CN114044002A - Automatic low-lying road surface identification method suitable for automatic driving - Google Patents
Automatic low-lying road surface identification method suitable for automatic driving Download PDFInfo
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- CN114044002A CN114044002A CN202111442009.4A CN202111442009A CN114044002A CN 114044002 A CN114044002 A CN 114044002A CN 202111442009 A CN202111442009 A CN 202111442009A CN 114044002 A CN114044002 A CN 114044002A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000014509 gene expression Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B60W2420/408—
Abstract
The invention discloses a method for automatically identifying a low-lying road surface suitable for automatic driving, which belongs to the technical field of unmanned driving and comprises the following steps: step S1, taking the return point data of the traveling direction of the vehicle currently detected by the laser radar sensor as standard point data when the vehicle travels on the road surface; step S2, using the data of the point of the motor vehicle advancing direction acquired next time by the laser radar sensor as the target point data; and step S3, performing data processing on the target point data and the standard point data by using a detection algorithm to obtain road surface data. The data returned by the laser radar sensor is analyzed, judged and processed, and the automatic processing of the low-speed unmanned sightseeing vehicle encountering pits and low-lying road surfaces in the driving process is realized.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method for identifying a low-lying road surface.
Background
Along with popularization and application of the unmanned technology, unmanned vehicles are gradually popularized and applied, in particular scenic spots, sightseeing vehicles are low in running speed, running routes are simple, automatic driving risks are low, and manpower cost can be greatly reduced by adopting unmanned driving. In the prior art, when an unmanned vehicle runs, the influence of a road surface state on the reliability of the vehicle running is very great, when the matching of the road surface state is poor, on one hand, the running comfort of the vehicle is relatively poor, on the other hand, safety accidents occur when the vehicle runs very easily, and aiming at the problem, a road condition evaluation method capable of matching the whole road condition state with the vehicle running along with the vehicle running is absent, so that the prior art has great potential safety hazards when the automatic driving vehicle runs.
Disclosure of Invention
The present invention aims to provide a method for automatically identifying a low-lying road surface suitable for automatic driving, which has the advantages of solving the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for automatically identifying low-lying road surfaces suitable for automatic driving comprises the following steps:
step S1, taking the return point data of the traveling direction of the vehicle currently detected by the laser radar sensor as standard point data when the vehicle travels on the road surface;
step S2, using the data of the point of the motor vehicle advancing direction acquired next time by the laser radar sensor as the target point data;
and step S3, performing data processing on the target point data and the standard point data by using a detection algorithm to obtain road surface data.
Preferably, the detection algorithm in step S3 includes:
step A1, setting the data of the target point returned by each point of the current laser radar sensor as X [ n ], setting the data of the standard point returned by each point of the last sensor as Y [ n ], setting the threshold values of the low-lying road surface as a1, b1 and d1,
after the calculation of the formula 1, the value of the X-shaped array is transmitted to the Y-shaped array, and the data is recorded according to the formula 1:
X[0]–Y[0]>a1
X[1]–Y[1]>a1
X[2]–Y[2]>a1
X[n]–Y[n]>a1
step A2, if a plurality of continuous formulas in formula 1 satisfy the condition, primarily judging the region type pit region, not transmitting the value of the X [ ] array to Y [ ], at this time, the value of Y [ ] is the calculated reference value, and recording the data region satisfying the condition according to formula 2;
Z[n]＝X[n]–Y[n]>a1
Z[n+1]＝X[n+1]–Y[n+1]>a1
Z[n+2]＝X[n+2]–Y[n+2]>a1
step A3, if m groups satisfy formula 2, and m > b1, determining the pit area; and further analyzing the size and the area of the pit to control the running mode of the vehicle through the following formula 3, passing through at a low speed, bypassing or stopping emergently, and calculating the result Z [ n ] of each calculation of the formula 2 according to the formula 3 as follows:
(Z[n+1])/(Z[n])＝cn；
(Z[n+2])/(Z[n+1])＝c(n+1)；
(Z[n+3])/(Z[n+2])＝c(n+2)；
and finally, the maximum value of the calculation results (cn, c (n +1) and c (n +2) …) of the formula 3 is assigned to c (max), when c (max) < d1 sends a command low speed, when c (max) > < d1 and the formula meeting the formula 1 is greater than a threshold value d1, an emergency stop is sent, and otherwise, a command is sent to bypass.
