CN114516366A - Vehicle control system, apparatus and method for narrow turn mode - Google Patents
Vehicle control system, apparatus and method for narrow turn mode Download PDFInfo
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- CN114516366A CN114516366A CN202011308720.6A CN202011308720A CN114516366A CN 114516366 A CN114516366 A CN 114516366A CN 202011308720 A CN202011308720 A CN 202011308720A CN 114516366 A CN114516366 A CN 114516366A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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Abstract
The invention provides a vehicle control system, device and method for narrow turning mode. The vehicle control apparatus is configured to: receiving environmental information around a vehicle and vehicle state information; starting an automatic driving narrow turning mode when determining that the vehicle in the narrow turning area has a potential collision risk or receiving an automatic driving request of a driver; and determining a planned path through the narrow turning area in the narrow turning mode, and dynamically adjusting the vehicle speed request and the steering request in controlling the vehicle to implement the planned path based on the environment information and the vehicle state information.
Description
Technical Field
The present invention relates generally to the field of vehicle control, and more particularly to a vehicle control system, apparatus and method for narrow turn mode.
Background
Although road planning has been implemented, for example, on the basis of making use of the original road as much as possible, a combination of homeland utilization and urban and rural planning is realized by improvement measures. However, there are inevitably scenes where the vehicle needs to turn on a narrow road, for example, a winding rural road or an urban road with a complicated environment. In such a scenario, even experienced drivers are less likely to drive the vehicle through, let alone novice drivers. In addition, when severe weather or night driving is encountered in such a driving scene, the risk of dangerous accidents is increased. In the prior art, no better solution has been given to how to guide the vehicle through narrow turning areas.
Disclosure of Invention
The following summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to highlight essential or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.
According to an aspect of the present invention, there is provided a vehicle control apparatus for narrow turning mode, configured to: receiving environmental information around a vehicle and vehicle state information; turning on a narrow turning mode of autonomous driving when it is determined that a vehicle in a narrow turning area has a potential collision risk or an autonomous driving request of a driver is received, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane steering greater than 70 °; and in the narrow turning mode, determining a planned path through the narrow turning area, and dynamically adjusting the vehicle speed request and the steering request so that part or all of the following items meet corresponding thresholds in the process of controlling the vehicle to realize the planned path based on the environment information and the vehicle state information:
-a difference between the requested steering angle and the current body yaw angle;
-a requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-requested acceleration in the direction of travel of the vehicle.
According to one possible embodiment, the vehicle control device is configured to dynamically adjust the steering request and the vehicle speed request such that the greater the requested steering angle, the smaller the requested vehicle speed.
According to one possible embodiment, the vehicle control apparatus is further configured to: when the vehicle is judged to collide with the moving object based on the planned path and the predicted track of the moving object, controlling the vehicle to decelerate or brake so as to avoid collision with the moving object; and/or sending object reminding information to a driver or adjusting the planned path so as to avoid the static object when the static object appears on the planned path based on the planned path and the environment information.
According to one possible embodiment, the vehicle control apparatus is configured to determine whether or not the following is satisfied, and determine that the vehicle has a potential collision risk when at least one of the following is satisfied:
-the distance between the vehicle and the potential collision object is less than a safe distance threshold;
-the presence of unfavorable driving conditions;
the running behavior of the vehicle comes back and forth.
According to one possible embodiment, the distance between the vehicle and the potential collision object being less than the safe distance threshold comprises at least one of:
the sum of the distances between the respective vehicle sides and the potential collision object is smaller than a bilateral distance threshold;
-the distance between the left or right side of the vehicle and the potential collision object is less than a unilateral distance threshold;
-determining that the vehicle will collide with the moving object based on the planned path and the predicted trajectory of the moving object.
According to one possible embodiment, the driving adverse environment includes a driving adverse weather environment and a lighting environment.
According to one possible embodiment, the weather or light environment unfavorable for driving comprises at least one of:
-the presence of foggy, raining, snowing or hail weather;
insufficient light or intense reflection.
According to one possible embodiment, the occurrence of a reciprocal movement in the running behavior of the vehicle comprises at least one of:
-the number of vehicle left and right turns alternating exceeds a predetermined number;
-the number of alternations of advancing the vehicle in one direction and backing it in an opposite direction exceeds a predetermined number.
According to one possible embodiment, the vehicle control device is further configured to determine the planned path by: determining a scene of the narrow turning area based on the environment information, and selecting a planned path corresponding to the determined scene from a stored planned path set; or determining the planned path based on the real-time environmental conditions, the vehicle preferences and the driver preferences, optionally taking the real-time environmental conditions, the vehicle preferences and the driver preferences as input parameters of a machine learning model, and obtaining a model output comprising the planned path.
