CN113815648A - Control method of vehicle control system - Google Patents

Control method of vehicle control system Download PDF

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Publication number
CN113815648A
CN113815648A CN202111269856.5A CN202111269856A CN113815648A CN 113815648 A CN113815648 A CN 113815648A CN 202111269856 A CN202111269856 A CN 202111269856A CN 113815648 A CN113815648 A CN 113815648A
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China
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lane
vehicle
speed
center line
controller
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CN202111269856.5A
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CN113815648B (en
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龚凡
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Guangzhou Institute of Technology
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Guangzhou Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a control method of a vehicle control system, which comprises the following steps: acquiring a binary image by a camera; confirming a lane center line according to a left side line and a right side line of the lane; driving the motor to reach a preset speed; the speed sensor measures the speed of the vehicle at a certain moment, and the controller adjusts the speed difference to reach the expected running speed; judging whether the vehicle runs on the central line of the lane or not; calculating the deviation between the current position of the vehicle and the center line of the lane; driving a steering engine, and controlling the steering engine to rotate to approach the center line of the lane according to the deviation value of the steering engine and the center line of the lane; the speed sensor detects the speed of the vehicle and monitors whether the speed of the vehicle accords with a preset vehicle speed in the process that the vehicle returns to the center line of the lane; the invention can realize that the unmanned vehicle can stably run in the middle position of the lane and prevent the unmanned vehicle from deviating from the lane in the running process.

Description

Control method of vehicle control system
Technical Field
The invention relates to the field of automatic driving of unmanned vehicles, in particular to a control method of a vehicle control system.
Background
With the progress of society, the living standard of residents in China is continuously improved, and automobiles become important transportation tools which cannot be lacked by people. However, as vehicles are increasing, accompanying urban congestion becomes a big problem in life and causes great inconvenience for our trip. Meanwhile, with the coming of the intelligent era, the internet of things is rapidly developed, and the traffic system tends to be intelligent. The automatic driving system can greatly reduce the urban congestion problem, and the automatic driving automobile is beneficial to the society, drivers and pedestrians. The automatic driving automobile can effectively reduce human driving errors, the traffic accident rate can be reduced to zero almost, and the traffic jam cost is saved. An automatic driving system and method based on road identification are disclosed in the Chinese patent application No. 201611214453.X, publication No. 2017.05.31, the system comprises a camera, a GPS positioning module, an automatic control device of an automobile steering wheel and a micro control unit, wherein the camera, the GPS positioning module and the automatic control device of the automobile steering wheel are respectively connected with the micro control unit; the system comprises a plurality of cameras, a camera module and a display module, wherein the plurality of cameras are placed at each part of an automobile body and used for comprehensively acquiring the surrounding environment information of the automobile; the GPS positioning module is arranged in the automobile body and used for acquiring position information; and the micro control unit is used for identifying whether the automobile deviates from a correct route and drives by pressing a line according to the image information acquired by the camera, and controlling the automobile by the automatic steering wheel control device according to the position information acquired by the GPS positioning module so that the automobile returns to the correct route to drive. The invention can realize the automatic driving of the unmanned vehicle without manual intervention for ascending on a specific road, and realize the switching mode of automatic driving and manual driving.
However, when the driving system of the present invention recognizes whether the vehicle deviates from the correct route, it is necessary to collect and analyze information of the environment around the vehicle by using cameras disposed at various positions of the vehicle body, and recognition is achieved by using a plurality of cameras, and the collected image information is too much and complicated, so that it is easy to cause confusion of information and cause inaccurate recognition, and the cost is higher by providing a plurality of cameras.
Disclosure of Invention
The invention provides a control method of a vehicle control system, which is used for identifying the left side line and the right side line of a lane by a camera to obtain the center line of the lane so as to realize that an unmanned vehicle can stably run in the middle position of the lane and prevent the unmanned vehicle from deviating from the lane in the running process.
