CN114475597A - Method and system for controlling following distance of automatic driving vehicle - Google Patents
Method and system for controlling following distance of automatic driving vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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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
- B60W2754/00—Output or target parameters relating to objects
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- B60W2754/30—Longitudinal distance
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Abstract
The invention discloses a method for controlling the following distance of an automatic driving vehicle, which comprises the following steps of obtaining current temperature and humidity information of the driving environment of the vehicle, current rainfall information and current windscreen wiper state information, rain, snow and fog states of the driving environment of the vehicle, front following vehicle information and road condition information; judging whether the current scene is an expected functional safety scene influencing the following distance; if so, adjusting the current following distance. The invention also provides a system for controlling the following distance of the automatic driving vehicle and a storage medium. The invention can dynamically adjust the following distance of the automatic driving vehicle by combining different scenes, thereby ensuring the driving safety of the vehicle.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a method and a system for controlling the following distance of an automatic driving vehicle.
Background
With the continuous development of intelligent driving automobiles, the scene working conditions which can be solved and processed by automatic driving are more and more abundant. But the following distance is generally fixed in the automatic driving mode. However, different autonomous vehicles are equipped with different sensor types, which have their own limitations. The performance of the sensor is different under different environments, road conditions and traffic scenes, and the braking, steering and accelerating performances of the vehicle are influenced to different degrees under different road conditions. The actual safe following distance is different. Such as: in heavy rain, the performance of the sensing sensor is reduced, the braking performance of the vehicle is reduced along with the change of the ground adhesion, and if the following distance is not adaptively lengthened, the vehicle is likely to collide with the rear due to insufficient braking distance when an emergency occurs.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the following distance of an automatic driving vehicle.
The technical scheme adopted by the invention is as follows:
a method for controlling the following distance of an automatically driven vehicle comprises the steps of obtaining current temperature and humidity information of a vehicle running environment, current rainfall information and current wiper state information, rain, snow and fog states of the vehicle running environment, front following vehicle information and road condition information; judging whether the current scene is an expected functional safety scene influencing the following distance; if so, adjusting the current following distance.
The method specifically comprises the following steps:
1) the temperature and humidity outside the vehicle are collected through a temperature and humidity sensor and transmitted to an automatic driving control system through a vehicle Body Controller (BCM); meanwhile, receiving temperature and humidity information in the weather information through a TBOX connection network; comprehensively judging the temperature and humidity information of the current vehicle running environment by combining map/positioning;
acquiring current rainfall information and current wiper state information through a rainfall sensor, and transmitting the information to an automatic driving control system through a body controller BCM;
receiving rain, snow and fog information in the weather information through a TBOX connection network; comprehensively judging the states of rain, snow and fog under the current vehicle running environment by combining map/positioning;
identifying whether the front following vehicle is a special-shaped vehicle or not through the camera;
identifying whether the passing road section is the congested road condition or not through an angle sensor, a millimeter wave radar and/or a laser radar;
identifying whether the front is construction, maintenance and accident road conditions or not through a camera and high-precision map/positioning information;
2) judging whether the current scene is an expected functional safety scene influencing the following distance:
3) if so, adjusting the current following distance.
According to the scheme, the current wiper states are closed, intermittent gear, low gear and high gear.
According to the scheme, the rainfall sensor is installed at the front windshield.
According to the scheme, the special-shaped vehicle is an ultrahigh and ultra-wide truck, a truck with protruding goods, a sprinkler and a sweeper.
