CN113859232A - Vehicle automatic driving potential target prediction alarm method and system - Google Patents
Vehicle automatic driving potential target prediction alarm method and system Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims abstract description 18
- 230000008447 perception Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 4
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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
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention provides a method and a system for predicting and alarming a potential target of automatic driving of a vehicle, which comprises the following steps of 1, perception fusion: acquiring vehicle information of a front vehicle, a left front vehicle and a right front vehicle through a sensor, fusing the vehicle information through a domain controller based on relevant signals such as the posture, the speed and the like of the vehicle body of the vehicle, and outputting the vehicle information of the front side and the side; 2, target selection: based on the fused and output target, the domain controller processes the related signals through the sensed vehicle information, and screens out accurate forward and lateral targets and lane line information; and 3, controlling decision: when the transverse and longitudinal control is activated, the vehicle speed is greater than a set value B, and the hand moment of a driver is less than a threshold value, a potential dangerous target take-over alarm and immediate take-over request is sent out; and 4, after the instrument receives the immediate request for taking over, prompting a user to take over the vehicle control. The invention can complete the potential target alarm through the existing automatic driving sensor, can reduce the risk brought by the dangerous vehicle condition, and can optimize the driver experience by adopting different alarm logics aiming at different environments and different vehicle types.
Description
Technical Field
The invention relates to the technical field of automatic driving control of vehicles, in particular to a technology for taking over and alarming when a potential dangerous target exists.
Background
With the rapid development of the automatic driving technology, more and more advanced sensors, controllers and actuators are carried on a common automobile, so that the sensing capability of the automobile to the surrounding environment is enhanced, the running safety and dangerous states of the automobile can be automatically analyzed, the automobile is controlled, and related patents are not retrieved at present.
At present, most scenes of intelligent driving can be accelerated, decelerated, steered and changed correctly. But the vehicle can not be braked or corrected under partial emergency conditions due to the missending of the executive capacity of the actuator and the command of the controller. Before potential danger occurs, the vehicles around have some foreseeable changes such as running tracks and speeds, and if a driver has enough time to take over the vehicles and avoid the danger, the frequency of accidents can be effectively reduced. Based on the existing system, the information of each sensor is received and processed, analysis and judgment are made, the current condition of the driver is informed in a visual and auditory perception mode, and the danger caused by some sudden conditions in the driving process is reduced.
Disclosure of Invention
Aiming at the existing problems of the traditional automatic driving, the invention provides a vehicle automatic driving potential target prediction alarm method, which reduces the risk brought by the dangerous vehicle condition.
The technical scheme of the invention is as follows:
a vehicle automatic driving potential target prediction alarming method comprises the following steps:
step 1, perception fusion: acquiring vehicle information of a front vehicle, a left front vehicle and a right front vehicle through a sensor, fusing the vehicle information through a domain controller based on relevant signals such as the posture, the speed and the like of the vehicle body of the vehicle, and outputting the vehicle information of the front side and the side;
step 2, target selection: based on the fused and output target, the domain controller processes the related signals through the sensed vehicle information, and screens out accurate forward and lateral targets and lane line information;
and step 3, controlling decision: when the transverse and longitudinal control is activated, the vehicle speed is greater than a set value B, and the hand moment of a driver is less than a threshold value, a potential dangerous target take-over alarm and immediate take-over request is sent out;
and 4, prompting a user to take over the vehicle control after the instrument receives the immediate request for taking over.
Specifically, the step 2 includes:
and 2.1, judging whether a target vehicle exists in front of the lane or not by combining lane lines based on the information of perception fusion, if not, entering step 2.2, if so, firstly judging the longitudinal distance relation with the side vehicle, and if the distance between the front target vehicle tail and the side target vehicle head is more than Xm, entering step 2.2, otherwise, exiting the judgment.
2.2, if the vehicle is a trolley, judging whether the transverse speed of the side target is greater than a set value A or not and the side target tends to approach the lane line of the vehicle; and if the vehicle is a large vehicle, judging whether the transverse speed of the side target is less than that of the large vehicle or not and the side target tends to approach the lane line.
Meanwhile, according to the position relation of the vehicles, the transverse distance d1 between the lateral target and the vehicle is judged, the position between the target vehicle and the lane line is judged, the screening range is expanded outwards by a speed-following interval, and the lateral target is in the expanded range when the distance of the lateral target corresponding to different speeds is farther.
Meanwhile, whether the longitudinal distance of the adjacent target is smaller than X times of time distance (namely time and vehicle speed) is judged.
Step 2.3, outputting 'potential danger target take-over alarm = 1' when the above conditions are met; the alarm is released after the condition is not met or the target is screened as the original potential danger target (namely, the speed can be reduced), and 'the potential danger target takes over the alarm = 0' is output.
The invention also provides a system for predicting and alarming the potential target of the automatic driving of the vehicle, which at least comprises a perception fusion module, a control decision module and an execution module.
The perception fusion module acquires information of vehicles in front of the vehicle, left front and right front through the sensor, and performs fusion through the domain controller based on relevant signals such as the posture, the speed and the like of the vehicle body of the vehicle, and outputs information of the vehicles in front and at the side.
