CN113682305A - Vehicle-road cooperative self-adaptive cruise control method and device - Google Patents
Vehicle-road cooperative self-adaptive cruise control method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/26—Incapacity
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
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Abstract
The invention provides a vehicle-road cooperative adaptive cruise control method, which is used for a main vehicle for monitoring a distant vehicle in real time through a C-V2X technology in a road driving process, and comprises the following steps: the method comprises the steps that a main vehicle periodically receives V2I information sent by a preset roadside unit around a driving road and V2V information sent by a distant vehicle, and according to the received V2I information and V2V information, the collision risk between the main vehicle and the distant vehicle is detected; and if the situation that the main vehicle and the remote vehicle have no collision risk is detected, and after the main vehicle driver is judged to be driving normally according to the driving concentration condition of the main vehicle driver, starting the main vehicle adaptive cruise system. By implementing the invention, the target vehicle is monitored in real time on any road based on the C-V2X technology to reduce the collision risk, and the driving safety and the riding comfort can be improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for controlling vehicle-road cooperative adaptive cruise.
Background
With the rapid development of the Vehicle networking technology C-V2X (Cellular Vehicle to electric communication), the ability of the automobile to sense the outside world based on the C-V2X technology is increasingly strong. Compared with the DSRC (Dedicated Short Range Communication) technology, the C-V2X has the characteristics of high reliability, low delay and better long-distance transmission accessibility, so that the active safety of the automobile based on the C-V2X is more and more emphasized. Compared with traditional vehicle environment sensing schemes such as a camera and a radar, the C-V2X is less influenced by environmental changes and can still stably work in severe environments such as sight shielding and rainy and foggy days.
At present, the target vehicle is identified mainly by means of a radar and a camera in the aspect of adaptive cruise control, the target vehicle is easily lost under the condition of bad weather or when the vehicle runs on a curved road, and the related control algorithm needs accurate road curvature as input, so that the applicable scenes are greatly limited, particularly scenes such as turning, merging and the like. For example, when the front vehicle turns, the system is likely to misjudge that the target disappears and dangerous acceleration is generated; as another example, when adjacent lane vehicles merge into the host lane, the risk of collision is increased due to the sudden decrease in vehicle separation, and sudden deceleration also reduces vehicle stability and ride comfort.
Therefore, there is a need for an adaptive cruise control method that can not only monitor a target vehicle in real time for any road to reduce the risk of collision, but also improve driving safety and riding comfort.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is to provide a method and a device for controlling vehicle-road cooperative adaptive cruise, which are used for monitoring target vehicles on any road in real time based on a C-V2X technology to reduce collision risks and improve driving safety and riding comfort.
In order to solve the technical problem, an embodiment of the present invention provides a vehicle-road cooperative adaptive cruise control method for a host vehicle that monitors a distant vehicle in real time by using a C-V2X technology during a road driving process, where the method includes:
the master vehicle periodically receives V2I information sent by preset roadside units around a driving road and V2V information sent by the remote vehicle, and detects the collision risk between the master vehicle and the remote vehicle according to the received V2I information and V2V information;
and if the collision risk between the main vehicle and the remote vehicle is detected to be absent, and after the main vehicle driver is judged to be driving normally according to the driving concentration condition of the main vehicle driver, starting the main vehicle adaptive cruise system.
Wherein the method further comprises:
after the main vehicle starts the main vehicle adaptive cruise system, if the remote vehicle is determined to be a remote vehicle in front of the same lane, calculating the following distance between the main vehicle and the remote vehicle in front of the same lane by combining the V2V information of the remote vehicle in front of the same lane and the V2V information of the main vehicle;
and when the actual vehicle distance between the main vehicle and the far vehicle in front of the same lane is smaller than or equal to the vehicle following distance, setting a following target of the main vehicle adaptive cruise system as the far vehicle in front of the same lane, and outputting an expected target according to a preset target function so as to control the main vehicle to follow the far vehicle in front of the same lane to run.
Wherein the method further comprises:
when the main vehicle runs along with the far vehicle in front of the same lane, if a steering signal provided by at least one far vehicle in front of an adjacent lane is received, calculating the following distance between the main vehicle and the far vehicle in front of the same lane according to the far vehicle in front of the same lane, the far vehicles in front of each adjacent lane providing the steering signal and the V2V information of the main vehicle, calculating the following distance between the main vehicle and each far vehicle in front of the adjacent lane providing the steering signal, and further screening out the minimum following distance and the corresponding far vehicle;
when the remote vehicle with the minimum following distance is judged to be a remote vehicle in front of an adjacent lane providing a steering signal, and the remote vehicle with the minimum following distance drives into the same lane of the main vehicle, setting a following target of the main vehicle adaptive cruise system as the remote vehicle with the minimum following distance, and outputting a new expected target according to the preset target function so as to control the remote vehicle with the minimum following distance to run.