According to the scheme, in the step 3), if yes, the step of adjusting the current following distance is as follows:
31) when the current vehicle running environment temperature and humidity information exceed the temperature range influencing the performances of the camera, the millimeter wave radar and the laser radar, outputting an influencing factor Y1, otherwise, not outputting;
when the current rain, snow and fog degrees reach the range influencing the performances of the camera, the millimeter wave radar and the laser radar, outputting an influencing factor Y2, otherwise, not outputting;
when the front following vehicle is a special-shaped vehicle, outputting an influencing factor Y3, otherwise, not outputting;
when the current traffic is congested, outputting an influencing factor Y4, otherwise, not outputting;
when the current road is a construction, maintenance and accident road section, outputting an influencing factor Y5, otherwise, not outputting;
32) obtaining the amount of the increase of the following distance corresponding to different influence factors:
the car following distance corresponding to Y1 is increased by delta TY 1;
the car following distance corresponding to Y2 is increased by delta TY 2;
the car following distance corresponding to Y3 is increased by delta TY 3;
the car following distance corresponding to Y4 is increased by delta TY 4;
the following distance corresponding to Y5 is increased by delta TY 5;
33) adjusting the current car following distance as follows:
t0+ Max {. DELTA TY1, {. DELTA TY2,. DELTA TY3,. DELTA TY4,. DELTA TY5}, i.e., if there is only one factor, it is increased by a corresponding increase amount, and if there are a plurality of factors, the maximum value is taken; where T0 is the base following distance for the autopilot mode.
According to the scheme, Y2 is divided into small rain/small snow/small fog Y2-S, medium rain/medium snow/medium fog Y2-M and heavy rain/heavy snow/heavy fog Y2-H according to the degree of rain, snow and fog; the corresponding vehicle following distances of Y2 are respectively small rain/small snow/small fog delta TY2-S, medium rain/medium snow/medium fog delta TY2-M and heavy rain/heavy snow/heavy fog delta TY 2-H.
The invention also provides a safety automatic driving vehicle following distance control system based on the expected function, which adopts the automatic driving vehicle following distance control method and comprises
The data acquisition module acquires current temperature and humidity information of a vehicle running environment, current rainfall information and current windscreen wiper state information, rain, snow and fog states of the vehicle running environment, front following vehicle information and road condition information;
the perception fusion module is used for arranging the information of the front following vehicle and the road condition information data transmitted by the data acquisition module;
the planning control module judges whether the current scene is an expected functional safety scene influencing the following distance according to the data transmitted by the perception fusion module, the data transmitted by the ESP and the EMS, the outside humiture and the rain-scraping state transmitted by the BCM, the meteorological information transmitted by the TBOX, and the map and the positioning information transmitted by the positioning system; obtaining the increment of the different following distances corresponding to different influence factors according to the judgment result, and obtaining the current following distance according to the increment; a torque request is sent to the EMS and an acceleration request is sent to the ESP.
According to the scheme, the data acquisition module comprises a temperature and humidity sensor arranged below an automobile rearview mirror, a TBOX arranged in an automobile, a positioning system, a rainfall sensor arranged on a front windshield, a camera, an angle sensor arranged in a front bumper and a rear bumper, a millimeter wave radar, a laser radar and the like.
The invention also provides a storage medium having a computer program stored therein, wherein the computer program is arranged to execute the method for controlling the following distance of an autonomous vehicle when running.
The invention also provides a vehicle, and the vehicle adopts the method for controlling the following distance of the automatic driving vehicle.
