting lane change avoidance, wherein the specific lane change selection is the same as the braking prediction result when collision cannot occur.
The method comprises the steps of detecting a braking prediction result of the current vehicle according to the preset maximum deceleration, the collision time and the vehicle distance, determining an avoidance mode, enriching the avoidance mode under the condition of ensuring that the collision does not occur during running, and enabling a driver to select a more comfortable avoidance mode.
And step 130, under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate, and controlling the current vehicle to run along the lane change path.
The lateral acceleration and the lateral acceleration rate refer to a lateral acceleration and a lateral acceleration rate when the current vehicle changes lanes, and the lateral direction refers to a direction perpendicular to the traveling direction, and the lateral acceleration rate are used to limit the traveling speed and the traveling acceleration of the current vehicle. By selecting proper lateral acceleration and lateral acceleration change rate, the rapid lateral deviation of a human body is prevented from colliding with the inner wall of the vehicle when the vehicle is driven along a lane change path, and the comfort level of the human body when the vehicle is driven along the lane change path is improved.
The lane change path refers to a driving path of a current vehicle when lane change is avoided, namely the vehicle drives to a lane other than a lane where a previous vehicle is located. After the lane change path is determined, the current vehicle is controlled to run according to the running path in a lane change mode, for example, the control mode can be a closed-loop mode, and the running track is corrected in real time through error feedback. Fig. 2 is a schematic diagram of a lane change avoidance type of vehicle. In fig. 2, the lane change to the left side in the vehicle traveling direction is taken as an example, the X axis in the figure is the lane direction, the Y axis is the direction perpendicular to the lane direction, and at this time, the current vehicle travels along the lane, the X axis is the same as the traveling direction of the current vehicle, the Y axis is perpendicular to the traveling direction of the current vehicle, and the direction perpendicular to the traveling direction of the current vehicle is the lateral direction. The current vehicle 10 changes lane from the current lane to the left lane along the lane change path 30 to avoid the previous vehicle 20, and the post-lane-change vehicle 11 is the current vehicle after the lane change. The front vehicle can be effectively avoided when the distance between the two vehicles is short through lane changing avoiding, and the driving safety of the vehicles is guaranteed.
According to the embodiment of the invention, when the avoidance type is lane change avoidance, the current vehicle is controlled to run along the lane change path based on the constraint conditions of lateral acceleration and lateral acceleration change rate, so that the problem that the avoidance needs to have a longer initial distance through braking and the collision can occur when the initial distance is shorter is solved, the efficiency of avoiding obstacles is improved, and the effect of improving the safety of automatic driving is realized.
In an optional embodiment, the vehicle avoidance method further includes: and controlling the current vehicle to run at a reduced speed under the condition that the current vehicle avoidance type is determined to be brake avoidance.
And when detecting that the current vehicle brake avoidance cannot collide with the front vehicle, controlling the vehicle brake avoidance. In the process of brake avoidance, one deceleration with high riding comfort can be selected to control the vehicle brake avoidance.
When the avoidance type is braking avoidance, the front vehicle is avoided through braking, and the running safety of the vehicle is guaranteed.
Example two
Fig. 3 is a flowchart of a vehicle avoidance method according to a second embodiment of the present invention, where the technical solution of this embodiment is further refined on the basis of the above technical solution, specifically, a lane change path of the current vehicle is determined based on a constraint condition of lateral acceleration and a lateral acceleration change rate, and the refinement is as follows: fitting the lane change path of the current vehicle by adopting a B spline curve model based on the constraint conditions of lateral acceleration and lateral acceleration change rate; and determining the fitted curve as the lane change path of the current vehicle. The method comprises the following steps:
and step 210, detecting the driving data of the front vehicle in the same lane.
And step 220, detecting the current vehicle avoidance type according to the driving data of the previous vehicle.
And 230, under the condition that the current vehicle avoidance type is determined to be lane change avoidance.