The step of calculating the minimum following distance specifically comprises the following steps:
and calculating the following distance between the main vehicle and a far vehicle in front of any lane according to the preset minimum parking distance, the time interval of changing the two vehicles into the vehicle heads and the vector projection of the speed of the main vehicle in the direction of the distance between the two vehicles.
Wherein the step of calculating the minimum following distance comprises:
according to formula DACC_safe＝dmin+th*V′HVCalculating the following distance D between the main vehicle and the far vehicle in front of any laneACC_safe；
Wherein d isminIs a preset minimum parking distance; v'HVIs the projection of the speed of the main vehicle in the direction of the distance between the two vehicles; t is thFor varying headway, by a saturation function
Is represented by V'RVThe projection of the speed of a far vehicle in the distance direction of the two vehicles is obtained; t is t0The reference headway of two vehicles; t is tmaxThe time interval is a preset maximum value of the locomotive time interval; t is tminThe time is a preset minimum time interval of the locomotive; c. CvIs a preset constant parameter.
The steps of outputting the expected target according to the preset target function specifically include:
constructing an objective function with the minimum expected acceleration as a target based on a vehicle kinematic model; wherein the content of the first and second substances,
the vehicle kinematic model formula is as follows:
y＝Cx
m＝[Δd Δv ax]',u＝ades,w＝arv
y＝[Δd Δv]'；
the objective function of the target is:
wherein, the delta d is the difference value between the actual distance between the two vehicles and the following distance; Δ v is the speed difference between the two vehicles; a isrvThe projection of the acceleration of the front vehicle in the distance direction of the two vehicles is obtained; a isdesIs the desired acceleration of the host vehicle in the direction of the two-vehicle distance.
Wherein the method further comprises:
and if the remote vehicle with the minimum following distance is judged to be the remote vehicle in front of the same lane, the self-adaptive cruise system of the vehicle keeps the main vehicle to follow the remote vehicle in front of the same lane to run.
Wherein, the step of detecting the risk of collision between the main vehicle and the distant vehicle specifically comprises:
the main vehicle iteratively calculates a vector projection value of the relative distance between the two vehicles and a vector projection value of an early warning distance threshold value by a vector method according to the received V2I information and V2V information and in combination with the V2V information of the main vehicle;
if the vector projection value of the relative distance between the two vehicles obtained by iterative computation of a certain time is smaller than or equal to the vector projection value of the early warning distance threshold, terminating the iterative computation, determining that the main vehicle and the remote vehicle have a collision risk, and obtaining the collision time of the main vehicle and the remote vehicle having the collision risk;
and if the vector projection values of the relative distance between the two vehicles obtained by each iterative calculation are larger than the vector projection value of the early warning distance threshold value, after the iterative calculation is finished, determining that the main vehicle and the remote vehicle have no collision risk.
Wherein, according to the main driver's the driving concentration condition judge main driver for the standard driving after, open the step of main vehicle self-adaptation cruise system, specifically include:
the host vehicle identifies a driving concentration condition according to the face and eye feature images of the host vehicle driver; wherein the driving concentration condition is a driving state or a combination of the driving state and a sight line area; the driving state is one of normal driving, fatigue driving, distraction driving, call receiving and making, smoking, emotional excitement driving and drunk driving; the sight line area is positioned in one of a central control area, a front wind shielding area and an external rearview mirror area;
if the main vehicle recognizes that the driving state of the main vehicle driver is normal driving, the main vehicle driver is determined as standard driving, and a main vehicle self-adaptive cruise system is started; or
And if the driving state of the main vehicle driver is recognized as distracted driving and the sight line area is located in a central control area or a front windshield area, determining that the main vehicle driver is standard driving and starting the main vehicle adaptive cruise system.
Wherein the method further comprises:
if the main vehicle recognizes that the driving state of the main vehicle driver is one of fatigue driving, call receiving, smoking, emotional excitement driving and drunk driving, the main vehicle determines that the main vehicle driver is non-standard driving, turns off the main vehicle adaptive cruise system and carries out safety reminding on the main vehicle driver; or
And if the driving state of the main vehicle driver is recognized as distracted driving and the sight line area is located in the outside rearview mirror area, the main vehicle driver is determined as non-standard driving, the main vehicle self-adaptive cruise system is turned off, and the main vehicle driver is safely reminded.
Wherein the driving state and the sight-line area of the host driver are obtained by:
the method comprises the steps of extracting face and eye feature images of a main driver through a visual sensor above an instrument in front of the main driver, and then carrying out image data processing through a convolution neural network model to obtain the driving state and sight line area information of the main driver.