In order to achieve the purpose, the technical scheme of the invention is as follows: a control method of a vehicle control system comprises a vehicle body and a control system arranged on the vehicle body, wherein the control system comprises a camera with a binarization function, a speed sensor for monitoring the speed of the vehicle body, a steering engine for controlling the steering of the vehicle body, a motor for driving the vehicle body and a controller for controlling the steering engine and the motor, and the camera, the speed sensor, the steering engine and the motor are respectively connected with the controller; the car body is also provided with a mounting bracket, and the top end of the mounting bracket is provided with a beam part extending to the two sides of the car body; the camera is arranged on the beam part; the speed sensors are arranged on the beam part of the mounting bracket;
the control method of the control system comprises the following steps:
(1) the camera acquires an image and performs binarization processing on the image;
(2) the controller identifies the binarized image, identifies the left side line and the right side line of the lane in the binarized image, identifies the left edge and the right edge of the lane in the image according to the binarized image, determines the left edge and the right edge as the left side line and the right side line of the lane, and further determines the center line of the lane according to the middle position between the left side line and the right side line of the lane;
(3) the controller drives the motor to drive the vehicle body to run along the center line of the lane to reach a preset speed;
(4) the speed sensor obtains the increment, the speed of the vehicle is measured, the controller adjusts the speed difference value, and the motor is adjusted to enable the vehicle to reach the expected running speed;
(5) the controller judges whether the vehicle runs on the central line of the lane in the image, if so, the step (6) is carried out, and if not, the step (10) is carried out;
(6) calculating the deviation between the current position of the vehicle and the center line of the lane;
(7) the controller drives the steering engine, and controls the rotation angle of the steering engine to approach the center line of the lane according to the deviation value of the driving route of the vehicle and the center line of the lane;
(8) the controller detects the speed of the vehicle according to the increment acquired by the speed sensor and monitors whether the speed of the vehicle accords with a preset speed in the process of returning to the center line of the lane; if the vehicle speed does not accord with the preset speed, entering the step (9); if the speed of the vehicle body meets the preset speed, the step (10) is carried out;
(9) the controller controls the motor to adjust the vehicle speed to a preset speed;
(10) and (4) keeping the steering engine at a middle position, keeping the vehicle to run in a straight line on the center line of the lane, and entering the step (1).
In the method, in the advancing process of the vehicle body, an image obtained by a camera and subjected to binarization processing is conveyed to a controller, the controller identifies a left side line and a right side line of a lane according to the binarized image, identifies a left edge and a right edge of the lane in the image according to the binarized image, determines the left edge and the right edge as the left side line and the right side line of the lane, further determines a lane center line according to a middle position between the left side line and the right side line, calculates a deviation value of a current driving position of the vehicle body and the lane center line, the controller matches a preset deviation value interval according to the deviation value, controls a steering engine to output a deviation instruction according to the deviation value interval, controls a relative position between the current driving position of the vehicle body and the lane center line, and if the deviation value of the current behavior of the vehicle body is positioned on the left side of the lane center line and is X relative to the lane center line, the controller controls the steering motor to output a deviation instruction to right for an angle value X; if the current behavior position of the vehicle body is positioned on the right side of the center line of the lane and the deviation value of the current behavior position of the vehicle body from the center line of the lane is X, the controller controls the steering motor to output a deviation instruction to make an angle value X to the left; the vehicle body is close to the center line of the lane, so that the system can control the vehicle body to always run near the center line of the lane, and prevent the vehicle body from deviating and running out of the lane; in addition, the camera is arranged on the beam part at the top end of the mounting bracket, so that the camera is arranged at a high position to obtain images conveniently; simultaneously, set up speed sensor on the crossbeam portion of installing support to the automobile body both sides, speed sensor detects the speed of automobile body more accurate.
Furthermore, the front side of the vehicle body is also provided with an obstacle avoidance unit, and the obstacle avoidance unit is connected with the controller, so that the vehicle body can detect whether an obstacle exists in the front.
Further, the step (3) further comprises the following step (3.1) of detecting whether an obstacle exists in the lane by the obstacle avoidance unit, and entering the step (3.2) if the obstacle exists in the lane; if no obstacle exists in the lane, entering the step (4);
and (3.2) controlling the motor to drive the vehicle body to decelerate by the controller.