And step 240, fitting the lane change path of the current vehicle by adopting a B spline curve model based on the constraint conditions of the lateral acceleration and the lateral acceleration change rate.
The B-spline curve is a linear group of B-spline base curves, and the curved surface of the B-spline curve has the capability of local control. The B-spline curve can be represented as,
wherein u is the node vector of the B-spline curve model, P is the control point of the B-spline curve model, and N isi,kAnd (u) is a B-spline basis function, and k represents the power of the B-spline basis function. Wherein N isi,k(u) can be expressed as:
using B-spline curve coordinate derivatives
And
its curvature can be expressed as
The current vehicle lateral acceleration constraint can thus be represented by the curvature of the B-spline curve:
wherein v isinitAnd aymaxRespectively, the current vehicle initial speed and the maximum lateral acceleration. If the cubic derivative of the B-spline curve coordinate is expressed as
Then, the lateral acceleration change rate of the current vehicle can be obtained by adopting a chain type derivation method:
wherein j isymaxThe current maximum lateral acceleration change rate of the vehicle is obtained.
In an alternative embodiment, said fitting the lane change path of the current vehicle with a B-spline curve model comprises: defining a node vector U and a control point P of a B spline curve model based on the following formula, and fitting the lane change path of the current vehicle:
U＝{0,0,0,0,0,0,0.5,1,1,1,1,1,1}；
wherein, PiHas the coordinates of (P)xi，Pyi)，diIs a control point PiAnd Pi-1The same direction distance therebetween. d1≥0、d2≥0、d3≥0、d4Not less than 0 and
is the coefficient to be determined. FIG. 4 is a schematic view of a lane-change avoidance path for a vehicle, wherein a node vector U and a control point P are determined as defined above, and the entire path is relative to the control point P3And (4) the center is symmetrical. The node vector U refers to the same as the node vector U in the preceding formula.
According to the setting of node vector U and control point P, divide into 6 sections with B spline curve model, fit respectively with 6 different basis functions, select different lateral acceleration and lateral acceleration degree of change rate in 6 basis functions, can increase B spline curve's smoothness, prevent that the vehicle lane change in-process lateral velocity changes and leads to the human body to vehicle inner wall slope to bump at the excessive speed, improve the comfort level of riding, avoid adopting a large amount of basis functions simultaneously, the calculated amount is too big, improve fitting efficiency.
And step 250, determining the fitted curve as the lane change path of the current vehicle.
Establishing a nonlinear programming problem of the active lane changing avoidance path of the current vehicle based on the constraint conditions in the step 240 as follows:
d1≥0,d2≥0,d3≥0,
and solving the nonlinear programming problem by adopting a sequential quadratic programming method to obtain the active lane changing avoiding path of the vehicle. Knowing the maximum lateral acceleration allowed by the vehicle, the larger the initial vehicle speed of the vehicle lane change avoiding is, the smaller the maximum curvature allowed by the vehicle lane change avoiding path is. Taking the lateral distance of the minimized lane-changing avoidance path of the vehicle as an optimization target, and changing the vehicle into the lane to avoid the control point P in the path0And a control point P1Path P between0P1The planning problem is converted into a nonlinear planning problem, and the path P can be obtained by solving the nonlinear planning problem0P1. Based on the symmetrical relation between the paths, by pairing the paths P0P1And carrying out translation, turnover and rotation operations to obtain the remaining paths, and ensuring that the curves of the 6 sections of paths are smoothly connected, namely obtaining all paths.
Solving to obtain a path P0P1Then, by connecting the path P0P1Translating to obtain a control point P1And a control point P2Inter path P1P2With P2A rotation path P for the center of rotation1P2To obtain a control point P2And a control point P3Path P between2P3With P3A rotation path P for the center of rotation0P3To obtain a control point P3And a control point P6Path P between3P4Route P4P5And path P5P6And obtaining the whole lane-changing avoiding path of the vehicle.
And step 260, controlling the current vehicle to run along the lane change path.
And after the path planning route is determined, controlling the vehicle to run along the lane changing path, and realizing lane changing avoidance of the vehicle.