The embodiment of the invention also provides a vehicle-road cooperative adaptive cruise control device, which is used for monitoring the remote vehicle on the main vehicle in real time by the C-V2X technology in the road driving process and comprises a collision risk detection unit and an adaptive cruise control unit; wherein the content of the first and second substances,
the collision risk detection unit is used for periodically receiving V2I information sent by a preset roadside unit around a driving road and V2V information sent by a distant vehicle by the master vehicle and detecting the collision risk between the master vehicle and the distant vehicle according to the received V2I information and V2V information;
and the self-adaptive cruise control unit is used for starting the self-adaptive cruise system of the main vehicle after judging that the driver of the main vehicle drives in a standard mode according to the driving concentration condition of the driver of the main vehicle when detecting that the main vehicle and the remote vehicle do not have collision risks.
The embodiment of the invention has the following beneficial effects:
1. the invention is based on the C-V2X technology and combines with V2I information provided by a road test unit RSU (road Side Unit), carries out real-time monitoring on the collision risk between the vehicle and a remote vehicle, and realizes the self-adaptive cruise function of the vehicle under the condition of no collision risk, including automatic following driving, thereby not only reducing the collision risk, but also improving the driving stability and comfort of the vehicle;
2. the adaptive cruise function is started based on the vision sensor to identify the driving state and the sight line area of the driver, so that the driving safety is improved;
3. the invention has little influence on the recognition of the vehicle by factors such as weather and the like, and only depends on the vehicle state data and not on the road curvature information, thereby improving the driving safety and comfort.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a flow chart of a method for controlling a vehicle-road cooperative adaptive cruise control according to an embodiment of the present invention;
fig. 2 is a vector analysis diagram for calculating a collision risk between a curved host vehicle and a curved remote vehicle in the vehicle-road cooperative adaptive cruise control method according to the embodiment of the present invention;
fig. 3 is another vector analysis diagram for calculating a collision risk between a curved host vehicle and a far vehicle in the vehicle-road cooperative adaptive cruise control method according to the embodiment of the present invention;
fig. 4 is a vector analysis diagram for calculating a following distance between a host vehicle and a distant vehicle traveling along a curve in the vehicle-road cooperative adaptive cruise control method according to the embodiment of the present invention;
FIG. 5 is a vector diagram of the relative orientation of a remote vehicle with respect to a host vehicle in the method for vehicle-road cooperative adaptive cruise control according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle-road cooperative adaptive cruise control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in an embodiment of the present invention, a vehicle-road cooperative adaptive cruise control method is provided, for a host vehicle that monitors distant vehicles in real time by using a C-V2X technology during road driving (such as straight roads, curved roads, etc.), the method includes the following steps:
step S1, the master vehicle periodically receives V2I information sent by preset roadside units around a driving road and V2V information sent by the remote vehicle, and detects the collision risk between the master vehicle and the remote vehicle according to the received V2I information and V2V information;
the method comprises the steps that firstly, the main vehicle periodically (such as 120S) receives V2I information sent by a preset roadside unit (such as a mobile communication base station) and V2V information sent by a distant vehicle, and iteratively calculates a vector projection value of a relative distance between the two vehicles and a vector projection value of an early warning distance threshold value through a vector method by combining the V2V information of the main vehicle; the V2I information includes but is not limited to intersection information around a driving road, road information, traffic light information, etc., so lane information of the main vehicle and the distant vehicle can be extracted from the V2I information; V2V information includes, but is not limited to, position coordinates, heading angle, yaw angle, steering wheel angle, vehicle speed, acceleration;
secondly, if the main vehicle judges that the vector projection value of the relative distance between the two vehicles obtained by iterative computation of a certain time is smaller than or equal to the vector projection value of the early warning distance threshold, terminating the iterative computation, confirming that the main vehicle and the distant vehicle have collision risks, and obtaining the collision time with the distant vehicle; or if the vector projection values of the relative distance between the two vehicles obtained by each iterative calculation are larger than the vector projection value of the early warning distance threshold value, after the iterative calculation is finished, the main vehicle and the far vehicle are determined to have no collision risk.
In one embodiment, as shown in fig. 2 and 3, the collision risk of the main vehicle and the distant vehicle running on a curve is calculated by a vectorial method, specifically as follows:
the far vehicle RV (remote vehicle) and the main vehicle HV (host vehicle) are in the same lane and in front of the main vehicle HV, and the speeds of the main vehicle HV and the far vehicle RV are V respectivelyHV、VRVSteering wheel angle StHV、StRVThe direction angle of the headstock is HHV，HRV(the included angle between the direction of the vehicle head and the Y axis of the geodetic coordinate system is positive counterclockwise) alphaHV、αRVThe steering angle between the host vehicle HV and the remote vehicle RV (the steering angle is positive in the clockwise direction and negative in the counterclockwise direction), and the vector vehicle speed
In B1As a starting point, αHVAnd (4) rotating. At this time, the collision risk detection between the host vehicle HV and the remote vehicle RV is aimed at finding the distance of the remote vehicle RV from the host vehicle HV per unit time with respect to the host vehicle HV, that is, finding the vector projection value DCPA of the relative distance between the two vehicles in FIGS. 2 and 3i(ii) a Wherein i is 1 to n; n isThe total number of iterations is calculated.