(3.3) determining one side with a larger distance according to the distance from the left sideline to the obstacle or the distance from the right sideline to the obstacle, replanning the route, and re-determining the center line of the lane according to the distance from the sideline to the obstacle;
(3.4) the controller controls the steering engine and the motor to drive the vehicle body to run along a new central line, so that obstacles in the lane are avoided, and the vehicle enters the step (2) after passing through the obstacles; according to the arrangement, if an obstacle exists in a lane in a binary image acquired by a camera, an obstacle avoidance unit detects the obstacle in the lane and then transmits a signal to a controller, the controller controls a motor to drive a vehicle body to decelerate, then one side with a larger distance is determined according to the distance from a left sideline to the obstacle or the distance from a right sideline to the obstacle, a route is planned again, the center line of the lane is determined again according to the distance from the sideline to the obstacle, and the controller controls a steering engine and the motor to drive the vehicle body to run along a new center line to avoid the obstacle in the lane; after the vehicle body passes through the obstacle, the controller reconfirms the lane center line according to the binarization image obtained by the camera.
Furthermore, the control system further comprises a real-time control display panel, the real-time control display panel is connected with the controller, the real-time control display panel is arranged on the vehicle body, and the real-time control display panel is convenient for acquiring information of the control system in real time.
Further, the speed sensor is an incremental speed sensor, so that the running speed of the vehicle body can be detected conveniently.
Further, speed sensor is equipped with more than two, sets up at the both ends of crossbeam portion, and like this, speed sensor sets up respectively on the crossbeam portion of automobile body both sides, and it is more accurate to detect automobile body speed, simultaneously, can get average speed according to the speed value that the speed sensor of both sides obtained for the speed of the automobile body that speed sensor detected is more accurate.
Further, the mounting bracket is arranged on the front side of the vehicle body, so that lane image information acquired by the camera is more accurate.
Furthermore, the obstacle avoidance unit comprises an ultrasonic sensor and an infrared sensor, and due to the fact that the effective detection distance of the ultrasonic sensor is short, the ultrasonic sensor may not be in time to brake when detecting the obstacle; meanwhile, the infrared sensor becomes insensitive under the condition of high solar illumination intensity; like this, ultrasonic sensor and infrared sensor synergism, keep away barrier sensitivity height, prevent that the automobile body from too near just detecting the barrier apart from the barrier, come too late to brake.
Further, the camera is a wildfire hawk eye OV 7725.
Drawings
FIG. 1 is a schematic side view of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is a block diagram of a control system in the present invention.
Fig. 4 is a flow chart of the operation of the control system of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, a control method of a vehicle control system includes a vehicle body 10 and a control system arranged on the vehicle body 10, wherein the vehicle body 10 is provided with wheels 102, the control system includes a camera 1 with a binarization function, a speed sensor 2 for monitoring vehicle body speed, a steering engine 3 for controlling vehicle body steering, a motor 4 for driving the vehicle body 10, and a controller 5 for controlling the steering engine 3 and the motor 4, and the camera 1, the speed sensor 2, the steering engine 3, and the motor 4 are respectively connected with the controller 5; the controller 5 is connected with the image obtained by the camera 1 and subjected to binarization processing, the controller 5 identifies the left edge and the right edge of the lane according to the gray scale of the image, and the middle position between the left side line and the right side line is taken as the center line of the lane; the controller 5 adjusts the output power of the motor 4 according to the information fed back by the speed sensor 2; the vehicle body 10 is further provided with a mounting bracket 101, and the top end of the mounting bracket 101 is provided with a beam part 1011 extending towards two sides of the vehicle body 1; the number of the cameras 1 is more than two, and the cameras 1 are respectively arranged on the beam parts 1011; the speed sensors 2 are more than one, and the speed sensors 2 are arranged at two ends of a cross beam part 1011 of the mounting bracket 101; in this embodiment, the mounting bracket 101 is a column vertically disposed on the vehicle body 10, and the cross beam portion 1011 is vertically connected to the upper end of the mounting bracket 101.