The technical scheme of this embodiment, through the lane change route that adopts B spline curve model fitting current vehicle, B spline has convex closure nature and the characteristic of support nature, through the settlement to B spline curve basis function, the lane change route that makes the fitting obtain is more level and smooth, avoid lane change route sudden change, lead to passenger's uncomfortable sense, and through retraining lateral acceleration and lateral acceleration, prevent lateral acceleration and lateral acceleration degree of change rate too big, lead to the human body to the vehicle inner wall slope and bump, improve riding comfort.
EXAMPLE III
Fig. 5 is a flowchart of a vehicle avoidance method provided in a third embodiment of the present invention, and the technical solution of this embodiment is further detailed on the basis of the above technical solution, specifically, the step of controlling the current vehicle to travel along the lane change path is detailed as follows: constructing a path tracking error model according to the running data and the vehicle parameters of the current vehicle; determining a closed loop system according to the path tracking error model, and calculating the tracking error control quantity of the closed loop system; and controlling the current vehicle to run according to the error control quantity so as to control the current vehicle to run along the lane change path in a closed loop mode. The method comprises the following steps:
and step 310, detecting the driving data of the front vehicle in the same lane.
And 320, detecting the current vehicle avoidance type according to the running data of the front vehicle.
And 330, under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate.
And 340, constructing a path tracking error model according to the running data and the vehicle parameters of the current vehicle.
The driving data of the vehicle refers to the motion parameters of the vehicle while the vehicle is driving, and may be, for example, a longitudinal speed and a target yaw rate, wherein the longitudinal direction is the same as the lane direction, the longitudinal speed is a speed in the lane direction, the target yaw rate is a lateral angular speed when the vehicle changes lanes, and the lateral direction refers to a direction perpendicular to the driving direction of the vehicle. The vehicle parameters refer to the vehicle property parameters, and can include at least one of the following vehicle mass, yaw moment of inertia, front wheel equivalent yaw stiffness, rear wheel equivalent yaw stiffness, the distance from the vehicle mass center to the front axle, the distance from the vehicle mass center to the rear axle, and the like. The path tracking error refers to an error between a vehicle running track and a planned path, and the path tracking error model is used for adjusting the running track according to the tracking error so that the vehicle runs along the planned path and comprises longitudinal control and lateral control of the vehicle, wherein the longitudinal control mainly comprises the control of the running speed and corresponds to the longitudinal speed in the vehicle motion parameters; the lateral control is mainly the control of the turning angle of the front wheels of the vehicle, and corresponds to the target yaw rate in the vehicle motion parameters.
According to the lateral position deviation and the azimuth angle deviation between the vehicle and the planned path and the change rates of the lateral position deviation and the azimuth angle deviation, m and I are used respectivelyZ、Cf、、Cr、If、Ir、VxAnd
representing vehicle mass, yaw moment of inertia, equivalent yaw stiffness of front wheels, equivalent yaw stiffness of rear wheels, and mass center of vehicle to front axleDistance from the center of mass of the vehicle to the rear axle, longitudinal velocity and target yaw rate, defining system state vectors and control input vectors as
And u ═ δfWherein e is1Is the distance between the centroid point of the automobile and the target path,
is e1Derivative of e2The deviation of the azimuth angle of the automobile from the target azimuth angle,
is e2Derivative of, deltafThe path tracking error model established for the front wheel steering angle is as follows:
considering the uncertainty of the vehicle front and rear wheel equivalent cornering stiffness parameter, it can be expressed as
Wherein, Cf0、Cr0Nominal values of equivalent cornering stiffness, C, for the front and rear wheels of the vehicle, respectivelyfe、CreRespectively the maximum shooting quantity of the equivalent cornering stiffness of the front wheel and the rear wheel of the automobile, and therefore, the path tracking error model is corrected to be as follows:
