CN113815648B - Control method of vehicle control system - Google Patents

Control method of vehicle control system Download PDF

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Publication number
CN113815648B
CN113815648B CN202111269856.5A CN202111269856A CN113815648B CN 113815648 B CN113815648 B CN 113815648B CN 202111269856 A CN202111269856 A CN 202111269856A CN 113815648 B CN113815648 B CN 113815648B
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lane
vehicle
speed
vehicle body
center line
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CN113815648A (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 various vehicle control systems, which comprises the following steps: a camera acquires a binarized image; confirming the center line of the lane according to the left side line and the right side line of the lane; driving the motor to reach a preset speed; the speed sensor detects the speed of the vehicle at a certain moment, and the controller adjusts the speed difference value to reach the expected running speed; judging whether the vehicle runs on the lane central line 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 according to the deviation value between the steering engine and the center line of the lane to approach 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 the preset speed in the process of returning to the center line of the lane; the invention can realize that the unmanned vehicle can stably run at 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 vehicles which are indispensable for people. However, due to the continuous increase of vehicles, the urban congestion becomes a great problem in life, and great inconvenience is caused to the travel of people. Meanwhile, with the advent of the intelligent age, the internet of things has been rapidly developed, and traffic systems tend to be intelligent. And the automatic driving system can greatly reduce the urban congestion problem, and the automatic driving automobile has benefits for 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. The patent document with the Chinese patent application number of 20161214453. X and the bulletin day of 2017.05.31 discloses an automatic driving system and method based on road identification, wherein the system comprises a camera, a GPS positioning module, an automatic control device of an automobile steering wheel and a micro control unit, and 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 plurality of cameras are arranged at all positions of the automobile body and used for collecting surrounding environment information of the automobile in an omnibearing manner; the GPS positioning module is arranged in the automobile body and used for collecting position information; the micro control unit is used for identifying whether the automobile runs on a line pressing mode deviating from a correct route according to the image information acquired by the camera, and controlling the automobile through the steering wheel automatic control device according to the position information acquired by the GPS positioning module, so that the automobile runs on the correct route. The invention can realize the automatic driving of the unmanned vehicle, does not need manual intervention to run on a specific road, and realizes the switching mode of automatic driving and manual driving.
However, when the driving system provided by the invention is used for identifying whether the automobile deviates from a correct route, the information of the surrounding environment of the automobile needs to be acquired and analyzed through the cameras arranged at all positions of the automobile body, the identification is realized through a plurality of cameras, and the acquired image information is too much and complex, so that the information is easy to be confused, the identification is inaccurate, and the cost is higher due to the plurality of cameras.
Disclosure of Invention
The invention provides a control method of a vehicle control system, which is used for realizing that an unmanned vehicle can stably run at the middle position of a lane by recognizing the left line and the right line of the lane by a camera to obtain the center line of the lane and preventing the unmanned vehicle from deviating from the lane in the running process.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the control method of the 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 vehicle body is also provided with a mounting bracket, and the top end of the mounting bracket is provided with a beam part extending to two sides of the vehicle body; the camera is arranged on the beam part; the speed sensor is 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 carries out binarization processing on the image;
(2) The controller identifies the binarized image, identifies left and right edges of the lane in the image according to the binarized image, determines the left and right edges as left and right edges of the lane, and further determines a lane center line according to a middle position between the left and right edges 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;
(4) The speed sensor acquires increment, the speed of the vehicle is measured, the controller adjusts the speed difference value, and the motor is regulated to enable the vehicle to reach the expected running speed;
(5) The controller judges whether the vehicle runs on the lane central line in the image, if so, the step (6) is entered, otherwise, the step (10) is entered;
(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 running route of the vehicle and the center line of the lane;
(8) The controller detects the speed of the vehicle according to the increment obtained by the speed sensor, and monitors whether the speed of the vehicle accords with the 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, the step (9) is carried out; if the vehicle body speed accords with the preset speed, entering a step (10);
(9) The controller controls the motor to adjust the speed of the vehicle to a preset speed;
(10) The steering engine is kept in the middle position, the vehicle is kept in the center line of the lane to run straight, and the step (1) is entered.