According to the arrangement, in the advancing process of the vehicle body 10, the image obtained by the camera 1 and subjected to binarization processing is conveyed to the controller 5, the controller 5 identifies the left side line and the right side line of the lane according to the binarized image, identifies the left edge and the right edge of the lane in the image according to the binarized image, determines the left edge and the right edge as the left side line and the right side line of the lane, further determines the center line of the lane according to the middle position between the left side line and the right side line, calculates the deviation value of the current driving position of the vehicle body 10 and the center line of the lane, the controller 5 matches a preset deviation value interval according to the deviation value, the controller 5 controls the steering engine 4 to output a deviation instruction according to the deviation value interval, and if the current behavior position of the vehicle body is positioned on the left side of the center line of the lane according to the current driving position of the vehicle body and the relative position between the center line of the lane, and the deviation value from the center line of the lane is X, the controller controls the steering motor to output a deviation instruction to right for an angle value X; if the current behavior position of the vehicle body is positioned on the right side of the center line of the lane and the deviation value of the current behavior position of the vehicle body from the center line of the lane is X, the controller controls the steering motor to output a deviation instruction to make an angle value X to the left; the vehicle body 10 is close to the center line of the lane, so that the system can control the vehicle body 10 to always run near the center line of the lane, and prevent the vehicle body 10 from deviating and running out of the lane; in addition, the camera 1 is arranged on the beam part 1011 at the top end of the mounting bracket 101, so that the camera is arranged at a high position to obtain images conveniently; meanwhile, by providing the speed sensor 2 on the cross beam portion 1011 of the mounting bracket 101 toward both sides of the vehicle body 10, the speed sensor 2 can detect the speed of the vehicle body 10 more accurately.
In the embodiment, the centering time value of the steering engine is set to be 480, the leftmost steering engine value of the steering engine is 400, the rightmost steering engine value of the steering engine is 560, and the controller outputs an angle-hitting command in the opposite direction to the steering engine according to the deviation value; if the current driving position of the vehicle body is located on the left side of the center line of the lane and the deviation value of the current driving position of the vehicle body from the center line of the lane is 50, the controller controls the steering motor to output a deviation instruction to turn right by an angle value of 50, namely the steering engine value is 530.
The control system further comprises a real-time control display panel 6, the real-time control display panel 6 is arranged on the vehicle body 10, and the real-time control display panel is convenient for acquiring information of the control system in real time.
The speed sensor 2 is an incremental speed sensor, so that it is convenient to detect the running speed of the vehicle body 10.
The speed sensors 2 are arranged at two ends of the beam part 101, so that the speed sensors 2 are respectively arranged on the beam parts 101 on two sides of the vehicle body 10, the speed of the vehicle body 10 is detected more accurately, and meanwhile, the average speed can be obtained according to the speed values obtained by the speed sensors 2 on two sides, so that the speed of the vehicle body detected by the speed sensors 2 is more accurate.
The mounting bracket 101 is disposed at the front side of the vehicle body 1, so that the lane image information acquired by the camera 1 is more accurate.
The front side of the vehicle body 1 is also provided with an obstacle avoidance unit 7, the obstacle avoidance unit 7 is connected with the controller 5, the arrangement is that if an obstacle exists in a lane in a binary image acquired by the camera 1, the obstacle avoidance unit 7 transmits a signal to the controller 5 after detecting the obstacle in the lane, the controller 5 controls the motor 4 to drive the vehicle body 10 to decelerate, then according to the distance from a left sideline to the obstacle or a right sideline to the obstacle, one side with a larger distance is determined, a route is planned again, according to the distance from the sideline to the obstacle, the center line of the lane is determined again, and the controller 5 controls the steering engine 3 and the motor 4 to drive the vehicle body 10 to drive along a new center line to avoid the obstacle in the lane; after the vehicle body 10 passes through the obstacle, the controller 5 reconfirms the lane center line according to the binarized image acquired by the camera 1.