If n is 1, the remote vehicle RV corresponds to the host vehicle HV traveling vehicle speed in fig. 2
Relative distance vector of two vehicles
In that
Is projected as a vector of
Wherein, projecting
The calculation formula of (a) is as follows:
wherein, theta1As vectors
And
angle of (A)1Is a projection point;
here, the
Thus, it is possible to provide
Then
Thus, to find the closest distance from the host vehicle HV to the remote vehicle RVThen this is typically a mathematical problem, i.e. one point outside the line segment is hosted HV to the line segment
The shortest distance of (c).
Because of the on-line section of HV no matter of the main car
At which position the formula (4) holds, and thus
Settable coefficient
Then
Wherein, B1The point coordinates are expressed as:
then P is1The coordinates are expressed as:
the physical meaning of the representation is: if A is1In the vector
That is, when the first cycle n is 1, the closest distance point of the remote vehicle RV to the host vehicle HV is CPA1Is a vector
Namely DCPA1(ii) a If A is1Is spotted on
On the extension line of (1), use
Represents DCPA1(ii) a If A is1In-
On an extension of, then use
Represents DCPA1。
Meanwhile, an early warning distance threshold d of the forward collision is obtainedw，1＝3Vrel+0.4905VHV(ii) a Wherein VrelThe relative vehicle speed of the host vehicle HV and the remote vehicle RV.
If DCPA1≤dw，1Then, the collision risk between the main vehicle HV and the far vehicle RV is determined, i.e. the forward collision risk is determined, and the collision time T is calculatedwarning(ii) a Otherwise, if DCPA1>dw，1Then it is assumed that there is no risk of collision between the host vehicle HV and the remote vehicle RV.
It will be appreciated that from equations (7) to (8), B can be derivednThe point is based on the coordinates of the GPS coordinate system (global coordinate system):
wherein the content of the first and second substances,
At the same time, P is obtainednThe point is based on the coordinates of the GPS coordinate system (global coordinate system):
wherein:
a velocity vector that is the primary HV initial state of the host vehicle;
as addition of the primary HV initial stateA velocity vector; alpha is alphaHV,0Steering angle for the original state of the main vehicle HV, since V2X application level national standard specifies that the main vehicle HV steering wheel angle St can be obtained from the entire vehicle busHVThen steering angle of HV wheels of the main vehicle
Wherein iHVThe steering gear ratio of the main vehicle HV.
If n is 3, the closest distance point of the remote vehicle RV to the host vehicle HV is CPA in fig. 33Wherein
This shows the vector with the host vehicle HV at n-3, i.e. at a unit time interval Δ t of 1s
And
equal in size and opposite in direction.
In fig. 3, when the combined velocity of the remote vehicle RV with respect to the host vehicle HV is n equal to 1, the combined velocity is
When n is 2, is
When n is 3, is
Will be provided with
Respectively projected to vectors
The above step (1); due to the fact that
Vehicle speed vector with host vehicle HV
Equal in size and opposite in direction
Thus, within each time interval Δ t (setting Δ t to 1s), the warning distance threshold d for each stepw,1、dw,2、dw,3Respectively as follows:
then when n is equal to n,
wherein
Is composed of
And
the included angle of (A);
is composed of
And
the included angle of (A);
if D isCPA3≤dw，3Then, the collision risk between the main vehicle HV and the far vehicle RV is determined, i.e. the forward collision risk is determined, and the collision time is calculated
Otherwise, if DCPA3>dw，3Then it is assumed that there is no risk of collision between the host vehicle HV and the remote vehicle RV.
By analogy, if within the total number of iterations n of the vector calculation, if DCPAn≤dw,nThen the iterative calculation is stopped, at which point it can be concluded that the host HV is in the future TwarningAfter the time, collision risk exists between the remote vehicle RV and the remote vehicle RV, namely the forward collision risk exists; otherwise, there is no collision risk.
Wherein, according to the formulas (5) and (6), when the nth iteration calculation is carried out,
i.e. cos θnNo more than 0, no collision risk exists between the main vehicle HV and the far vehicle RV, if cos thetan>0, there is a risk of collision between the host vehicle HV and the remote vehicle RV.
And step S2, if it is detected that the main vehicle and the remote vehicle have no collision risk, and after the main vehicle driver is judged to be driving normally according to the driving concentration condition of the main vehicle driver, starting the main vehicle adaptive cruise system.
The method comprises the specific processes that after the fact that the main vehicle and the distant vehicle are not in collision risk is detected, the main vehicle recognizes the driving concentration condition of the main vehicle driver according to the face and eye feature images of the main vehicle driver; wherein, the driving concentration condition is the driving state or the combination of the driving state and the sight line area; the driving state is one of normal driving, fatigue driving, distraction driving, call receiving and making, smoking, emotional excitement driving and drunk driving; the sight line area is located in one of a central control area, a front windshield area and an outer rearview mirror area. In one embodiment, the facial and eye feature images of the host driver are extracted by a visual sensor (such as a camera) above an instrument in front of the host driver and sent to an ECU system, and then image data processing is carried out by a convolutional neural network model written into the ECU system in advance, so that the driving state or the driving state and the sight line area of the host driver are obtained and output as a recognition result.