According to one possible embodiment, the vehicle control apparatus is further configured to: after the narrow turning mode is started, judging whether the vehicle is in a position without enough passing space before determining the planned path; and if the judgment result is positive, controlling the vehicle to retreat to the position at the beginning of entering the narrow turning area based on the vehicle running track record and the obstacle information record in the process.
According to one possible embodiment, the narrow turning zone comprises a path of an approximately quarter turn.
According to another aspect of the present invention, there is provided a vehicle control system for narrow turning mode, comprising: sensors including an environment sensor for sensing an environment around the vehicle and generating environment information and a vehicle state sensor for sensing a vehicle state and generating vehicle state information; and a vehicle control apparatus as described above, configured to be connected in communication with the sensor, and to start a narrow turning mode of autonomous driving when it is determined that the vehicle in the narrow turning area has a potential collision risk or an autonomous driving request from a driver is received, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane turning greater than 70 °; in the narrow turning mode, a planned path through the narrow turning area is determined, and in controlling the vehicle to realize the planned path based on the environmental information and the vehicle state information, the vehicle speed request and the steering request are dynamically adjusted so that part or all of the following items satisfy respective thresholds:
-a difference between the requested steering angle and the current body yaw angle.
-a requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-requested acceleration in the direction of travel of the vehicle.
According to one possible embodiment, the environmental sensor comprises a plurality of environmental sensors arranged in the periphery of the vehicle.
According to one possible embodiment, the plurality of environmental sensors includes an ultrasonic sensor and a look-around camera.
According to one possible embodiment, the ultrasonic sensors include a plurality of ultrasonic sensors disposed at the front, rear, left and right sides of the vehicle, and the look-around camera includes a plurality of look-around cameras disposed at the left and right sides of the vehicle.
According to one possible embodiment, the number of sensors arranged on the left and right side of the vehicle increases as the distance between the front and rear wheels of the vehicle increases.
According to yet another aspect of the present invention, there is provided a vehicle control method for narrow turning mode, optionally performed by a vehicle control apparatus as described above and/or a vehicle control system as described above, the method comprising: receiving environmental information around a vehicle and vehicle state information; turning on a narrow turning mode of autonomous driving when it is determined that a vehicle in a narrow turning area has a potential collision risk or an autonomous driving request of a driver is received, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane steering greater than 70 °; and in the narrow turning mode, determining a planned path through the narrow turning area, and dynamically adjusting the vehicle speed request and the steering request so that part or all of the following items meet corresponding thresholds in the process of controlling the vehicle to realize the planned path based on the environment information and the vehicle state information:
-a difference between the requested steering angle and the current body yaw angle.
-a requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-a requested acceleration in the direction of travel of the vehicle.
According to yet another aspect of the invention, there is provided a machine-readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform a vehicle control method as described above.
Drawings
Implementations of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to the same or similar elements and in which:
FIG. 1 illustrates an exemplary scenario in which some implementations of the present invention may be implemented;
FIG. 2 is a schematic block diagram of a vehicle control system according to one possible embodiment of the invention;
FIG. 3 schematically illustrates an exemplary arrangement of some of the components of the vehicle control system of FIG. 2 in a vehicle; and
fig. 4 is a flowchart of a vehicle control method according to one possible embodiment of the invention.
Detailed Description
Embodiments of the present invention provide a vehicle control scheme for a narrow turning scene that activates an automatic driving function of a narrow turning mode to assist a vehicle passing through the narrow turning area by means of electronic control when it is determined that a vehicle driven by a human driver has a potential collision risk in the narrow turning scene or in response to an automatic driving request of the driver, thereby improving vehicle safety.
According to the embodiment of the invention, the automatic driving is adopted under the condition that the driver and the passenger are in the vehicle in consideration of the applicable situation, so that the feeling of the driver and the passenger in the vehicle is fully considered instead of only adopting the passing pursuit efficiency of 'machine thinking' in the functional design of the narrow turning mode, and the control strategy for improving the comfort is adopted in the vehicle control, thereby improving the vehicle friendliness.
According to the embodiment of the invention, when the electronic control is adopted to control the vehicle behavior, the characteristic that a mechanical system of the vehicle executes the electronic control is considered, namely, the mechanical system cannot realize behavior mutation frequently, and the steering control request and the vehicle speed control request are adjusted in real time in the process of realizing the path planning, so that the vehicle can better follow the planned route, and the deviation can be corrected without accumulating the deviation towards the direction of increasing the deviation even if the deviation occurs.
Embodiments of the present invention generally relate to vehicle control schemes in narrow turning scenarios. Narrow cornering is defined as a lane width less than 1.5 times the vehicle body width and lane steering greater than 70 °. The narrow turning area contains in particular a path of an approximately quarter turn.