The method comprises the steps that in the running process of a vehicle body, images obtained through a camera and subjected to binarization processing are transmitted to a controller, the controller identifies left edges and right edges of a lane according to the images subjected to binarization, the left edges and the right edges of the lane in the images are identified according to the images subjected to binarization, the left edges and the right edges are determined to be the left edges and the right edges of the lane, the lane center line is further determined according to the middle position between the left edges and the right edges, the deviation value of the current running position of the vehicle body and the lane center line is calculated, the controller matches a preset deviation value interval according to the deviation value, the controller controls a steering engine to output a deviation command according to the deviation value interval, and if the current running position of the vehicle body is located at the left side of the lane center line and the deviation value with the lane center line is X, the controller controls the steering motor to output a deviation command to the right angle value X; if the current behavior position of the vehicle body is positioned on the right side of the lane center line and the deviation value between the current behavior position of the vehicle body and the lane center line is X, the controller controls the steering motor to output a deviation instruction to make an angle value X leftwards; the vehicle body is close to the center line of the lane, so that the vehicle body can be controlled to always run near the center line of the lane by the system, and the vehicle body is prevented from deviating from 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 place to be convenient for acquiring images; meanwhile, the speed sensor is arranged on the beam parts of the mounting bracket towards the two sides of the vehicle body, and the speed sensor detects the speed of the vehicle body more accurately.
Further, 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 front.
Further, the step (3) further includes 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 entered; if no obstacle exists in the lane, entering the step (4);
and (3.2) the controller controls the motor to drive the vehicle body to decelerate.
(3.3) determining the side with larger distance according to the distance from the left side line to the obstacle or the distance from the right side line to the obstacle, re-planning the route, and re-determining the lane center line according to the distance from the side line 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, avoid obstacles in the lane, and enter the step (2) after passing through the obstacles; if an obstacle exists in a lane in the binary image acquired by the camera, the obstacle avoidance unit transmits a signal to the controller after detecting the obstacle in the lane, the controller controls the motor to drive the vehicle body to decelerate, then determines one side with larger distance according to the distance from the left line to the obstacle or the distance from the right line to the obstacle, re-plans the route, re-determines the center line of the lane according to the distance from the side line to the obstacle, and controls the steering engine and the motor to drive the vehicle body to drive along the new center line so as to avoid the obstacle in the lane; after the vehicle body passes through the obstacle, the controller reconfirms the center line of the lane according to the binary image acquired by the camera.
Further, 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 is convenient for acquiring information of the control system in real time.
Further, the speed sensor is an incremental speed sensor, so that the vehicle body running speed can be conveniently detected.
Further, the speed sensor is provided with more than two speed sensors and is arranged at two ends of the beam part, so that the speed sensors are respectively arranged on the beam parts at two sides of the vehicle body, the speed of the vehicle body is detected more accurately, and meanwhile, the average speed can be obtained according to the speed values obtained by the speed sensors at two sides, so that the speed of the vehicle body detected by the speed sensors 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.
Further, the obstacle avoidance unit comprises an ultrasonic sensor and an infrared sensor, and the arrangement is that the effective detection distance of the ultrasonic sensor is short, so that the ultrasonic sensor can not brake when detecting an obstacle; meanwhile, the infrared sensor becomes insensitive under the condition of high sun illumination intensity; therefore, the ultrasonic sensor and the infrared sensor cooperate, the obstacle avoidance sensitivity is high, and the obstacle is prevented from being detected when the vehicle body is too close to the obstacle, so that the vehicle is not braked.
Further, the camera is a wildfire eagle eye OV7725.
Drawings
Fig. 1 is a schematic side view of the present invention.
Fig. 2 is a schematic diagram of a front view structure of the present invention.
Fig. 3 is a block diagram of a control system according to the present invention.
Fig. 4 is a block diagram of the workflow of the control system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 3, a control method of a vehicle control system includes a vehicle body 10 and a control system provided on the vehicle body 10, the vehicle body 10 being provided with wheels 102, the control system including a camera 1 having a binarization function, a speed sensor 2 for monitoring a vehicle body speed, a steering engine 3 for controlling steering of the vehicle body, a motor 4 for driving the vehicle body 10, a controller 5 for controlling the steering engine 3 and the motor 4, the camera 1, the speed sensor 2, the steering engine 3 and the motor 4 being connected to the controller 5, respectively; the controller 5 is connected with the image obtained by the camera 1 and subjected to binarization processing, the controller 5 recognizes the left edge and the right edge of the lane according to the gray level of the image, and the middle position between the left edge line and the right edge line is taken as the lane center line; 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 also 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; more than two cameras 1 are arranged, and the cameras 1 are respectively arranged on the beam parts 1011; the speed sensor 2 is provided with more than one, and the speed sensor 2 is arranged at two ends of the beam part 1011 of the mounting bracket 101; in the present embodiment, the mounting bracket 101 is a column vertically provided on the vehicle body 10, and the beam portion 1011 is vertically connected to the upper end of the mounting bracket 101.