And the control decision module processes related signals through the sensed vehicle information based on the fusion output target, performs transverse and longitudinal control, and outputs the processed request to an instrument vehicle machine for HMI interaction.
The execution module receives the information sent by the control decision module, executes relevant actions and displays the information, and the purpose of vehicle control is achieved.
The invention has the following specific advantages:
1. the invention completes the potential target alarm through the existing automatic driving sensor, reduces the risk of emergency vehicle cut-in and also reduces the risk brought by the dangerous vehicle condition.
2. The invention adopts different alarm logics aiming at different environments and different vehicle types, and can optimize the driver experience.
Drawings
FIG. 1 is a control scenario diagram of the present invention
FIG. 2 is a block diagram of a system control unit of the present invention
FIG. 3 is a diagram illustrating the steps of the present invention
Fig. 4 is a diagram of a vehicle body sensor arrangement of the present invention.
Detailed Description
The technology of the invention is described in detail below with reference to the accompanying drawings:
the invention mainly carries out takeover alarm aiming at a potential dangerous target by longitudinal control, and the specific implementation process comprises the following 4 steps of working condition judgment, target selection, decision aiming at the potential target and instrument display. The following description is made in detail with reference to fig. 1, 2 and 3:
the first step is as follows: condition determination
The camera detects lane line information and vehicle motion information (including longitudinal speed, longitudinal acceleration, longitudinal distance, transverse speed, transverse acceleration, yaw angle of the side vehicle, lane line type and lane line confidence degree of the front vehicle and the side vehicle). The front radar and the angle radar detect longitudinal speed, longitudinal acceleration, longitudinal distance, transverse speed, transverse acceleration and side vehicle yaw angle of the front and side vehicles, and the sensing information is output to the domain controller for fusion processing.
The second step is that: object selection
The system needs to ensure working when the transverse and longitudinal control is activated, and the specific steps of target selection are as follows:
1. and judging whether a target vehicle (No. 1 target) exists in front of the lane or not by combining lane lines based on the perception fusion information, if no target vehicle exists in front, directly entering the next judgment, and if the target vehicle exists, judging the longitudinal distance relation between the target vehicle and the side vehicle. And if the tail distance of the forward target vehicle is more than 10m (which can be calibrated) of the side target vehicle head, performing the next judgment, otherwise, judging whether the condition is not satisfied.
2. If the vehicle is a small vehicle, judging whether the transverse speed of the side vehicle is more than 0.4m/s (can be calibrated) or not, and having a trend close to the lane line of the vehicle, wherein the trend is determined based on the position relation between the lane line and the vehicle. If the vehicle is a big vehicle, the lateral velocity value needs to be less than 0.4m/s, and there is a trend towards approaching the lane line.
3. Further, the transverse distance d1 between the oncoming vehicle and the host vehicle is determined according to the vehicle position relationship, where the determination is usually made by a camera to distinguish whether the oncoming vehicle is a truck or a non-truck. And simultaneously, judging the positions of the target vehicle and the lane line, and extending the screening range to a calibrated width d2 along with the speed interval (corresponding to different speeds and the farther the distance to the target is from the side).
4. Further, whether the longitudinal distance between the on-road target and the vehicle is less than 0.5 time is judged, and a truck and a non-truck are distinguished.
5. When the above conditions are met, outputting 'potential danger target take-over alarm = 1'; the alarm is released after the condition is not met (hysteresis is needed) (namely, the speed is reduced), and the potential danger target takeover alarm =0 is output.
In addition, when extreme weather conditions such as rainy days and the like exist, the lane line and the target confidence coefficient are unstable, the system needs to control when the target and the lane line confidence coefficient reach a certain threshold value, otherwise, false alarm and missing report may be brought to cause customer complaint.
The third step: decision for potential target
When the transverse and longitudinal control is activated, the vehicle speed is greater than 20km/h (can be calibrated), and the hand moment is less than a threshold value, a potential dangerous target takes over an alarm command and sends out the alarm command. The threshold value is obtained by combining the steering wheel angle and the road curvature calibration, namely the straight road threshold value is smaller and the curve threshold value is slightly larger.
The fourth step: instrument display
After the instrument receives the immediate take-over request, the user is prompted to take over the vehicle control through pictures, such as a steering wheel danger warning diagram, and characters, such as 'please take over immediately', and the visual prompting method is used for simultaneously driving a buzzer to give an alarm.
In a further embodiment, the system for implementing the above method comprises at least three parts, namely a perception fusion module, a control decision module and an execution module.
The perception fusion module mainly comprises three sensors, namely a front camera, a front radar and an angle radar, and the sensors are used for acquiring vehicle information of a front vehicle, a front left vehicle and a front right vehicle, wherein the vehicle information comprises speed, acceleration, yaw rate, longitudinal distance, transverse distance, longitudinal acceleration, transverse acceleration and the like. And the perception fusion module is fused through a domain controller based on the vehicle body posture, speed and other related signals, and accurately outputs the vehicle information in front and at the side.