Referring to FIG. 1, a narrow turning scenario is shown in which some implementations of the invention may be implemented. The scene in fig. 1 is, for example, a road in an old city area, which has a width only slightly larger than a width of a vehicle body, houses or complex obstacles (e.g., randomly placed trash cans, irregularly parked bicycles, pets which may run at any time, people who suddenly walk out of houses) on both sides of the road, and has a scene requiring a turn, particularly a quarter turn or a turn close to a quarter turn (e.g., a turn of 80 to 110 °) in a section of a narrow road.
It is understood that the narrow turning scene to which the present invention is applied may also be other scenes in which the vehicle needs to turn on a narrow road, such as mountainous area curves, rural lanes, and narrow turning road conditions that are originally wide but are caused by parking disorderly.
Fig. 2 schematically shows a vehicle control system 100 according to one possible embodiment of the invention, which mainly comprises a sensor 10 and a vehicle control device 50. The sensors 10 may include an environment sensor 20, a vehicle state sensor 30, and a communication unit 40 having a function of exchanging information with the outside of the vehicle.
The environment sensor 20 is used to sense an environmental condition around the vehicle and generate environmental information. The environmental sensor 20 may be disposed in or around the vehicle body, i.e., implemented as an on-board sensor. The environmental sensors 20 may include vehicle cameras (single target, multiple target, look around), laser radars, ultrasonic radars (e.g., millimeter wave radars), and the like. The vehicle-mounted camera can obtain environment information through image or video analysis, and for example, the relative distance between the vehicle and a roadside or an obstacle can be obtained. The radar can obtain the relative distance between the vehicle and the roadside or the obstacle through the analysis of the point cloud.
The environmental sensor 20 may include a plurality of environmental sensors disposed around the vehicle body, and this arrangement takes into account safety redundancy, i.e., ensuring that environmental conditions around the vehicle, particularly environmental conditions on both sides of the vehicle, can be adequately collected.
Referring to fig. 3, in one embodiment, 6 ultrasonic sensors (6 ultrasonic sensors 21A to 21F at the front of the vehicle and 6 ultrasonic sensors 22A to 22F at the rear of the vehicle) are provided at the front and rear of the vehicle (i.e., the head and the tail), respectively. On the left and right sides of the vehicle, 4 ultrasonic sensors (4 ultrasonic sensors 23A to 23D on the left side of the vehicle, and 4 ultrasonic sensors 24A to 24D on the right side of the vehicle) are provided, respectively. And, 1 see-around camera (front see-around camera 21G, rear see-around camera 22G, left see-around camera 23E, and right see-around camera 24E) is provided at the front, rear, left side, and right side of the vehicle, respectively.
It is to be understood that the above embodiments describe the placement locations and specific numbers of environmental sensors. The number and arrangement of the environmental sensors can be adapted according to the application instance.
In one embodiment, to enhance safety redundancy for environmental monitoring on both sides of the vehicle, the number of vehicle side sensors is determined based on the distance between the front and rear wheels of the vehicle, thereby ensuring that one sensor is provided at each predetermined length (e.g., 60cm) on the side of the vehicle. For example, if the distance between the front and rear wheels of the vehicle is less than or equal to 1.8m, three sensors are respectively installed on both sides of the vehicle; if the distance between the front wheel and the rear wheel of the vehicle is more than 1.8m, 4 sensors are respectively arranged on two sides of the vehicle.
In addition, in order to ensure the measuring effect of the vehicle side sensor, the side sensor may be mounted on the side skirt at a distance of 200mm or more from the ground.
The vehicle state sensor 30 is used to sense a vehicle state and generate vehicle state information. The vehicle state sensors 30 may include a steering angle sensor, a vehicle speed sensor, a displacement sensor, a hydraulic pressure sensor, and the like. The vehicle state information may include information indicating the state of the vehicle, such as a vehicle speed, a vehicle acceleration, a vehicle body yaw angle, and the like, which may be directly measured by the vehicle state sensor or calculated from data sensed by the vehicle state sensor.
The communication unit 40 is used to receive or transmit information necessary for vehicle control from or to the outside of the vehicle. The communication unit 40 is, for example, a vehicle-mounted transceiver, which can determine the environment information by time delay of receiving the signal or from time stamp information in the signal. By means of the communication unit 40, the vehicle end may receive environmental information from sensors outside the vehicle, for example, the vehicle is traveling on a narrow urban road, a camera at the roadside facility captures the environmental information and transmits the captured environmental information to the vehicle end via vehicle-to-anything communication (e.g., V2X). By means of the communication unit 40, the vehicle end may also receive environment information from the cloud server, for example, the cloud server receives location information reported by the vehicle end and sends stored environment information related to the location to the vehicle end.
The vehicle control device 50 is communicatively connected to the sensor 10, receives the environmental information and the vehicle state information from the sensor 10, processes and analyzes the information, and generates control signals for operating the vehicle, such as a steering request and a vehicle speed request, so that the vehicle steering system 200 and the vehicle body stability system 300 operate the vehicle according to the control signals from the vehicle control device 50.