The invention has the following beneficial effects:
the recognition performance of the automatic driving vehicle sensor on the special-shaped vehicle is limited under the current technical condition, and the accidental collision caused by the recognition problem can be avoided to a certain extent by properly increasing the following distance of the special-shaped vehicle;
under the current technical conditions, the automatic driving sensor is sensitive to the surrounding environment, the detection capability of the sensor is influenced by the external temperature, humidity, weather (rain, snow, fog and the like), and further the detection of a front obstacle is possibly influenced, so that an accidental collision is caused, the following distance is properly increased under the scene, and the accidental collision caused by the recognition problem can be avoided to a certain extent;
the braking and steering performances of the vehicle are strongly related to the adhesion coefficient of the road surface, and the braking distance on a wet and slippery road surface can be lengthened, so that the vehicle following distance is properly increased under the scene, the occurrence of accidental collision caused by recognition problems can be avoided to a certain extent, and the 'confidence' that a driver uses an automatic driving function can be increased;
under special scenes such as road construction, traffic jam and traffic accident, the 'uneasiness' of a driver can be eliminated by properly increasing the vehicle following distance, and the 'confidence' of the driver in using the automatic driving function is increased;
the data acquisition accuracy is ensured through special installation positions of the acquisition module (a temperature and humidity sensor below an automobile rearview mirror, a TBOX and a positioning system installed in an automobile, a rainfall sensor installed at a front windshield part, an angle sensor installed in a front bumper and a rear bumper, a millimeter wave radar and a laser radar);
the following distance of the automatic driving vehicle is dynamically adjusted by combining different scenes (the temperature and humidity information of the current driving environment of the vehicle, the current rainfall information and the current windscreen wiper state information, the rain, snow and fog states of the driving environment of the vehicle, the information of the front following vehicle and the road condition information), the rear-end collision of the front vehicle is avoided, and the safety of the vehicle situation is ensured.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a following distance control method of an autonomous vehicle of embodiment 2;
FIG. 2 is a flow chart of increasing the following distance of FIG. 1;
FIG. 3 is a block diagram of a following distance control system for an autonomous vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The driver activates the automatic driving function through the HMI operation. The system confirms that the vehicle is driven according to the basic vehicle following distance (time interval) T0 after entering the automatic driving mode.
Example 2
Referring to fig. 2, the current driving scene is identified, specifically:
the temperature and humidity outside the vehicle are collected through a temperature and humidity sensor arranged outside the vehicle and are transmitted to an automatic driving control system through a vehicle Body Controller (BCM); meanwhile, the weather information (temperature and humidity) is received through a TBOX connection 4G/5G network; comprehensively judging the temperature and humidity information of the current vehicle running environment by combining high-precision map/positioning;
the method comprises the steps that current rainfall information and current wiper state information (closing, intermittent gear, low gear and high gear) are collected through a rainfall sensor arranged at a front windshield and transmitted to an automatic driving control system through a vehicle Body Controller (BCM);
receiving weather information (rain, snow, fog) through a TBOX connection 4G/5G network; comprehensively judging the states of rain, snow and fog of the current vehicle running environment by combining high-precision map/positioning;
identifying whether the following vehicle in front is a special-shaped vehicle (such as an ultrahigh and ultra-wide truck, a truck with outstanding cargos, a watering cart, a sweeper and the like) through a camera (referring to information of millimeter wave radar and laser radar);
identifying whether the road conditions are congested or not through an angle sensor (a millimeter wave radar and/or a laser radar);
identifying special road conditions such as front construction, maintenance, accidents and the like through a camera and high-precision map/positioning information;
judging whether the current scene is an expected functional safety scene influencing the following distance:
judging whether the current temperature and humidity exceed the temperature ranges influencing the performances of the camera, the millimeter wave radar and the laser radar, if so, outputting an influencing factor Y1, otherwise, not outputting;
and judging whether the current rain, snow and fog degrees reach the range influencing the performances of the camera, the millimeter wave radar and the laser radar, if so, outputting an influencing factor Y2, and otherwise, not outputting. Meanwhile, Y2 is divided into Y2-S (light rain/snow/fog), Y2-M (medium rain/snow/fog) and Y2-H (heavy rain/snow/fog);
judging whether the front following vehicle is a special-shaped vehicle or a special-function vehicle, if so, outputting an influence factor Y3, and otherwise, not outputting;
judging whether the current traffic flow is congested or not, if so, outputting an influence factor Y4, and otherwise, not outputting;
judging whether the current road is a special road section for construction, maintenance, accidents and the like, if so, outputting an influencing factor Y5, otherwise, not outputting;
different influence factors correspond to different increases in following distance (time interval):
the following distance (time interval) corresponding to Y1 is increased by delta TY 1;
the following distances (time distances) corresponding to Y2 are increased by delta TY2-S, delta TY2-M and delta TY 2-H;
the following distance (time interval) corresponding to Y3 is increased by delta TY 3;
the following distance (time interval) corresponding to Y4 is increased by delta TY 4;
the following distance (time interval) corresponding to Y5 is increased by delta TY 5;
the current following distance (time interval) is adjusted as follows:
t0+ Max {. Δ TY1, {. DELTA TY2,. DELTA TY3,. DELTA TY4,. DELTA TY5}, i.e., if only one factor is set, it is increased by a corresponding increase amount, and if a plurality of factors are set, the largest value is taken.