If the driving state of the driver of the main vehicle is recognized as normal driving, the driver of the main vehicle is determined as standard driving, and a self-adaptive cruise system of the main vehicle is started to improve the driving stability and comfort of the vehicle; or if the driving state of the main vehicle driver is recognized as distracted driving and the sight area is located in the central control area or the front windshield area, the main vehicle driver is also determined as standard driving, and the main vehicle adaptive cruise system is started to improve the driving stability and comfort of the vehicle.
Of course, in order to ensure the driving safety of the driver during the adaptive cruise, the driver of the main vehicle needs to be reminded of the abnormal driving. Accordingly, the method further comprises: if the driving state of the driver of the main vehicle is recognized to be one of fatigue driving, call receiving, smoking, emotional excitement driving and drunk driving, the driver of the main vehicle is determined to be non-standard driving, the self-adaptive cruise system of the main vehicle is turned off, and the driver of the main vehicle is safely reminded, such as safety reminding through voice or bright red of a dial instrument; or if the driving state of the main vehicle driver is recognized as distracted driving and the sight area is located in the outside rearview mirror area, the main vehicle driver is also determined as non-standard driving, the main vehicle adaptive cruise system is turned off, and the main vehicle driver is safely reminded, for example, the main vehicle driver is safely reminded through voice or bright red of a dial instrument.
In the embodiment of the invention, the adaptive cruise system of the main vehicle is more suitable for the following driving mode to further improve the driving comfort of the vehicle, namely, the following far vehicle is the vehicle in front of the same lane of the main vehicle, especially in the curve driving. Therefore, the following driving mode of the main vehicle adaptive cruise system is realized by the following specific steps:
after the self-adaptive cruise system of the main vehicle is started, if the remote vehicle is determined to be the remote vehicle in front of the same lane, calculating the following distance between the main vehicle and the remote vehicle in front of the same lane by combining the V2V information of the remote vehicle in front of the same lane and the V2V information of the main vehicle;
when the actual vehicle distance between the main vehicle and the far vehicle in front of the same lane is smaller than or equal to the vehicle following distance, setting the following target of the main vehicle adaptive cruise system as the far vehicle in front of the same lane, and outputting an expected target according to a preset target function to control the main vehicle to follow the far vehicle in front of the same lane to run.
It should be noted that, if the main vehicle determines that the actual vehicle distance between the main vehicle and the distant vehicle in front of the same lane is greater than the following vehicle distance, the adaptive cruise system of the main vehicle maintains the original driving mode, that is, the following driving mode is not started.
In one embodiment, as shown in fig. 4, taking the main vehicle and the distant vehicle traveling on the same lane curve as an example, the following distance between the main vehicle and the distant vehicle is calculated by a vectorial method, which is as follows:
the safe following distance of the self-adaptive cruise system is the most basic requirement, and the value of the safe following distance of the self-adaptive cruise system is required to ensure the minimum safe following distance so as to avoid collision and ensure the safety of passengers.
At this time, the following distance calculation formula is:
DACC_safe＝dmin+th*V′HV (19)；
wherein d isminThe minimum parking distance is generally 5-10 m;V′HVas shown in fig. 5, the vehicle speed V is HVHVProjection in the direction of the distance between two vehicles
thChanging the time span of the locomotive:
wherein, V'RVProjection of vehicle speed of remote vehicle RV in distance direction of two vehicles
t0For the reference headway, a saturation function is also introduced to ensure the maximum and minimum of the headway.
If the actual vehicle distance HVRV between the main vehicle HV and the remote vehicle RV is less than or equal to the following vehicle distance DACC_safeAnd setting the tracking target as a far vehicle RV in front of the same lane, constructing an objective function (shown as a formula (22)) with the minimum expected acceleration as a target according to a vehicle kinematic model (shown as a formula (21)) by using an MPC algorithm to control the tracking target, and if the target is not met, maintaining the original driving mode of the vehicle.
Wherein the vehicle kinematics model is defined as:
y＝Cx
m＝[Δd Δv ax]',u＝ades,w＝arv
y＝[Δd Δv]' (21)；
the objective function of the target is defined as:
wherein, Δ D is the difference between the actual distance between the two vehicles and the tracking distance, Δ D ═ HVRV-DACC_safe(ii) a Δ V is a speed difference Δ V ═ V 'between the two cars'HV-V′RV；arvThe projection of the acceleration of the front vehicle in the distance direction of the two vehicles is obtained; a isdesIs the desired acceleration of the host vehicle in the direction of the distance. Thus, the actual vehicle input acceleration of the host vehicle in FIG. 4 is
The optimization goal of the objective function is to obtain the minimum value in the prediction domain p on the premise of satisfying the input and output constraints, namely the expected acceleration adesMinimum; p is the total number of time intervals Δ t; qt、
And
the positive semi-definite matrix of the weight of the output following error, the change rate of the control input and the size of the control input are respectively.