The vehicle control device 50 may be provided in an Electronic Control Unit (ECU) of the vehicle, i.e. by means of which the control strategy according to the invention is implemented. The vehicle control apparatus 50 may also be configured as a control apparatus that is independent of and communicatively connected to the ECU.
The vehicle control device 50 may be implemented in hardware or software or a combination of hardware and software. For a hardware implementation, the portions may be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Data Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic units designed to perform their functions, or a combination thereof. For the part implemented in software, it may be implemented by means of microcode, program code or code segments, which may also be stored in a machine-readable storage medium such as a storage component.
In one embodiment, the vehicle control apparatus 50 is implemented to include a memory and a processor. The memory contains instructions that, when executed by the processor, cause the processor to perform a control strategy/control method according to an embodiment of the invention.
In one embodiment, the vehicle control apparatus 50 is implemented as a plurality of software modules. One or more of the software modules may be implemented in one chip or circuit, or may be provided in multiple chips or circuits.
FIG. 4 shows a vehicle control method 400 according to an embodiment of the invention. The method 400 may be implemented in the vehicle control apparatus 50 described above, or in the vehicle control system 100 described above, and therefore the related description above is equally applicable thereto.
In block 402, the vehicle control apparatus 50 receives environmental information and vehicle state information.
The environmental information and the vehicle state information are collected by the sensor 10 and transmitted to the vehicle control device 50. The environment information may include road information, obstacle information (e.g., type and state of an obstacle), distance information between the vehicle and the obstacle, weather information. The vehicle state information may include vehicle speed information, acceleration information, vehicle yaw angle information, and steering speed information.
In block 404, the vehicle control apparatus 50 determines that the vehicle is in a narrow turning area. The vehicle being in the narrow turning area includes the vehicle entering the narrow turning area, the vehicle being in the narrow turning path, and the vehicle just leaving the narrow turning path. The vehicle is about to enter a narrow turning area, namely the distance from the vehicle head to the area is less than 2 vehicle body lengths. The vehicle just leaves the narrow turning path means that the vehicle tail is less than 2 vehicle body lengths away from the area.
In one embodiment, narrow turning scenes that the vehicle frequently passes through are stored in the storage device of the vehicle in advance, and the vehicle control device 50 may identify the scene in which the vehicle is currently located based on the received environment information and match the stored narrow turning scenes, whereby it may be determined that the vehicle enters the narrow turning area.
In another embodiment, the determination criteria for narrow turning scenes, such as the road width range and the road turning angle range, are stored in advance in the storage device of the vehicle, and the vehicle control device 50 may perform analysis processing on the received environmental information and determine that the vehicle enters the narrow turning area when it is determined that the current scene in which the vehicle is located meets the determination criteria.
In addition, when the vehicle control apparatus 50 determines that the vehicle enters a narrow turning area, all of the in-vehicle environment sensors may be controlled to be turned on so as to monitor the environment around the vehicle. It can be understood that in the case of other scenes, it may not be necessary to turn on all the on-board environment sensors, but only the environment sensors capable of handling the current scene, so as to save effort.
In block 406, the vehicle control apparatus 50 determines whether the vehicle has a potential collision risk or whether an automatic driving request is received from the driver.
In one embodiment, the vehicle control apparatus 50 determines whether the vehicle is at risk of potential collision by determining whether the following conditions (1) to (3) are satisfied, and determines that the vehicle is at risk of potential collision when at least one of the following conditions (1) to (3) is satisfied.
(1) The distance between the vehicle and the potential collision object is less than the safe distance threshold. In other words, in the event that the distance between the vehicle and the potential collision object is sufficiently close to be less than the safe distance threshold, the vehicle is at risk of a present collision. This condition (1) can be determined by the following sub-conditions (1a) to (1 b).
(1a) The sum of the distances between the two sides of the vehicle and the potential collision object is less than the bilateral distance threshold. For example, the sum of the distance from the left side of the vehicle to the obstacle on the left side of the vehicle and the distance from the right side of the vehicle to the obstacle on the right side of the vehicle is calculated, and if the sum is smaller than a predetermined bilateral distance threshold value, it is determined that the distance between the vehicle and the potential collision object is smaller than the safe distance threshold value. In this way, it is ensured that there is a certain redundancy of the road width with respect to the body width.
(1b) The distance between the left or right side of the vehicle and the potential collision object is less than the one-sided distance threshold. For example, when the distance between the left side of the vehicle and the obstacle on the left side of the vehicle and the distance between the right side of the vehicle and the obstacle on the right side of the vehicle are calculated, and either of the two distances is smaller than a predetermined one-sided distance threshold, it is determined that the distance between the vehicle and the potential collision object is smaller than the safe distance threshold. In this way, it is ensured that the left and right sides of the vehicle have a certain redundancy with obstacles, respectively, and no road scuffing or marking occurs (on small roads without guard rails or curbs at the road edges, the vehicle is very easy to mark a road if it is not driving in the middle of the road).