Example 3
Referring to fig. 3, a safety-based automatic driving vehicle following distance control system for an expected function, which adopts the automatic driving vehicle following distance control method, includes
The data acquisition module acquires current temperature and humidity information of a vehicle running environment, current rainfall information and current wiper state information, rain, snow and fog states of the vehicle running environment, front following vehicle information and road condition information;
the perception fusion module is used for arranging the front following vehicle information and road condition information data transmitted by the data acquisition module;
the planning control module judges whether the current scene is an expected functional safety scene influencing the following distance according to the data transmitted by the perception fusion module, the data transmitted by the ESP and the EMS, the outside humiture and the rain-scraping state transmitted by the BCM, the meteorological information transmitted by the TBOX, and the map and the positioning information transmitted by the positioning system; obtaining the increment of the different following distances corresponding to different influence factors according to the judgment result, and obtaining the current following distance according to the increment; a torque request is sent to the EMS and an acceleration request is sent to the ESP.
The data acquisition module comprises a temperature and humidity sensor, a TBOX, a positioning system, a rainfall sensor, a camera, an angle sensor, a millimeter wave radar, a laser radar and the like.
Example 4
A storage medium having a computer program stored therein, wherein the computer program is arranged to execute the above-mentioned method of controlling a distance to a following vehicle of an autonomous vehicle when running.
Example 5
A vehicle adopts the following distance control method of the automatic driving vehicle.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A method for controlling the following distance of an automatic driving vehicle is characterized in that:
according to the current temperature and humidity information of the running environment of the vehicle, the current rainfall information and the current wiper state information, the rain, snow and fog states of the running environment of the vehicle, the information of a front following vehicle and the road condition information; judging whether the current scene is an expected functional safety scene influencing the following distance; if so, adjusting the current following distance.
2. The following distance control method of an autonomous vehicle according to claim 1, characterized in that: the control method comprises the following steps:
1) the temperature and humidity outside the vehicle are collected through a temperature and humidity sensor and transmitted to an automatic driving control system through a vehicle Body Controller (BCM); meanwhile, receiving temperature and humidity information in the weather information through a TBOX connection network; comprehensively judging the temperature and humidity information of the current vehicle running environment by combining map/positioning;
acquiring current rainfall information and current wiper state information through a rainfall sensor, and transmitting the information to an automatic driving control system through a body controller BCM;
receiving rain, snow and fog information in the weather information through a TBOX connection network; comprehensively judging the states of rain, snow and fog of the current vehicle running environment by combining map/positioning;
identifying whether the front following vehicle is a special-shaped vehicle or not through the camera;
identifying whether the passing road section is the congested road condition or not through an angle sensor, a millimeter wave radar and/or a laser radar;
identifying whether the front is construction, maintenance and accident road conditions or not through a camera and high-precision map/positioning information;
2) judging whether the current scene is an expected functional safety scene influencing the following distance:
3) if so, adjusting the current following distance.
3. The following distance control method of an autonomous vehicle according to claim 2, characterized in that:
the current wiper states are closing, intermittent gear, low gear and high gear.
4. The following distance control method of an autonomous vehicle according to claim 2, characterized in that:
the rainfall sensor is mounted at the front windshield.
5. The following distance control method of an autonomous vehicle according to claim 2, characterized in that:
the special-shaped vehicles are ultrahigh and ultra-wide trucks, goods-protruding trucks, watering lorries and sweeper trucks.