In the embodiment of the invention, if the vehicles in front of the adjacent lanes (such as the far left vehicle and/or the far right vehicle) change lanes, the adaptive cruise system of the main vehicle can adjust the follow-up target and the follow-up running mode of the main vehicle according to the vehicles in front of the same lane of the main vehicle after changing lanes. Accordingly, the method further comprises:
when the main vehicle runs along with the far vehicle in front of the same lane, if a steering signal provided by at least one far vehicle in front of an adjacent lane is received, calculating the following distance between the main vehicle and the far vehicle in front of the same lane according to the far vehicle in front of the same lane, the far vehicles in front of each adjacent lane providing the steering signal and the V2V information of the main vehicle, calculating the following distance between the main vehicle and the far vehicle in front of each adjacent lane providing the steering signal, and further screening out the minimum following distance and the corresponding far vehicle; it should be noted that the following distance calculation between the left front far car and/or the right front far car of the adjacent lane can be implemented according to the formula (19), so as to find the minimum following distance and the corresponding far car in the calculated following distances (at least two);
when the main vehicle judges that the far vehicle with the minimum vehicle following distance is the far vehicle in front of the adjacent lane providing the steering signal and the far vehicle with the minimum vehicle following distance drives into the same lane of the main vehicle, the following target of the main vehicle self-adaptive cruise system is set as the far vehicle with the minimum vehicle following distance, and a new expected target is output according to a preset target function so as to control the far vehicle with the minimum vehicle following distance to drive. It is understood that the actual vehicle distance between the main vehicle and the far vehicle with the minimum following distance at this time should be less than or equal to the minimum following distance.
It should be noted that, if the remote vehicle with the minimum following distance is a remote vehicle ahead of the adjacent lane providing the turn signal, but the actual vehicle distance between the host vehicle and the remote vehicle with the minimum following distance is greater than the minimum following distance, the target followed by the host vehicle adaptive cruise system is lost, that is, the host vehicle adaptive cruise system exits the driving mode with the remote vehicle ahead of the accompanying lane.
It can be understood that if the host vehicle determines that the vehicle far away from the minimum following distance is the vehicle far ahead of the same lane, the host vehicle does not need to adjust the following target and the desired target output by the target function, namely, the original following running mode is maintained.
In the embodiment of the present invention, in order to distinguish the relative orientations of the remote vehicle and the main vehicle, in one embodiment, as shown in fig. 5, the relative orientation relationship between the two is determined by formula (23);
wherein, XHVAn abscissa value representing the center of mass of the main vehicle under the global coordinate; xRVAn abscissa value representing the mass center of the remote vehicle under the global coordinate; y isHVA longitudinal coordinate value representing the center of mass of the main vehicle under the global coordinate; y isRVRepresenting the longitudinal coordinate value of the center of mass of the remote vehicle under the global coordinate; x is the number ofRV>HVAn abscissa value representing the global coordinate of the remote vehicle relative to the host vehicle; y isRV>HVThe longitudinal coordinate value of the remote vehicle relative to the main vehicle under the global coordinate is represented; theta is the compass angle obtained by the host vehicle from the global navigation satellite system positioning GNSS, and takes the anticlockwise direction as the positive direction.
The lane width of China is generally 2.75 m-3.5 m, and the lane width is 3.125m by taking an average value. The length of the vehicle, taking a passenger car as an example, is about 4m to 5m, and the average length is 4.5 m; the orientation of the particular remote vehicle RV relative to the host vehicle HV is therefore:
as shown in fig. 6, in an embodiment of the present invention, a vehicle-road cooperative adaptive cruise control apparatus is provided, which is used for a host vehicle that monitors a distant vehicle in real time by using a C-V2X technology during road driving, and includes a collision risk detection unit 110 and an adaptive cruise control unit 120; wherein the content of the first and second substances,
the collision risk detection unit 110 is configured to periodically receive V2I information sent by a preset roadside unit around a driving road and V2V information sent by a distant vehicle, and detect a collision risk between the host vehicle and the distant vehicle according to the received V2I information and V2V information;
the adaptive cruise control unit 120 is configured to, if it is detected that there is no risk of collision between the host vehicle and the remote vehicle, turn on the host vehicle adaptive cruise system after determining that the driver of the host vehicle is driving normatively according to the driving concentration of the driver of the host vehicle.