(1c) And determining that the vehicle collides with the moving object based on the planned path of the vehicle and the estimated track of the moving object. For example, the potential collision object is a moving object (e.g., a moving pet or a pedestrian), and although the current vehicle does not collide with the moving object, the vehicle and the potential collision object are determined to be less than the safe distance threshold if the vehicle and the potential collision object are determined to possibly collide with each other according to the planned path of the vehicle and the predicted trajectory of the moving object.
(2) An environment unfavorable for driving occurs. The driving-adverse environment may include a driving-adverse weather environment and a lighting environment. The adverse environmental factors can be quantitatively calibrated and judged by setting corresponding threshold values, so that a unified judgment standard is established, and the judgment accuracy can be improved.
In one embodiment, the weather conditions that are adverse to driving may include fog, rain, snow, or hail weather. In addition, a corresponding degree threshold may be set for the weather condition based on the weather information, for example, a visibility threshold may be set for foggy weather; and setting a rainfall threshold value aiming at rainfall weather, and determining the weather environment which is unfavorable for driving when the weather is judged to be unfavorable for driving to reach a certain degree based on the corresponding degree threshold value.
In one embodiment, the adverse driving lighting environment may include low light or strong reflections. In addition, a corresponding light intensity threshold value can be set for the illumination environment, and when the illumination is judged to be unfavorable for driving to a certain degree based on the corresponding light intensity threshold value, the illumination environment which is unfavorable for driving is determined to appear.
(3) The running behavior of the vehicle reciprocates. The occurrence of a back-and-forth vehicle behavior may be manifested as an alternation of left and right vehicle turns and/or an alternation of forward and reverse vehicle turns, which indicates that the driver is repeatedly trying, most likely because the vehicle is stuck somewhere in a tight turning area. The running behavior of the vehicle may be obtained by detecting a vehicle trajectory or detecting an operation behavior of the driver.
When the driver feels that a narrow road or a curve in which the driver is located is difficult to open, the driver may issue an automatic driving request for requesting the start of a narrow turning mode of automatic driving, i.e., requesting the automatic driving system to take over the vehicle, by pressing a button in the vehicle or touching a virtual button on a touch screen in the vehicle, to assist the vehicle in passing through the area by the narrow turning mode function of automatic driving.
In the event that a determination is made in block 406 as "no," i.e., no request for autonomous driving by the driver is received, nor is it determined that the vehicle is at risk of a potential collision, the method 400 returns to block 402 to continue receiving environmental information and vehicle state information for real-time monitoring of the vehicle surroundings and vehicle state.
In the event that a determination is made in block 406 as "yes," i.e., a driver's request for autonomous driving is received, or alternatively, a determination is made that there is a potential risk of collision for the vehicle, the method 400 proceeds to block 408.
In block 408, the vehicle control apparatus 50 turns on the narrow turning mode of the automatic driving.
In block 410, it is determined whether the vehicle is in a location that does not have sufficient transit space. A location that does not have sufficient transit space may be understood as a vehicle being "stuck" somewhere on a narrow road and unable to plan a path directly from the current location through the narrow turning area.
In the case where the determination in block 410 is "yes", the vehicle control apparatus 50 controls the vehicle to retreat into the position at the beginning of the narrow turning area.
In one embodiment, the vehicle control apparatus 50 controls the vehicle to return along the original path based on the recorded vehicle travel track and the en-route obstacle information. In the return process, the vehicle control apparatus 50 determines whether there is a change between the newly acquired obstacle information with respect to the recorded obstacle information, for example, caused by a systematic error or a change in the position of the obstacle, based on the environmental information monitored in real time by the environmental sensor. In the case where it is determined that there is a change in the obstacle information and that the change is in favor of vehicle passage (e.g., the newly acquired obstacle position is farther from the recorded vehicle trajectory relative to the recording position), the vehicle is controlled to return in accordance with the original trajectory. In the case where it is determined that there is a change in the obstacle information and the change is not favorable for the vehicle to pass (for example, the newly acquired obstacle position is closer to the recorded vehicle trajectory relative to the recorded position), the vehicle is controlled to adjust the return path or an obstacle prompt message is issued to the driver.
It will be appreciated that in the event that the vehicle is "stuck" somewhere and cannot be driven out, the vehicle control device 50 may generate and present a prompt to the driver in the form of voice or image or text, and that the driver may get off the vehicle to move an obstacle, if possible; or, report the information of the vehicle 'card' somewhere to the remote server.
If the determination in block 410 is "no," or if the vehicle has returned to the position at the beginning of entering the tight turn area after passing block 412, the method proceeds to block 414.