The obstacle avoidance unit 7 comprises an ultrasonic sensor and an infrared sensor, and due to the fact that the effective detection distance of the ultrasonic sensor is short, the ultrasonic sensor may not be in time to brake when detecting an obstacle; meanwhile, the infrared sensor becomes insensitive under the condition of high solar illumination intensity; like this, ultrasonic sensor and infrared sensor synergism, keep away barrier sensitivity height, prevent that the automobile body from too near just detecting the barrier apart from the barrier, come too late to brake.
The camera is a wildfire hawk eye OV7725, and the camera has a hardware binarization function, and has ideal binarization effect, good image processing effect, and high image data acquisition speed which can reach 150 frames per second; the collected and output images are output from left to right, the odd-even length difference does not exist, the denoising point capability is strong, the stability and the low light sensitivity are high, and the method can be used for collecting the images in the high-speed driving process and ensuring that the collected image data has certain definition.
As shown in fig. 4, the operation method of the control system of the present invention includes the steps of:
(1) the camera acquires an image and carries out binarization processing on the image.
(2) The controller identifies the binarized image, identifies the left side line and the right side line of the lane in the binarized image, and confirms the center line of the lane according to the left side line and the right side line of the lane.
(3) The controller drives the motor to drive the vehicle body to run along the center line of the lane to reach the preset speed.
(3.1) detecting whether an obstacle exists in the lane by the obstacle avoidance unit, and if so, entering the step (3.2); and (4) if no obstacle exists in the lane, entering the step (4).
And (3.2) controlling the motor to drive the vehicle body to decelerate by the controller.
And (3.3) determining the side with larger distance according to the distance from the left sideline to the obstacle or the distance from the right sideline to the obstacle, replanning the route, and re-determining the center line of the lane according to the distance from the sideline to the obstacle.
And (3.4) the controller controls the steering engine and the motor to drive the vehicle body to run along a new central line, so that obstacles in the lane are avoided, and the vehicle enters the step (2) after passing through the obstacles.
(4) The speed sensor obtains the increment, measures the speed of the vehicle at a certain moment, and the controller adjusts the speed difference value and adjusts the motor to enable the vehicle to reach the expected running speed.
(5) The controller judges whether the vehicle is running on the center line of the lane in the image, if so, the step (6) is carried out, otherwise, the step (10) is carried out.
(6) And calculating the deviation of the current position of the vehicle and the center line of the lane.
(7) The controller drives the steering engine, and controls the rotation angle of the steering engine to approach the center line of the lane according to the deviation value of the driving route of the vehicle and the center line of the lane.
(8) The controller detects the speed of the vehicle according to the increment acquired by the speed sensor and monitors whether the speed of the vehicle accords with a preset speed in the process of returning to the center line of the lane; if the vehicle speed does not accord with the preset speed, entering the step (9); and (5) if the vehicle body speed meets the preset speed, entering the step (10).
(9) The controller controls the motor to adjust the vehicle speed to a preset speed.
(10) And (4) keeping the steering engine at a middle position, keeping the vehicle to run in a straight line on the center line of the lane, and entering the step (1).
According to the method, in the advancing process of the vehicle body, an image obtained through a camera and subjected to binarization processing is conveyed to a controller, the controller identifies a left side line and a right side line of a lane according to the binarized image, obtains a lane center line according to the left side line and the right side line, calculates a deviation value of the current driving position of the vehicle body and the lane center line, the controller matches a preset deviation value interval according to the deviation value, and controls a steering engine to output a deviation instruction according to the deviation value interval so that the vehicle body approaches to the lane center line, and therefore the vehicle body can be controlled to drive near the lane center line all the time through the system, and is prevented from deviating from the lane; in addition, whether an obstacle exists in the lane is detected through the obstacle avoidance unit, if the obstacle is detected, the obstacle and the side line far away from the obstacle are regarded as the lane, and the center line of the lane is re-planned, so that the obstacle in the lane is automatically avoided, and the purpose of automatically avoiding the obstacle is achieved; the camera is arranged on the mounting bracket, so that an image can be conveniently acquired; simultaneously, set up speed sensor on the crossbeam portion of installing support to the automobile body both sides, speed sensor detects the speed of automobile body more accurate.