wherein, A, Delta A, B1、ΔB1、B2、ΔB2And C respectively represent: system nominal matrix, perturbation matrix of A, control nominal matrix, B1Perturbation matrix, perturbation nominal matrix, B2The perturbation matrix and the output matrix of (a) may be expressed as:
[ΔA ΔB1 ΔB2]＝WF[E1 E2 E3]
wherein W is a constant matrix of the perturbation structure of the system, and F is a constant matrix satisfying FTA perturbation matrix with F less than or equal to I, I is rotational inertia, W, E1、E2And E3Can be respectively expressed as:
fig. 6 is a schematic view of a scenario of vehicle avoidance path tracking control. The X-axis being longitudinal, with respect to the direction of the laneThe same is carried out; the axis Y is perpendicular to the lane direction, the X-axis is the same as the current vehicle driving direction, and the Y-axis is perpendicular to the vehicle driving direction, wherein the coordinate system formed by the X-axis and the Y-axis can be understood as a world coordinate system, and the coordinate system formed by the X-axis and the Y-axis can be understood as a relative coordinate system of the current vehicle. The rectangle in the figure represents the current vehicle, e1Is the distance of the vehicle centroid point from the target path, e2The deviation of the azimuth angle of the automobile from the target azimuth angle, psi is the yaw rate, psidesIs the target yaw rate.
And 350, determining a closed-loop system according to the path tracking error model, and calculating the tracking error control quantity of the closed-loop system.
A closed loop system refers to a control system with feedback information.
In an alternative embodiment, the calculating the tracking error control amount of the closed loop system includes: and calculating the tracking error control quantity of the closed-loop system according to the path tracking feedback model and the path tracking feedforward model.
A 'feedforward + feedback' path tracking control mode is designed based on a corrected path tracking error model, and the dynamic performance index of a closed-loop system can be flexibly configured on the premise of stable closed loop, wherein feedforward is a lateral control method for controlling the front wheel steering angle, and feedback is rear wheel feedback control. To this end, the modified path tracking error model is simplified to:
designing a feedback control law based on the simplified path tracking error model as follows:
u1＝Ky＝KCx
where K is the gain.
Thus, the path tracking closed loop system is obtained as follows:
wherein the content of the first and second substances,w is a constant matrix of the perturbation structure of the system, and F is a constant matrix satisfying FTF is less than or equal to I, I is rotational inertia, Ac、EcCan be expressed as:
Ac＝A+B1KC
Ec＝E1+E2KC
in order to realize the flexible configuration of the dynamic performance index of the closed-loop system on the premise of stable closed loop, a pole configuration method is adopted to design feedback gain, and the problem is solved by converting the feedback gain into a linear matrix inequality mode, even if the dynamic performance index of the closed-loop system can be flexibly configured to be equivalent to the following linear matrix inequality:
further, the linear matrix inequality can be equivalent to:
wherein the content of the first and second substances,
further, the linear matrix inequality can be equivalent to:
to further decouple the linear matrix inequality, an intermediate transition variable, X ═ QX, is definedQQT+RXRRTAnd KCX YRRTWhere Q is a column full rank matrix formed by the kernel space basis vectors of matrix C, and R is the pseudo-inverse of matrix C, which can be expressed as R ═ CT(CCT)-1，XQAnd XRFor an unknown symmetric positive definite matrix, YRIs an unknown arbitrary matrix, formed fromThis gives:
solving the above linear matrix inequality to obtain a feedback gain coefficient as follows:
wherein the content of the first and second substances,
and
are each XRAnd YRIs possible.
The core algorithm in the feedback gain coefficient solving process is a pole allocation algorithm, so that the dynamic performance index of the closed-loop system can be flexibly allocated.
Further, by the tracking feedforward control of the automobile lane changing avoiding path, according to the tracking control law u-u of the automobile lane changing avoiding path1+u2＝KCx+u2Wherein u is1KCx is the feedback control law for the vehicle lane change avoiding path tracking, K is the feedback control gain, u is the feedback control gain2For the feedforward control law for tracking the automobile lane-changing avoiding path, the feedforward control law is designed by utilizing the Laplace transform final value theorem as follows:
wherein f is3Is a component of the matrix KC, VxIs the longitudinal speed of the vehicle.