In block 414, the vehicle control apparatus 50 plans a path for the vehicle to guide the vehicle through the narrow turning area.
In one embodiment, the vehicle control apparatus 50 may plan a travel route through the narrow turning area based on driver preferences, vehicle preferences, real-time environmental conditions. The vehicle control device 50 may implement such a planning by means of a machine learning model.
In another embodiment, a planned path set is stored at the vehicle end, and the planned path set comprises a plurality of planned paths respectively corresponding to a scene. The vehicle control apparatus 50 identifies a scene corresponding to the narrow turning area, selects a planned path corresponding to the identified scene from the planned path set, and guides the vehicle through the narrow turning area with the planned path.
In block 416, the vehicle control apparatus 50 plans the steering request and the vehicle speed request in real time, sends the steering request to the steering system of the vehicle, and sends the vehicle speed request to the stability system of the vehicle, thereby guiding the vehicle through the narrow turning area according to the planned path.
One aspect of the purpose of real-time planning of the steering request and the vehicle speed request is to take into account the experience of the occupants of the vehicle so that the vehicle does not experience stop-and-go, abrupt shifts, sharp turns, and abrupt brakes. Considering only machine thinking, it may be the most efficient or optimal vehicle behaviour to follow the planned path, but this may lead to discomfort for the occupants, and thus by planning the steering request and the vehicle speed request in real time, these are avoided which may lead to discomfort for the occupants.
In the planning of the steering request and the vehicle speed request, the following conditions (1) to (5) are partially or wholly satisfied, so that a mechanical system of the vehicle can better follow a planned route when being controlled by an electronic device to perform actions, and the deviation can be corrected instead of accumulating the deviation in the direction of increasing the deviation.
(1) The difference between the requested steering angle and the current body yaw angle is less than a predetermined angle difference threshold.
For example, the vehicle control apparatus 50 obtains the current body yaw angle from the vehicle state information, determines a steering angle that the vehicle needs to perform at the current position based on the planned path, and adjusts the determined steering angle based on the angle difference threshold so that the difference between the requested steering angle sent to the steering system and the current body yaw angle is smaller than the angle difference threshold.
(2) The requested steering speed (i.e., the speed of the angular change) is less than a predetermined steering speed threshold.
For example, a steering speed at which the vehicle realizes the planned path is determined based on the planned path and the current vehicle speed, and the determined steering speed is adjusted based on a steering speed threshold value, so that a rotating speed request sent to a steering system is smaller than the steering speed threshold value, and a running route implemented by the vehicle can conform to the planned path as much as possible, and the steering speed does not exceed the steering speed threshold value.
(3) The difference between the current requested angle and the last requested angle is less than a predetermined continuous angle change threshold.
For example, the difference between the last requested steering angle and the immediately current requested steering angle cannot be too great based on the frequency with which the system sends the steering command, which may allow the vehicle behavior not to jump because neither the action of the mechanical components of the vehicle nor the action of the energy storage components therein (e.g., spring systems, hydraulic systems) are suitable for performing sharp transitions.
(4) The requested acceleration of the vehicle in the direction of travel is less than a predetermined acceleration threshold.
For example, the acceleration at which the vehicle implements the planned path (the acceleration being the acceleration in the direction of travel of the vehicle; if accelerating, the acceleration is positive; if decelerating, the acceleration is negative; the acceleration used for the determination may take the absolute value of the acceleration) is determined based on the planned path and the current vehicle speed, and the determined acceleration is adjusted based on an acceleration threshold so that the travel path implemented by the vehicle conforms as much as possible to the planned path without the change in vehicle speed being too abrupt.
Additionally, the requested steering angle increment may be associated with a vehicle speed. In one embodiment, the requested steering angle increment is matched to the vehicle speed grade such that the greater the requested steering angle, the less the vehicle speed is controlled. For example, when the steering increment is less than 50 degrees, the vehicle speed can be controlled at 10 km/h; when the steering increment is more than 50 degrees and less than 100 degrees, the vehicle speed can be controlled to be 5 km/h; when the requested steering increment is greater than 100 degrees, the vehicle speed may be controlled to be less than 3 km/h.
It is understood that, in a case where the planned route is executed but the planned route fails, that is, the vehicle cannot turn by changing the narrow, in any case, for example, there is a case where the width of a certain position of the road is smaller than the width of the vehicle body, there is an obstacle in the middle of the road that cannot move, and the like, and at this time, the vehicle may be controlled to stop at the side and the situation may be reported to the remote server.
The present invention also provides a machine-readable storage medium having stored thereon executable instructions that, when executed, cause a machine to perform the method 400 as described above.
It will be understood that all operations in the methods described above are exemplary only, and the present invention is not limited to any operations in the methods or the order of the operations, but is intended to cover all other equivalent variations under the same or similar concepts.
It will be appreciated that the control unit described above may be implemented in various ways. For example, it may be implemented as hardware, software, or a combination thereof.