In the above arrangement, during the running process of the vehicle body 10, the images obtained through the camera 1 and subjected to binarization processing are transmitted to the controller 5, the controller 5 identifies the left edge and the right edge of the lane according to the images subjected to binarization, identifies the left edge and the right edge of the lane in the images according to the images subjected to binarization, determines the left edge and the right edge as the left edge and the right edge of the lane, further determines the lane center line according to the middle position between the left edge and the right edge, calculates the deviation value of the current running position of the vehicle body 10 and the lane center line, matches the preset deviation value interval according to the deviation value, the controller 5 controls the steering engine 4 to output a deviation command according to the deviation value interval, controls the steering motor to output a deviation command to the right by an angle value X according to the current running position of the vehicle body and the relative position of the lane center line, and if the current running position of the vehicle body is positioned at the left side of the lane center line and the deviation value with the lane center line is X; if the current behavior position of the vehicle body is positioned on the right side of the lane center line and the deviation value between the current behavior position of the vehicle body and the lane center line is X, the controller controls the steering motor to output a deviation instruction to make an angle value X leftwards; the vehicle body 10 is made to approach the lane center line, so that the vehicle body 10 can be controlled to always run near the lane center line by the system, and the vehicle body 10 is prevented from deviating from the lane; in addition, the camera 1 is provided on the beam portion 1011 at the tip of the mounting bracket 101, and therefore, is provided at a high place to facilitate acquisition of an image; meanwhile, the speed sensor 2 is provided on the beam portion 1011 of the mounting bracket 101 toward both sides of the vehicle body 10, and the speed sensor 2 detects the speed of the vehicle body 10 more accurately.
In the embodiment, the steering engine centering time value is 480, the steering engine leftmost steering engine value is 400, the steering engine rightmost steering engine value is 560, and the controller outputs an angle instruction in the opposite direction to the steering engine according to the deviation value; if the current running position of the vehicle body is positioned at the left side of the lane center line and the deviation value between the current running position and the lane center line is 50, the controller controls the steering motor to output a deviation command to make an angle value 50 to the right, namely a steering engine value is 530.
The control system further comprises a real-time control display panel 6, wherein the real-time control display panel 6 is arranged on the vehicle body 10 and 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 sensor 2 is provided with more than two speed sensors and is arranged at two ends of the beam part 101, so that the speed sensors 2 are respectively arranged on the beam parts 101 at 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 at two sides, so that the speed of the vehicle body detected by the speed sensor 2 is more accurate.
The mounting bracket 101 is disposed on 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, if an obstacle exists in a lane in the 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 determines one side with larger distance according to the distance from the left side line to the obstacle or the right side line to the obstacle, re-plans a route, re-determines the center line of the lane according to the distance from the side line to the obstacle, and the controller 5 controls the steering engine 3 and the motor 4 to drive the vehicle body 10 to travel along the new center line so as to avoid the obstacle in the lane; after the vehicle body 10 passes the obstacle, the controller 5 reconfirms the lane center line based on the binarized image acquired by the camera 1.
The obstacle avoidance unit 7 comprises an ultrasonic sensor and an infrared sensor, and the effective detection distance of the ultrasonic sensor is short, so that the obstacle is possibly not braked when the ultrasonic sensor detects the obstacle; meanwhile, the infrared sensor becomes insensitive under the condition of high sun illumination intensity; therefore, the ultrasonic sensor and the infrared sensor cooperate, the obstacle avoidance sensitivity is high, and the obstacle is prevented from being detected when the vehicle body is too close to the obstacle, so that the vehicle is not braked.
The camera is provided with the above-mentioned device, and the model camera has the functions of hardware binarization, has ideal binarization effect, good image processing effect and high image data acquisition speed, and can reach 150 frames per second; the acquired and output image is output from left to right, has no odd and even length, has strong denoising capability and high stability and micro-light sensitivity, can be used for acquiring the image in the high-speed driving process, and ensures that the acquired image data has certain definition.
As shown in fig. 4, the working 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 left and right lines of the lane in the binarized image, and confirms the lane center line according to the left and right lines 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 the obstacle exists in the lane, entering a step (3.2); and (4) if no obstacle exists in the lane, entering the step (4).
And (3.2) the controller controls the motor to drive the vehicle body to decelerate.
(3.3) determining the side with larger distance according to the distance from the left side line to the obstacle or the distance from the right side line to the obstacle, re-planning the route, and re-determining the lane center line according to the distance from the side line 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, avoid the obstacles in the lane, and enter the step (2) after passing through the obstacles.
(4) The speed sensor acquires an increment, the speed of the vehicle at a certain moment is measured, the controller adjusts the speed difference value, and the motor is regulated to enable the vehicle to reach the expected running speed.
(5) The controller judges whether the vehicle runs on the lane central line in the image, if yes, the step (6) is entered, otherwise, the step (10) is entered.
(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 rotating angle of the steering engine to approach the center line of the lane according to the deviation value of the running route of the vehicle and the center line of the lane.
(8) The controller detects the speed of the vehicle according to the increment obtained by the speed sensor, and monitors whether the speed of the vehicle accords with the 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, the step (9) is carried out; if the vehicle speed accords with the preset speed, the step (10) is entered.