The control decision module is used for processing related signals by the domain controller through sensed vehicle information based on a fusion output target and performing transverse and longitudinal control. And meanwhile, the processed request is output to an instrument vehicle machine and the like for HMI interaction.
The execution module receives the information sent by the control decision module, and executes related actions and displays through instruments, electronic parking brakes, Electronic Power Steering (EPS) and the like to achieve the aim of vehicle control.
In the foregoing specification, the subject matter of the invention has been described with reference to specific examples. However, various modifications and changes may be made without departing from the gist of the present invention as set forth in the claims. The drawings in the present specification are illustrative and not restrictive. The scope of the inventive concept should, therefore, be determined by the claims and their legal equivalents, rather than by the examples described. Any steps set forth in any method or process claims of this specification may be performed in any order or combination of orders and are not limited to the specific order presented in the examples given in the claims. The modules, units, systems recited in any apparatus claims may be combined, assembled, configured in any permutation, and are not limited to the specific composition, assembly, or configuration of the program in the claims.
Claims (8)
1. A method for predicting and alarming potential targets in automatic driving of a vehicle is characterized by comprising the following steps:
step 1, perception fusion: acquiring vehicle information of a front vehicle, a left front vehicle and a right front vehicle through a sensor, fusing the vehicle information through a domain controller based on relevant signals such as the posture, the speed and the like of the vehicle body of the vehicle, and outputting the vehicle information of the front side and the side;
step 2, target selection: based on the fused and output target, the domain controller processes the related signals through the sensed vehicle information, and screens out accurate forward and lateral targets and lane line information;
and step 3, controlling decision: when the transverse and longitudinal control is activated, the vehicle speed is greater than a set value B, and the driver hand moment is less than a threshold value, a potential dangerous target take-over alarm and immediate take-over request is sent out;
and 4, prompting a user to take over the vehicle control after the instrument receives the immediate request for taking over.
2. The vehicle autonomous driving potential target prediction warning method of claim 1, wherein the step 2 includes:
step 2.1, judging whether a target vehicle exists in front of the lane or not by combining lane lines based on the information of perception fusion, if not, entering step 2.2, if so, firstly judging the relation of longitudinal distance with a side vehicle, and if the distance of the tail of the front target vehicle is greater than the Xm of the head of the side target vehicle, entering step 2.2, otherwise, exiting the judgment;
2.2, if the vehicle is a trolley, judging whether the transverse speed of the side target is greater than a set value A or not and the side target tends to approach the lane line of the vehicle; if the vehicle is a large vehicle, judging whether the transverse speed of the side target is smaller than that of the large vehicle or not and the side target tends to approach a lane line;
meanwhile, according to the position relation of the vehicle, the transverse distance d1 between the lateral target and the vehicle is judged, the position between the lateral target and the lane line is judged at the same time, the screening range is expanded outwards by a speed following range, and the lateral target is positioned in the expanded range;
meanwhile, judging whether the longitudinal distance between the lateral target and the vehicle is less than X times of time distance;
step 2.3, outputting 'potential danger target take-over alarm = 1' when the above conditions are met; and after the condition is not met or the target is screened as the original potential danger target, the alarm is relieved, and 'the potential danger target takes over the alarm = 0' is output.
3. The vehicle autonomous driving potential target prediction warning method according to claim 1 or 2, characterized in that the sensors include at least a front camera, a front radar and an angle radar.
4. The vehicle autopilot potential target predictive warning method of claim 3 wherein the vehicle information includes at least speed, acceleration, yaw rate, longitudinal distance, lateral distance, longitudinal acceleration, lateral acceleration, and the like.
5. The method as claimed in claim 1 or 2, wherein in the extreme weather such as rainy day, the system needs to control when the confidence of the target and lane line reaches a certain threshold.
6. The system for predicting and alarming the potential target of the automatic driving of the vehicle is characterized by at least comprising a perception fusion module, a control decision module and an execution module,
the perception fusion module acquires information of a front vehicle, left front and right front vehicles through a sensor, performs fusion through a domain controller based on relevant signals such as the posture, the speed and the like of the vehicle body of the vehicle, and outputs information of the front vehicle and the side vehicle;
the control decision module processes related signals through the sensed vehicle information based on the fusion output target, performs transverse and longitudinal control, and outputs the processed request to an instrument vehicle machine for HMI interaction;
the execution module receives the information sent by the control decision module, executes relevant actions and displays the information, and the purpose of vehicle control is achieved.
7. The vehicle autopilot potential target predictive warning system of claim 6 wherein the sensors include at least a front camera, a front radar and an angle radar.
8. The vehicle autopilot potential target predictive warning system of claim 6 wherein the vehicle information includes at least speed, acceleration, yaw rate, longitudinal distance, lateral distance, longitudinal acceleration, lateral acceleration, and the like.
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| CN115571156A (en) * | 2022-09-23 | 2023-01-06 | 东南大学 | Front vehicle transverse and longitudinal motion state joint estimation method based on sensor fusion |
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