Under the action of a feedforward control law, the influence of a disturbance term on path tracking precision is inhibited, the problem that when a vehicle lane change avoidance path tracking control law is designed, the disturbance term caused by a vehicle target yaw velocity is ignored, the pole of a closed-loop system can be configured at an expected position, but the closed-loop system is actually influenced by the disturbance term caused by the vehicle target yaw velocity and cannot achieve expected dynamic and steady-state performance is solved, and the path tracking control can achieve zero stable error.
The tracking error control quantity of the closed-loop system is calculated through the path tracking feedback model and the path tracking feedforward model, various paths can be tracked, the influence of the path shapes is small, the lateral error and the longitudinal error in the running process of the vehicle can be reduced, the path tracking effect when the curvature change is obvious is improved, and the vehicle has good path tracking accuracy, stability and robustness.
And 360, controlling the current vehicle to run according to the error control quantity so as to control the current vehicle to run along the lane change path in a closed loop mode.
According to the technical scheme of the embodiment, the 'feedforward + feedback' path tracking control is designed, the vehicle is controlled to run along the planned path, various paths can be tracked, the lateral error and the longitudinal error in the running process of the vehicle can be reduced, the path tracking effect when the curvature change is obvious is improved, the vehicle has better path tracking accuracy, stability and robustness, and the vehicle can run according with the path designed in the path planning.
Example four
Fig. 7 is a schematic view of a vehicle avoidance system provided in a fourth embodiment of the present invention, where a technical solution of the present embodiment is a specific implementation manner of the technical solution, and the method includes:
the vehicle avoidance system can be divided into three main parts, namely an information acquisition unit, a vehicle avoidance planning unit and a line control unit. The information acquisition unit is in communication connection with the vehicle avoidance planning unit; the vehicle avoidance planning unit is in communication connection with the drive-by-wire.
The information acquisition unit is used for acquiring traffic environment information of the environment where the current vehicle is located, and comprises a forward-looking camera 410, a front-side millimeter wave radar 420, a rear-side millimeter wave radar 430 and a high-definition map 440. Wherein, the rear-side millimeter wave radar may include a left rear-side millimeter wave radar and a right rear-side millimeter wave radar. The information acquisition unit acquires traffic environment information in a multi-sensor fusion mode, so that the traffic environment information of the current vehicle lane and the adjacent lane can be comprehensively considered in the active lane changing and avoiding process of the current vehicle, and the functional safety requirement of the vehicle is met.
The vehicle avoidance planning unit is used for planning a vehicle avoidance route, and comprises an avoidance type determining module 450, a lane changing path fitting module 460 and a lane changing path control module 470. The vehicle avoidance planning unit is used for executing the vehicle dynamic lane change avoidance determining method, the vehicle lane change avoidance path planning method and the vehicle lane change avoidance path tracking control method which are provided by the invention and run on the vehicle electric control unit, so that the planned path meets the automotive kinematics and dynamics constraints, meets the requirements of traceability and riding comfort, and enables a path tracking control strategy to flexibly configure the poles of a closed-loop system according to performance indexes and realize a zero stable error target.
The drive-by-wire unit is used for executing the method of the vehicle avoidance planning unit and comprises a drive-by-wire brake module 480 and a drive-by-wire lane changing unit 490, wherein the drive-by-wire brake module 480 is used for executing a method for controlling vehicle brake avoidance, and the drive-by-wire lane changing unit 490 is used for executing a method for vehicle lane change avoidance. The invention adopts the drive-by-wire brake and the drive-by-wire steering system with high integration level and high redundancy as the actuating mechanism of the automobile active lane-changing avoiding system, so that the automobile has intelligent controllability.