The vehicle control device may include one or more processors. These processors may be implemented using electronic hardware, computer software, or any combination thereof. Whether such processors are implemented as hardware or software depends upon the particular application and design constraints imposed on the system as a whole. By way of example, a processor, any portion of a processor, or any combination of processors presented in this disclosure may be implemented as a microprocessor, a microcontroller, a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a state machine, gated logic, discrete hardware circuitry, and other suitable processing components configured to perform the various functions described in this disclosure. The functionality of a given processor, any portion of a processor, or any combination of processors of the present invention may be implemented as software executed by a microprocessor, microcontroller, DSP, or other suitable platform.
Software may be viewed broadly as representing instructions, instruction sets, code segments, program code, programs, subroutines, software modules, applications, software packages, routines, subroutines, objects, threads of execution, procedures, functions, and the like. The software may reside in a computer readable medium. The computer readable medium may include, for example, memory, which may be, for example, a magnetic storage device (e.g., hard disk, floppy disk, magnetic strip), an optical disk, a smart card, a flash memory device, a Random Access Memory (RAM), a Read Only Memory (ROM), a programmable ROM (prom), an erasable prom (eprom), an electrically erasable prom (eeprom), a register, or a removable disk. Although the memory is shown as being separate from the processor in various aspects of the invention, the memory may be located internal to the processor (e.g., in a cache or register).
The above description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein. All structural and functional equivalents to the elements of the various aspects described herein that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims.
Claims (15)
1. A vehicle control apparatus for narrow turning mode, configured to:
receiving environmental information around a vehicle and vehicle state information;
turning on a narrow turning mode of autonomous driving when it is determined that a vehicle in a narrow turning area has a potential collision risk or an autonomous driving request of a driver is received, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane steering greater than 70 °; and
in the narrow turning mode, a planned path through the narrow turning area is determined, and in controlling the vehicle to realize the planned path based on the environmental information and the vehicle state information, the vehicle speed request and the steering request are dynamically adjusted so that part or all of the following items satisfy respective thresholds:
-a difference between the requested steering angle and the current body yaw angle;
-a requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-requested acceleration in the direction of travel of the vehicle.
2. The vehicle control apparatus according to claim 1, wherein the vehicle control apparatus is configured to dynamically adjust the steering request and the vehicle speed request such that the larger the requested steering angle, the smaller the requested vehicle speed.
3. The vehicle control apparatus according to any one of claims 1-2, wherein the vehicle control apparatus is further configured to:
when the vehicle is judged to collide with the moving object based on the planned path and the predicted track of the moving object, controlling the vehicle to decelerate or brake so as to avoid collision with the moving object; and/or
And when the static object appears on the planned path based on the planned path and the environment information, sending object reminding information to a driver or adjusting the planned path so as to avoid the static object.
4. The vehicle control apparatus according to any one of claims 1-3, wherein the vehicle control apparatus is configured to determine whether or not the following is satisfied, and determine that the vehicle has a potential collision risk when at least one of the following is satisfied:
-the distance between the vehicle and the potential collision object is less than a safe distance threshold;
-the presence of unfavorable driving conditions; and
the running behavior of the vehicle is reciprocated.
5. The vehicle control apparatus according to claim 4, wherein the distance between the vehicle and the potential collision object being less than the safe distance threshold includes at least one of:
the sum of the distances between the respective vehicle sides and the potential collision object is smaller than a bilateral distance threshold;
-the distance between the left or right side of the vehicle and the potential collision object is less than a unilateral distance threshold;
-determining that the vehicle will collide with the moving object based on the planned path and the predicted trajectory of the moving object.
6. The vehicle control apparatus according to claim 4 or 5, wherein the environment unfavorable for driving includes a weather environment unfavorable for driving and a lighting environment,
optionally, the driving adverse weather or lighting environment comprises at least one of:
-the presence of foggy, raining, snowing or hail weather;
insufficient light or intense reflection.
7. The vehicle control apparatus according to any one of claims 4 to 6, wherein the occurrence of reciprocation of the running behavior of the vehicle includes at least one of:
-the number of vehicle left and right turns alternating exceeds a predetermined number;
-the number of alternations of advancing the vehicle in one direction and backing it in an opposite direction exceeds a predetermined number.
8. The vehicle control apparatus of any of claims 1-7, wherein the vehicle control apparatus is further configured to determine the planned path by:
determining a scene of the narrow turning area based on the environment information, and selecting a planned path corresponding to the determined scene from a stored planned path set; or
The planned path is determined based on real-time environmental conditions, vehicle preferences and driver preferences, optionally as input parameters to a machine learning model, and a model output comprising the planned path is obtained.