Claims (9)

1. A control method of a vehicle control system, characterized in that: including the automobile body and set up the control system on the automobile body, its characterized in that: the control system comprises a camera with a binarization function, a speed sensor for monitoring the speed of the vehicle body, a steering engine for controlling the steering of the vehicle body, a motor for driving the vehicle body and a controller for controlling the steering engine and the motor, wherein the camera, the speed sensor, the steering engine and the motor are respectively connected with the controller; the car body is also provided with a mounting bracket, and the top end of the mounting bracket is provided with a beam part extending to the two sides of the car body; the camera is arranged on the beam part; the speed sensors are arranged on the beam part of the mounting bracket;
the control method of the control system comprises the following steps:
(1) the camera acquires an image and performs binarization processing on the image;
(2) the controller identifies the binarized image, identifies the left side line and the right side line of the lane in the binarized image, identifies the left edge and the right edge of the lane in the image according to the binarized image, determines the left edge and the right edge as the left side line and the right side line of the lane, and further determines the center line of the lane according to the middle position between the left side line and the right side line of the lane;
(3) the controller drives the motor to drive the vehicle body to run along the center line of the lane to reach a preset speed;
(4) the speed sensor obtains the increment, the speed of the vehicle is measured, the controller adjusts the speed difference value, and the motor is adjusted to enable the vehicle to reach the expected running speed;
(5) the controller judges whether the vehicle runs on the central line of the lane in the image, if so, the step (6) is carried out, and if not, the step (10) is carried out;
(6) calculating the deviation between the current position of the vehicle and the center line of the lane;
(7) the controller drives the steering engine, and controls the rotation angle of the steering engine to approach the center line of the lane according to the deviation value of the driving route of the vehicle and the center line of the lane;
(8) the controller detects the speed of the vehicle according to the increment acquired by the speed sensor and monitors whether the speed of the vehicle accords with a preset speed in the process of returning to the center line of the lane; if the vehicle speed does not accord with the preset speed, entering the step (9); if the speed of the vehicle body meets the preset speed, the step (10) is carried out;
(9) the controller controls the motor to adjust the vehicle speed to a preset speed;
(10) and (4) keeping the steering engine at a middle position, keeping the vehicle to run in a straight line on the center line of the lane, and entering the step (1).
2. The control method of a vehicle control system according to claim 1, characterized in that: and the front side of the vehicle body is also provided with an obstacle avoidance unit, and the obstacle avoidance unit is connected with the controller.
3. A control method of a vehicle control system according to claim 2, characterized in that: the step (3) further comprises the following step (3.1) that the obstacle avoidance unit detects whether an obstacle exists in the lane, and if the obstacle exists in the lane, the step (3.2) is carried out; if no obstacle exists in the lane, entering the step (4);
(3.2) the controller controls the motor to drive the vehicle body to decelerate;
(3.3) determining one side with a larger distance according to the distance from the left sideline to the obstacle or the distance from the right sideline to the obstacle, replanning the route, and re-determining the center line of the lane according to the distance from the sideline to the obstacle;
and (3.4) the controller controls the steering engine and the motor to drive the vehicle body to run along a new central line, so that obstacles in the lane are avoided, and the vehicle enters the step (2) after passing through the obstacles.
4. The control method of a vehicle control system according to claim 1, characterized in that: the control system further comprises a real-time control display panel, the real-time control display panel is connected with the controller, and the real-time control display panel is arranged on the vehicle body.
5. The control method of a vehicle control system according to claim 1, characterized in that: the speed sensor is an incremental speed sensor.
6. The control method of a vehicle control system according to claim 1, characterized in that: the speed sensors are more than two and are arranged at two ends of the beam part.
7. The control method of a vehicle control system according to claim 6, characterized in that: the mounting bracket is arranged on the front side of the vehicle body.
8. A control method of a vehicle control system according to claim 2, characterized in that: the obstacle avoidance unit comprises an ultrasonic sensor and an infrared sensor.
9. The control method of a vehicle control system according to claim 1, characterized in that: the camera is a wildfire hawk eye OV 7725.
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