Preferably, in the step a2, the pit area can be preliminarily determined after 5 to 10 equations in equation 1 satisfy the condition.
Preferably, in the step a1, a1 is a standard distance that the vehicle returns when driving on a horizontal road, which is detected by the laser radar sensor.
Compared with the prior art, the invention has the advantages that:
based on the principle that the anti-collision radar identifies the obstacles, when the unmanned sightseeing vehicle encounters a pit, the distance from the pit to the laser radar sensor is changed, and the data returned by the laser radar sensor is analyzed, judged and processed according to the characteristics, so that the aim of automatically processing the pit and the low-lying road surface when the unmanned sightseeing vehicle encounters the pit in the driving process is fulfilled.
Detailed Description
The present invention will be further explained below.
Example (b):
a method for automatically identifying low-lying road surfaces suitable for automatic driving comprises the following steps:
step S1, taking the return point data of the traveling direction of the vehicle currently detected by the laser radar sensor as standard point data when the vehicle travels on the road surface;
step S2, using the data of the point of the motor vehicle advancing direction acquired next time by the laser radar sensor as the target point data;
step S3, processing the target point data and the standard point data by using a detection algorithm to obtain the road surface data, wherein the step of the detection algorithm comprises the following steps:
step A1, because the laser radar sensor returns data periodically, each time a plurality of groups of data are returned, each group of data are connected by a smooth curve to obtain a sector graph; setting the data returned by each point of current sensor as X [ n ] (real-time update), the data returned by each point of last sensor as Y [ n ], calculating by formula 1, and transmitting the value of X [ ] array to Y [ ]; the threshold values of the low-lying road surfaces are judged to be a1, b1 and d1, the threshold value of the processing mode of the low-lying road surfaces is a2, wherein a1 is a closed sector graph composed of standard data returned when the vehicle runs on a flat road surface;
X[0]–Y[0]>a1
X[1]–Y[1]>a1
X[2]–Y[2]>a1
x [ n ] -Y [ n ] > a1 ﹍ formula 1
Step A2, if there are 5-10 continuous expressions in formula 1 satisfying the condition, then preliminarily judging the area type pit area, not transmitting the value of X [ ] array to Y [ ], at this time, the value of Y [ ] is the calculated reference value, then recording the data area satisfying the condition, for example, 11 data of 10 expressions satisfying the condition are X [ n ], X [ n +1], X [ n +2] … … X [ n +10], respectively; recording the subscript n value of the 11 data;
Z[n]＝X[n]–Y[n]>a1
Z[n+1]＝X[n+1]–Y[n+1]>a1
Z[n+2]＝X[n+2]–Y[n+2]>a1
z [ n +10] ═ X [ n +10] -Y [ n +10] > a1 ﹍ formula 2
Step A3, if m groups satisfy formula 2 and m > b1 (threshold) is judged as a pit area; and further analyzing the size and the area of the pit by the following formula 3 to control the passing, bypassing or emergency stop of the vehicle at low speed, and calculating the result Z [ n ] of each calculation of the formula 2 as follows:
(Z[n+1])/(Z[n])＝cn；
(Z[n+2])/(Z[n+1])＝c(n+1)；
(Z[n+3])/(Z[n+2])＝c(n+2)；
(Z [ n +10])/(Z [ n +9]) c (n + 9); ﹍ equation 3
And finally, the maximum value of the calculation results (cn, c (n +1), c (n +2) … c (n +9)) in the formula 3 is assigned to c (max), when c (max) < d1 sends a command low speed, when c (max) > < d1 and the formula meeting the formula 1 is greater than a threshold value d1, the command emergency stop is sent, and otherwise, the command detour is sent.