(9) The controller controls the motor to adjust the vehicle speed to a preset speed.
(10) The steering engine is kept in the middle position, the vehicle is kept in the center line of the lane to run straight, and the step (1) is entered.
According to the method, in the running process of the vehicle body, images obtained through a camera and subjected to binarization processing are transmitted to a controller, the controller identifies a left line and a right line of a lane according to the images subjected to binarization, a lane center line is obtained according to the left line and the right line, a deviation value of the current running position of the vehicle body and the lane center line is calculated, the controller is matched with a preset deviation value interval according to the deviation value, and the controller controls a steering engine to output a deviation instruction according to the deviation value interval, so that the vehicle body approaches the lane center line, and the vehicle body can be controlled to always run near the lane center line through the system, and is prevented from deviating from the lane; in addition, whether an obstacle exists in the lane is detected by the obstacle avoidance unit, if the obstacle is detected, the obstacle and a far side line are regarded as the lane, and the center line of the lane is planned again, so that the obstacle in the lane is avoided automatically, and the purpose of avoiding the obstacle automatically is achieved; the camera is arranged on the mounting bracket, so that an image can be conveniently acquired; meanwhile, the speed sensor is arranged on the beam parts of the mounting bracket towards the two sides of the vehicle body, and the speed sensor detects the speed of the vehicle body more accurately.

Claims (7)

1. A control method of a vehicle control system, comprising a vehicle body and a control system provided on the vehicle body, characterized in that: the control system comprises a camera with a binarization function, a speed sensor for monitoring the speed of the car body, a steering engine for controlling the steering of the car body, a motor for driving the car 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 front side of the vehicle body is also provided with an obstacle avoidance unit which is connected with the controller; the vehicle body is also provided with a mounting bracket, and the top end of the mounting bracket is provided with a beam part extending to two sides of the vehicle body; the camera is arranged on the beam part; the speed sensor is 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 carries out binarization processing on the image;
(2) The controller identifies the binarized image, identifies left and right edges of the lane in the image according to the binarized image, determines the left and right edges as left and right edges of the lane, and further determines a lane center line according to a middle position between the left and right edges 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; the step (3) further comprises the following steps:
(3.1) detecting whether an obstacle exists in the lane by the obstacle avoidance unit, and if the obstacle exists in the lane, entering a step (3.2); 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 the side with larger distance according to the distance from the left side line to the obstacle or the distance from the right side line to the obstacle, re-planning the route, and re-determining the lane center line according to the distance from the side line 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, avoid obstacles in the lane, and enter the step (2) after passing through the obstacles;
(4) The speed sensor acquires increment, the speed of the vehicle is measured, the controller adjusts the speed difference value, and the motor is regulated to enable the vehicle to reach the expected running speed;
(5) The controller judges whether the vehicle runs on the lane central line in the image, if so, the step (6) is entered, otherwise, the step (10) is entered;
(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 according to the current running position of the vehicle body and the relative position between the steering engine and the lane center line, if the current running position of the vehicle body is positioned at the left side of the lane center line and the deviation value between the current running position of the vehicle body and the lane center line is X, the controller controls the steering motor to output a deviation instruction to make an angle value X to the right; if the current behavior position of the vehicle body is positioned on the right side of the lane center line and the deviation value between the current behavior position of the vehicle body and the lane center line is X, the controller controls the steering motor to output a deviation instruction to make an angle value X leftwards; the vehicle body is close to the center line of the lane, and the rotating angle of the steering engine is controlled to approach the center line of the lane according to the deviation value of the running route of the vehicle and the center line of the lane;
(8) The controller detects the speed of the vehicle according to the increment obtained by the speed sensor, and monitors whether the speed of the vehicle accords with the 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, the step (9) is carried out; if the vehicle body speed accords with the preset speed, entering a step (10);
(9) The controller controls the motor to adjust the speed of the vehicle to a preset speed;
(10) The steering engine is kept in the middle position, the vehicle is kept in the center line of the lane to run straight, and the step (1) is entered.
2. A 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.
3. A control method of a vehicle control system according to claim 1, characterized in that: the speed sensor is an incremental speed sensor.
4. A control method of a vehicle control system according to claim 1, characterized in that: the speed sensor is provided with more than two speed sensors and is arranged at two ends of the beam part.
5. A control method of a vehicle control system according to claim 1, characterized in that: the mounting bracket is arranged on the front side of the vehicle body.
6. 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.
7. A control method of a vehicle control system according to claim 1, characterized in that: the camera is a wildfire eagle eye OV7725.
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WO2012068331A1 (en) * 2010-11-19 2012-05-24 Magna Electronics Inc. Lane keeping system and lane centering system
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