According to the technical scheme of the embodiment, the system for realizing the vehicle avoidance method is constructed through the vehicle avoidance system, the specific implementation processes of the vehicle dynamic lane change avoidance determining method, the vehicle lane change avoidance path planning method and the vehicle lane change avoidance path tracking control method provided by the invention are shown, the problems that a longer initial distance is needed through braking avoidance and riding comfort is reduced are solved, and the effectiveness of avoiding obstacles and the riding comfort are improved.
EXAMPLE five
Fig. 8 is a schematic structural diagram of a vehicle avoidance device according to a fifth embodiment of the present invention. The fifth embodiment is a corresponding device for implementing the vehicle avoidance method provided by the foregoing embodiments of the present invention, and the device may be implemented in a software and/or hardware manner, and may be generally integrated in a computer device. The vehicle avoidance device includes:
a preceding vehicle driving data obtaining module 510, configured to detect driving data of a preceding vehicle on the same lane;
an avoidance type determination 520, configured to detect a current vehicle avoidance type according to the driving data of the preceding vehicle;
and a control vehicle lane change running module 530, configured to determine a lane change path of the current vehicle based on the constraint conditions of the lateral acceleration and the lateral acceleration change rate, and control the current vehicle to run along the lane change path, when it is determined that the current vehicle avoidance type is lane change avoidance.
According to the technical scheme, when the avoidance type is the lane change avoidance condition, the current vehicle is controlled to run along the lane change path based on the lateral acceleration and the constraint condition of the lateral acceleration rate, the problem that the avoidance needs to be carried out at a far distance through braking is solved, the problem that the collision can occur when the initial distance is close is solved, the efficiency of avoiding obstacles is improved, and the automatic driving safety is improved.
Optionally, the vehicle avoiding device further includes:
the deceleration running control module is used for controlling the current vehicle to run in a deceleration mode under the condition that the current vehicle avoiding type is determined to be brake avoiding;
optionally, the module for controlling vehicle lane change comprises:
the lane change path fitting unit is used for fitting a lane change path of the current vehicle by adopting a B spline curve model based on the constraint conditions of lateral acceleration and lateral acceleration change rate;
the lane change path determining unit is used for determining the fitted curve as a lane change path of the current vehicle;
optionally, the lane change path fitting unit includes:
a B-spline curve defining subunit, configured to define a node vector U and a control point P of a B-spline curve model based on the following formula, and fit the lane change path of the current vehicle:
U＝{0,0,0,0,0,0,0.5,1,1,1,1,1,1}；
wherein, PiHas the coordinates of (P)xi，Pyi)，diIs a control point PiAnd Pi-1The same direction distance therebetween.
Optionally, the lane change path fitting unit includes:
the tracking error model building subunit is used for building a path tracking error model according to the running data and the vehicle parameters of the current vehicle;
the tracking error control quantity operator unit is used for determining a closed-loop system according to the path tracking error model and calculating the tracking error control quantity of the closed-loop system;
and the closed-loop control subunit is used for controlling the current vehicle to run according to the error control quantity so as to control the current vehicle to run along the lane change path in a closed-loop manner.
Optionally, the calculating a tracking error control amount of the closed-loop system includes:
calculating the tracking error control quantity of the closed loop system according to the path tracking feedback model and the path tracking feedforward model
Optionally, the avoidance type determining module includes:
a vehicle distance determination unit for determining a collision time and a vehicle distance between a preceding vehicle and the current vehicle according to traveling data of the preceding vehicle;
the braking prediction unit is used for detecting a braking prediction result of the current vehicle according to a preset maximum deceleration, the collision time and the vehicle distance;
and the avoidance type determining unit is used for determining the avoidance type of the current vehicle according to the corresponding relation between the braking prediction result and the avoidance type.
The device can execute the vehicle avoidance method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the vehicle avoidance method.
EXAMPLE six
Fig. 9 is a schematic structural diagram of a computer apparatus according to a sixth embodiment of the present invention, as shown in fig. 9, the computer apparatus includes a processor 601, a memory 602, an input device 603, and an output device 604; the number of processors 601 in the computer device may be one or more, and one processor 60 is taken as an example in fig. 9; the processor 601, the memory 602, the input device 603 and the output device 604 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 9.