The method can be used on low-speed unmanned sightseeing, and vehicles can stop or detour when meeting a pit road surface in the driving process, so that the comfort level of passengers is improved, and meanwhile, the potential safety hazard is effectively reduced.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; while the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A method for automatically identifying low-lying road surfaces suitable for automatic driving is characterized by comprising the following steps:
step S1, taking the return point data of the traveling direction of the vehicle currently detected by the laser radar sensor as standard point data when the vehicle travels on the road surface;
step S2, using the data of the point of the motor vehicle advancing direction acquired next time by the laser radar sensor as the target point data;
and step S3, performing data processing on the target point data and the standard point data by using a detection algorithm to obtain road surface data.
2. The method for automatically recognizing a low-lying road surface suitable for automatic driving according to claim 1, wherein the detection algorithm in step S3 comprises:
step A1, setting the data of the target point returned by each point of the current laser radar sensor as X [ n ], setting the data of the standard point returned by each point of the last sensor as Y [ n ], setting the threshold values of the low-lying road surface as a1, b1 and d1,
after the calculation of the formula 1, the value of the X-shaped array is transmitted to the Y-shaped array, and the data is recorded according to the formula 1:
step A2, if a plurality of continuous formulas in formula 1 satisfy the condition, primarily judging the region type pit region, not transmitting the value of the X [ ] array to Y [ ], at this time, the value of Y [ ] is the calculated reference value, and recording the data region satisfying the condition according to formula 2;
step A3, if m groups satisfy formula 2, and m > b1, determining the pit area; and further analyzing the size and the area of the pit to control the running mode of the vehicle through the following formula 3, passing through at a low speed, bypassing or stopping emergently, and calculating the result Z [ n ] of each calculation of the formula 2 according to the formula 3 as follows:
and finally, the maximum value of the calculation results (cn, c (n +1) and c (n +2) …) of the formula 3 is assigned to c (max), when c (max) < d1 sends a command low speed, when c (max) > < d1 and the formula meeting the formula 1 is greater than a threshold value d1, an emergency stop is sent, and otherwise, a command is sent to bypass.
3. The method for automatically recognizing a low-lying road surface suitable for automatic driving according to claim 2, wherein in the step A2, the pit area can be preliminarily judged after 5-10 equations in formula 1 satisfy the condition.
4. The method for automatically identifying a low-lying road surface suitable for automatic driving according to claim 2, wherein in the step A1, the a1 is a standard distance returned when the vehicle travels on a horizontal road surface and is detected by a laser radar sensor.
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| CN111516692A (en) * | 2020-04-20 | 2020-08-11 | 重庆长安汽车股份有限公司 | Control system and method for vehicle running on hollow road surface |
| CN112464812A (en) * | 2020-11-27 | 2021-03-09 | 西北工业大学 | Vehicle-based sunken obstacle detection method |
| US20210155248A1 (en) * | 2019-11-21 | 2021-05-27 | Gm Cruise Holdings Llc | Lidar based detection of road surface features |
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2021
- 2021-11-30 CN CN202111442009.4A patent/CN114044002A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180062505A (en) * | 2016-11-30 | 2018-06-11 | 주식회사 오픈시스넷 | Method for estimating pothole on the road |
| US20190381999A1 (en) * | 2018-06-15 | 2019-12-19 | Pony.ai, Inc. | Systems and methods for implementing a preemptive control for an autonomous vehicle to improve ride quality |
| CN110749457A (en) * | 2019-10-31 | 2020-02-04 | 重庆长安汽车股份有限公司 | Early warning method and system for depression congestion of road surface by intelligent driving automobile and intelligent driving automobile |
| US20210155248A1 (en) * | 2019-11-21 | 2021-05-27 | Gm Cruise Holdings Llc | Lidar based detection of road surface features |
| CN111516692A (en) * | 2020-04-20 | 2020-08-11 | 重庆长安汽车股份有限公司 | Control system and method for vehicle running on hollow road surface |
| CN112464812A (en) * | 2020-11-27 | 2021-03-09 | 西北工业大学 | Vehicle-based sunken obstacle detection method |
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