Wherein the collision risk detection unit 110 comprises:
the collision parameter vector calculation module 1101 is used for iteratively calculating a vector projection value of the relative distance between the two vehicles and a vector projection value of the early warning distance threshold value by a vector method according to the received V2I information and V2V information and by combining the V2V information of the host vehicle;
a collision determination module 1102, configured to terminate iterative computation if the host vehicle determines that a vector projection value of a relative distance between two vehicles obtained through iterative computation at a certain time is smaller than or equal to a vector projection value of an early warning distance threshold, and determine that there is a collision risk between the host vehicle and the remote vehicle, and obtain collision time when there is a collision risk between the host vehicle and the remote vehicle;
and a collision negation module 1103, configured to determine that there is no collision risk between the main vehicle and the distant vehicle if the main vehicle determines that the vector projection values of the relative distances between the two vehicles obtained through each iterative calculation are both greater than the vector projection value of the early warning distance threshold value until the iterative calculation is completed.
The embodiment of the invention has the following beneficial effects:
1. the invention is based on the C-V2X technology and combines with V2I information provided by a road test unit RSU (road Side Unit), carries out real-time monitoring on the collision risk between the vehicle and a remote vehicle, and realizes the self-adaptive cruise function of the vehicle under the condition of no collision risk, including automatic following driving, thereby not only reducing the collision risk, but also improving the driving stability and comfort of the vehicle;
2. the adaptive cruise function is started based on the vision sensor to identify the driving state and the sight line area of the driver, so that the driving safety is improved;
3. the invention has little influence on the recognition of the vehicle by factors such as weather and the like, and only depends on the vehicle state data and not on the road curvature information, thereby improving the driving safety and comfort.
It should be noted that, in the above device embodiment, each included functional unit module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional unit modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (12)
1. A vehicle-road cooperative adaptive cruise control method is used for a main vehicle for monitoring remote vehicles in real time through a C-V2X technology during road driving, and is characterized by comprising the following steps:
the master vehicle periodically receives V2I information sent by preset roadside units around a driving road and V2V information sent by the remote vehicle, and detects the collision risk between the master vehicle and the remote vehicle according to the received V2I information and V2V information;
and if the collision risk between the main vehicle and the remote vehicle is detected to be absent, and after the main vehicle driver is judged to be driving normally according to the driving concentration condition of the main vehicle driver, starting the main vehicle adaptive cruise system.
2. The vehicle-road coordinated adaptive cruise control method according to claim 1, characterized in that said method further comprises:
after the main vehicle starts the main vehicle adaptive cruise system, if the remote vehicle is determined to be a remote vehicle in front of the same lane, calculating the following distance between the main vehicle and the remote vehicle in front of the same lane by combining the V2V information of the remote vehicle in front of the same lane and the V2V information of the main vehicle;
and when the actual vehicle distance between the main vehicle and the far vehicle in front of the same lane is smaller than or equal to the vehicle following distance, setting a following target of the main vehicle adaptive cruise system as the far vehicle in front of the same lane, and outputting an expected target according to a preset target function so as to control the main vehicle to follow the far vehicle in front of the same lane to run.
3. The vehicle-road coordinated adaptive cruise control method according to claim 2, characterized in that said method further comprises:
when the main vehicle runs along with the far vehicle in front of the same lane, if a steering signal provided by at least one far vehicle in front of an adjacent lane is received, calculating the following distance between the main vehicle and the far vehicle in front of the same lane according to the far vehicle in front of the same lane, the far vehicles in front of each adjacent lane providing the steering signal and the V2V information of the main vehicle, calculating the following distance between the main vehicle and each far vehicle in front of the adjacent lane providing the steering signal, and further screening out the minimum following distance and the corresponding far vehicle;
when the remote vehicle with the minimum following distance is judged to be a remote vehicle in front of an adjacent lane providing a steering signal, and the remote vehicle with the minimum following distance drives into the same lane of the main vehicle, setting a following target of the main vehicle adaptive cruise system as the remote vehicle with the minimum following distance, and outputting a new expected target according to the preset target function so as to control the remote vehicle with the minimum following distance to run.
4. The vehicle-road cooperative adaptive cruise control method according to claim 3, wherein the step of calculating the minimum following distance specifically comprises:
and calculating the following distance between the main vehicle and a far vehicle in front of any lane according to the preset minimum parking distance, the time interval of changing the two vehicles into the vehicle heads and the vector projection of the speed of the main vehicle in the direction of the distance between the two vehicles.
5. The vehicle-road cooperative adaptive cruise control method according to claim 4, wherein said step of calculating a minimum following distance comprises:
according to formula DACC_safe＝dmin+th*V′HVCalculating the following distance D between the main vehicle and the far vehicle in front of any laneACC_safe；
Wherein d isminIs a preset minimum parking distance; v'HVIs the projection of the speed of the main vehicle in the direction of the distance between the two vehicles; t is thFor varying headway, by a saturation function
Is represented by V'RVThe projection of the speed of a far vehicle in the distance direction of the two vehicles is obtained; t is t0The reference headway of two vehicles; t is tmaxThe time interval is a preset maximum value of the locomotive time interval; t is tminThe time is a preset minimum time interval of the locomotive; c. CvIs a preset constant parameter.