6. The following distance control method of an autonomous vehicle according to claim 2, characterized in that:
in the step 3), if yes, the step of adjusting the current following distance is as follows:
31) when the current vehicle running environment temperature and humidity information exceed the temperature range influencing the performances of the camera, the millimeter wave radar and the laser radar, outputting an influencing factor Y1, otherwise, not outputting;
when the current rain, snow and fog degrees reach the range influencing the performances of the camera, the millimeter wave radar and the laser radar, outputting an influencing factor Y2, otherwise, not outputting;
when the front following vehicle is a special-shaped vehicle, outputting an influencing factor Y3, otherwise, not outputting;
when the current traffic is congested, outputting an influencing factor Y4, otherwise, not outputting;
when the current road is a construction, maintenance and accident road section, outputting an influencing factor Y5, otherwise, not outputting;
32) obtaining the amount of the increase of the following distance corresponding to different influence factors:
the car following distance corresponding to Y1 is increased by delta TY 1;
the car following distance corresponding to Y2 is increased by delta TY 2;
the car following distance corresponding to Y3 is increased by delta TY 3;
the car following distance corresponding to Y4 is increased by delta TY 4;
the car following distance corresponding to Y5 is increased by delta TY 5;
33) adjusting the current car following distance as follows:
t0+ Max {. DELTA TY1, {. DELTA TY2,. DELTA TY3,. DELTA TY4,. DELTA TY5}, i.e., if there is only one factor, it is increased by a corresponding increase amount, and if there are a plurality of factors, the maximum value is taken; where T0 is the base following distance for the autopilot mode.
7. The following distance control method of an autonomous vehicle according to claim 6, characterized in that:
y2 is divided into Y2-S, Y2-M, Y2-H, Y2-M, Y2-H, wherein Y is divided into small rain/small snow/small fog according to the degree of rain, snow and fog; the corresponding vehicle following distances of Y2 are respectively small rain/small snow/small fog delta TY2-S, medium rain/medium snow/medium fog delta TY2-M and heavy rain/heavy snow/heavy fog delta TY 2-H.
8. An automatic driving vehicle following distance control system based on expected functional safety is characterized in that: the control system employs the following distance control method of an autonomous vehicle as claimed in any one of claims 1 to 7, which includes
The data acquisition module acquires current temperature and humidity information of a vehicle running environment, current rainfall information and current windscreen wiper state information, rain, snow and fog states of the vehicle running environment, front following vehicle information and road condition information;
the perception fusion module is used for arranging the front following vehicle information and road condition information data transmitted by the data acquisition module;
the planning control module judges whether the current scene is an expected functional safety scene influencing the following distance according to the data transmitted by the perception fusion module, the data transmitted by the ESP and the EMS, the outside humiture and the rain-scraping state transmitted by the BCM, the meteorological information transmitted by the TBOX, and the map and the positioning information transmitted by the positioning system; obtaining the increment of the different following distances corresponding to different influence factors according to the judgment result, and obtaining the current following distance according to the increment; a torque request is sent to the EMS and an acceleration request is sent to the ESP.
9. A storage medium having stored thereon a computer program, wherein the computer program is arranged to execute the method of controlling the distance to a following vehicle of an autonomous vehicle as claimed in any one of claims 1 to 7 when run.
10. A vehicle, characterized in that: the vehicle adopts any one of the following distance control methods of the automatic driving vehicle from 1 to 7.
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Cited By (3)
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| CN114802240A (en) * | 2022-06-24 | 2022-07-29 | 禾多科技（北京）有限公司 | Vehicle speed control method, device, equipment and computer readable medium |
| CN116001787A (en) * | 2023-02-21 | 2023-04-25 | 合众新能源汽车股份有限公司 | Method and device for adjusting following vehicle distance and electronic equipment |
| WO2023236738A1 (en) * | 2022-06-10 | 2023-12-14 | 宁波路特斯机器人有限公司 | Autonomous driving control method and apparatus for vehicle, and computer storage medium |
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