The memory 602 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle avoidance method in the embodiment of the present invention (for example, the front vehicle traveling data acquisition module 510, the avoidance type determination module 520, and the control vehicle lane change traveling module 530 in the vehicle avoidance apparatus). The processor 601 executes various functional applications and data processing of the computer device by executing software programs, instructions and modules stored in the memory 602, so as to implement the vehicle avoidance method described above.
The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 602 may further include memory located remotely from the processor 601, which may be connected to a computer device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 604 may include a display device such as a display screen.
EXAMPLE seven
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a vehicle avoidance method, including:
detecting the driving data of the front vehicle in the same lane;
detecting the type of the current vehicle avoidance according to the driving data of the front vehicle;
and under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate, and controlling the current vehicle to run along the lane change path.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle avoidance method, comprising:
detecting the driving data of the front vehicle in the same lane;
detecting the type of the current vehicle avoidance according to the driving data of the front vehicle;
and under the condition that the current vehicle avoidance type is determined to be lane change avoidance, determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate, and controlling the current vehicle to run along the lane change path.
2. The method of claim 1, wherein determining the lane-change path of the current vehicle based on the constraints of lateral acceleration and lateral acceleration rate of change comprises:
fitting the lane change path of the current vehicle by adopting a B spline curve model based on the constraint conditions of lateral acceleration and lateral acceleration change rate;
and determining the fitted curve as the lane change path of the current vehicle.
3. The method of claim 2, wherein said fitting the lane-change path of the current vehicle with a B-spline curve model comprises:
defining a node vector U and a control point P of a B spline curve model based on the following formula, and fitting the lane change path of the current vehicle:
U＝{0,0,0,0,0,0,0.5,1,1,1,1,1,1}；
wherein, PiHas the coordinates of (P)xi，Pyi)，diIs a control point PiAnd Pi-1The same direction distance therebetween.
4. The method of claim 1, wherein the controlling the current vehicle to travel along the lane-change path comprises:
constructing a path tracking error model according to the running data and the vehicle parameters of the current vehicle;
determining a closed loop system according to the path tracking error model, and calculating the tracking error control quantity of the closed loop system;
and controlling the current vehicle to run according to the error control quantity so as to control the current vehicle to run along the lane change path in a closed loop mode.
5. The method of claim 4, wherein said calculating a tracking error control quantity of said closed loop system comprises:
and calculating the tracking error control quantity of the closed-loop system according to the path tracking feedback model and the path tracking feedforward model.
6. The method according to claim 1, wherein the detecting a current vehicle avoidance type based on the travel data of the preceding vehicle comprises:
determining collision time and a vehicle distance between a preceding vehicle and the current vehicle according to the running data of the preceding vehicle;
detecting a braking prediction result of the current vehicle according to a preset maximum deceleration, the collision time and the vehicle distance;
and determining the avoidance type of the current vehicle according to the corresponding relation between the braking prediction result and the avoidance type.
7. The method of claim 1, further comprising:
and controlling the current vehicle to run at a reduced speed under the condition that the current vehicle avoidance type is determined to be brake avoidance.
8. A vehicle avoidance apparatus, characterized by comprising:
the system comprises a front vehicle running data acquisition module, a front vehicle running data acquisition module and a front vehicle running data acquisition module, wherein the front vehicle running data acquisition module is used for detecting the running data of a front vehicle on the same lane;
the avoidance type determining module is used for detecting the avoidance type of the current vehicle according to the running data of the previous vehicle;
and the vehicle lane change control driving module is used for determining a lane change path of the current vehicle based on the constraint conditions of lateral acceleration and lateral acceleration change rate under the condition that the current vehicle avoidance type is determined to be lane change avoidance, and controlling the current vehicle to drive along the lane change path.
9. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements a vehicle avoidance method according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle avoidance method according to any one of claims 1 to 7.
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