6. The vehicle-road cooperative adaptive cruise control method according to claim 3, wherein the step of outputting the desired target according to the preset target function is specifically:
constructing an objective function with the minimum expected acceleration as a target based on a vehicle kinematic model; wherein the content of the first and second substances,
the vehicle kinematic model formula is as follows:
y＝Cx
m＝[Δd Δv ax]',u＝ades,w＝arv
y＝[Δd Δv]'；
the objective function of the target is:
wherein, the delta d is the difference value between the actual distance between the two vehicles and the following distance; Δ v is the speed difference between the two vehicles; a isrvThe projection of the acceleration of the front vehicle in the distance direction of the two vehicles is obtained; a isdesIs the desired acceleration of the host vehicle in the direction of the two-vehicle distance.
7. The vehicle-road coordinated adaptive cruise control method according to claim 3, characterized in that said method further comprises:
and if the remote vehicle with the minimum following distance is judged to be the remote vehicle in front of the same lane, the self-adaptive cruise system of the vehicle keeps the main vehicle to follow the remote vehicle in front of the same lane to run.
8. The method for vehicle-road cooperative adaptive cruise control according to any of claims 1 to 7, wherein said step of detecting a risk of collision between said host vehicle and said remote vehicle specifically comprises:
the main vehicle iteratively calculates a vector projection value of the relative distance between the two vehicles and a vector projection value of an early warning distance threshold value by a vector method according to the received V2I information and V2V information and in combination with the V2V information of the main vehicle;
if the vector projection value of the relative distance between the two vehicles obtained by iterative computation of a certain time is smaller than or equal to the vector projection value of the early warning distance threshold, terminating the iterative computation, determining that the main vehicle and the remote vehicle have a collision risk, and obtaining the collision time of the main vehicle and the remote vehicle having the collision risk;
and if the vector projection values of the relative distance between the two vehicles obtained by each iterative calculation are larger than the vector projection value of the early warning distance threshold value, after the iterative calculation is finished, determining that the main vehicle and the remote vehicle have no collision risk.
9. The method for vehicle-road cooperative adaptive cruise control according to any one of claims 1 to 7, wherein said step of activating the host adaptive cruise system after determining that the host driver is driving normatively according to the driving concentration of the host driver, comprises:
the host vehicle identifies a driving concentration condition according to the face and eye feature images of the host vehicle driver; wherein the driving concentration condition is a driving state or a combination of the driving state and a sight line area; the driving state is one of normal driving, fatigue driving, distraction driving, call receiving and making, smoking, emotional excitement driving and drunk driving; the sight line area is positioned in one of a central control area, a front wind shielding area and an external rearview mirror area;
if the main vehicle recognizes that the driving state of the main vehicle driver is normal driving, the main vehicle driver is determined as standard driving, and a main vehicle self-adaptive cruise system is started; or
And if the driving state of the main vehicle driver is recognized as distracted driving and the sight line area is located in a central control area or a front windshield area, determining that the main vehicle driver is standard driving and starting the main vehicle adaptive cruise system.
10. The vehicle-road coordinated adaptive cruise control method according to claim 9, characterized in that said method further comprises:
if the main vehicle recognizes that the driving state of the main vehicle driver is one of fatigue driving, call receiving, smoking, emotional excitement driving and drunk driving, the main vehicle determines that the main vehicle driver is non-standard driving, turns off the main vehicle adaptive cruise system and carries out safety reminding on the main vehicle driver; or
And if the driving state of the main vehicle driver is recognized as distracted driving and the sight line area is located in the outside rearview mirror area, the main vehicle driver is determined as non-standard driving, the main vehicle self-adaptive cruise system is turned off, and the main vehicle driver is safely reminded.
11. The vehicle-road cooperative adaptive cruise control method according to claim 10, wherein the driving state and the sight-line area of the host driver are obtained by:
the method comprises the steps of extracting face and eye feature images of a main driver through a visual sensor above an instrument in front of the main driver, and then carrying out image data processing through a convolution neural network model to obtain the driving state and sight line area information of the main driver.
12. A vehicle-road cooperative adaptive cruise control device is used for a main vehicle for monitoring a far vehicle in real time through a C-V2X technology in the road driving process, and is characterized by comprising a collision risk detection unit and an adaptive cruise control unit; wherein the content of the first and second substances,
the collision risk detection unit is used for periodically receiving V2I information sent by a preset roadside unit around a driving road and V2V information sent by a distant vehicle by the master vehicle and detecting the collision risk between the master vehicle and the distant vehicle according to the received V2I information and V2V information;
and the self-adaptive cruise control unit is used for starting the self-adaptive cruise system of the main vehicle after judging that the driver of the main vehicle drives in a standard mode according to the driving concentration condition of the driver of the main vehicle when detecting that the main vehicle and the remote vehicle do not have collision risks.
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