9. The vehicle control apparatus according to any one of claims 1 to 8, wherein the vehicle control apparatus is further configured to:
after the narrow turning mode is started, judging whether the vehicle is in a position without enough passing space before determining the planned path;
and when the judgment result is positive, controlling the vehicle to retreat to the position at the beginning of entering the narrow turning area based on the vehicle running track record and the obstacle information record in the middle.
10. The vehicle control apparatus according to any one of claims 1 to 8, wherein the narrow turning area includes a path of an approximately quarter turn.
11. A vehicle control system for narrow turn mode, comprising:
sensors including an environment sensor for sensing an environment around the vehicle and generating environment information and a vehicle state sensor for sensing a vehicle state and generating vehicle state information; and
the vehicle control apparatus according to any one of claims 1 to 10, configured to be connected in communication with the sensor, and to start a narrow turning mode of autonomous driving when it is determined that the vehicle in a narrow turning area has a potential collision risk or receives an autonomous driving request from a driver, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane steering greater than 70 °; in the narrow turning mode, a planned path through the narrow turning area is determined, and in controlling the vehicle to realize the planned path based on the environmental information and the vehicle state information, the vehicle speed request and the steering request are dynamically adjusted so that part or all of the following items satisfy respective thresholds:
-a difference between the requested steering angle and the current body yaw angle.
-a requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-requested acceleration in the direction of travel of the vehicle.
12. The vehicle control system of claim 11, wherein the environmental sensor comprises a plurality of environmental sensors disposed about a periphery of the vehicle,
optionally, the plurality of environmental sensors comprise an ultrasonic sensor and a look-around camera;
further optionally, the ultrasonic sensors include a plurality of ultrasonic sensors disposed at front, rear, left and right sides of the vehicle, and the look-around camera includes a plurality of look-around cameras disposed at left and right sides of the vehicle.
13. The vehicle control system according to claim 11 or 12, wherein the number of sensors disposed on the left and right sides of the vehicle increases as the distance between the front and rear wheels of the vehicle increases.
14. A vehicle control method for narrow turning mode, optionally performed by a vehicle control apparatus according to any of claims 1-10 and/or a vehicle control system according to any of claims 11-13, the method comprising:
receiving environmental information around a vehicle and vehicle state information;
turning on a narrow turning mode of autonomous driving when it is determined that a vehicle in a narrow turning area has a potential collision risk or an autonomous driving request of a driver is received, wherein the narrow turning is defined as a lane width less than 1.5 times a vehicle body width and a lane steering greater than 70 °; and
in the narrow turning mode, a planned path through the narrow turning area is determined, and in controlling the vehicle to realize the planned path based on the environmental information and the vehicle state information, the vehicle speed request and the steering request are dynamically adjusted so that part or all of the following items satisfy respective thresholds:
-a difference between the requested steering angle and the current body yaw angle.
-requested steering speed;
-a difference between a current requested steering angle and a last requested steering angle;
-requested acceleration in the direction of travel of the vehicle.
15. A machine-readable storage medium storing executable instructions that, when executed, cause a machine to perform the method of claim 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308720.6A CN114516366A (en) | 2020-11-20 | 2020-11-20 | Vehicle control system, apparatus and method for narrow turn mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308720.6A CN114516366A (en) | 2020-11-20 | 2020-11-20 | Vehicle control system, apparatus and method for narrow turn mode |
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| CN114516366A true CN114516366A (en) | 2022-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011308720.6A Pending CN114516366A (en) | 2020-11-20 | 2020-11-20 | Vehicle control system, apparatus and method for narrow turn mode |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114993335A (en) * | 2022-06-30 | 2022-09-02 | 重庆长安汽车股份有限公司 | Automatic driving path planning method and device, electronic equipment and storage medium |
| CN115683140A (en) * | 2022-10-10 | 2023-02-03 | 重庆长安汽车股份有限公司 | Method, system, equipment and medium for planning curve passing speed of passenger-riding parking tracking |
| WO2024032148A1 (en) * | 2022-08-11 | 2024-02-15 | 华为技术有限公司 | Narrow-lane pass-through method and apparatus, and vehicle |
-
2020
- 2020-11-20 CN CN202011308720.6A patent/CN114516366A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114993335A (en) * | 2022-06-30 | 2022-09-02 | 重庆长安汽车股份有限公司 | Automatic driving path planning method and device, electronic equipment and storage medium |
| WO2024032148A1 (en) * | 2022-08-11 | 2024-02-15 | 华为技术有限公司 | Narrow-lane pass-through method and apparatus, and vehicle |
| CN115683140A (en) * | 2022-10-10 | 2023-02-03 | 重庆长安汽车股份有限公司 | Method, system, equipment and medium for planning curve passing speed of passenger-riding parking tracking |
| CN115683140B (en) * | 2022-10-10 | 2024-10-11 | 重庆长安汽车股份有限公司 | Method, system, equipment and medium for planning over-bending vehicle speed of passenger parking tracking |
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