CN114954452A - Vehicle speed control method and system based on adaptive cruise - Google Patents

Vehicle speed control method and system based on adaptive cruise Download PDF

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Publication number
CN114954452A
CN114954452A CN202210790196.3A CN202210790196A CN114954452A CN 114954452 A CN114954452 A CN 114954452A CN 202210790196 A CN202210790196 A CN 202210790196A CN 114954452 A CN114954452 A CN 114954452A
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China
Prior art keywords
vehicle
lane
turning
target
speed
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CN202210790196.3A
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Chinese (zh)
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杨军
贝绍轶
漆瑞
郑焱
杨艺
朱天明
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Jiangsu University of Technology
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Jiangsu University of Technology
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Priority to CN202210790196.3A priority Critical patent/CN114954452A/en
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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
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a vehicle speed control method and system based on adaptive cruise. The vehicle speed control method comprises the steps of firstly, sequentially classifying and dividing the lanes, judging the lanes where the vehicle is located, controlling the vehicle to run according to a preset vehicle speed when the vehicle is located in a turning area of a turning lane, and controlling the vehicle to start turning at the tail end of the turning area. When the vehicle runs on a straight lane or enters a straight area of the next lane after turning, the speed of the vehicle is adaptively controlled according to the logic of adaptive cruise, and the following distance is kept. The vehicle speed control method takes the turning area where the vehicle is located in the turning lane as the basis, and actively controls the running speed of the vehicle to be kept at the safe threshold value, so that the acceleration of the vehicle caused by the loss of the target when the vehicle in the traditional lane turns in front is avoided, the risk of collision with the vehicle in the opposite lane is reduced, and the safety factor of vehicle auxiliary driving is effectively improved.

Description

Vehicle speed control method and system based on adaptive cruise
Technical Field
The invention relates to the technical field of auxiliary driving, in particular to a vehicle speed control method and system based on adaptive cruise.
Background
With the development of intelligent driving technology, an assistant driving system is gradually applied to automobile products, wherein an Adaptive Cruise Control (ACC) is a core function of longitudinal Control, and a basic working principle of the ACC is to increase a state of tracking a front target on the basis of constant-speed cruising and adaptively adjust a vehicle speed according to working conditions of different target states in front of the vehicle.
In a conventional driving assistance system with an adaptive cruise function, a forward-looking camera is generally fused with a millimeter wave radar to determine a target vehicle in front of a lane and the motion state of the target, and then the vehicle is controlled according to a set logic of single-lane cruise. The method can achieve high target recognition degree for the far area in front of the vehicle lane or the adjacent lane. However, there is also an inherent disadvantage that the short cut scene cannot be accommodated due to the limited field of view. In addition, since the target is easily lost when the vehicle makes a turn, the host vehicle is easily at risk of colliding with the vehicle in the oncoming lane or the straight-ahead lane according to the control logic of the adaptive cruise function, and the safety factor of the driver assistance system is to be improved.
In order to overcome the defects, technicians turn the eyes to a perception scheme combining the laser radar and the forward-looking camera, and the scheme can meet certain performance requirements in terms of performance. However, the cost of the laser radar is high, and the calculation force required for processing the point cloud data of the laser radar is large, so that the practical application cost of the scheme is further increased, and the application of the scheme in an auxiliary driving system is limited.
Disclosure of Invention
Therefore, the invention provides a vehicle speed control method and system based on adaptive cruise, aiming at the technical problem that the safety coefficient of an auxiliary driving system in the prior art is low.
The invention discloses a vehicle speed control method based on adaptive cruise, which comprises the following steps:
s1: the method comprises the steps of setting the cruising speed of the vehicle, collecting the position information of the vehicle in real time, and classifying each lane of the road section where the vehicle is located into a straight lane or a turning lane according to the lane type. The type of the lane in which the host vehicle is traveling is analyzed based on the position information of the host vehicle. When the host vehicle is traveling in the straight-ahead lane, S5 is executed.
S2: when the vehicle runs in the turning lane, the turning lane is divided into a straight-going area and a turning area which are communicated with each other, and the area of the vehicle on the turning lane is analyzed according to the position information of the vehicle. When the host vehicle is located in the straight traveling region on the turning lane, S5 is executed.
S3: when the host vehicle is located in a turning area on the turning lane, the host vehicle is controlled to run at a preset vehicle speed, and the host vehicle is controlled to start turning at the end of the turning area, and then S4 is executed.
S4: and judging whether the vehicle finishes turning and enters a straight-going area of the next lane in real time by analyzing the real-time turning angle of the front wheel of the vehicle. When the host vehicle completes the turn and enters the straight traveling region of the next lane, S5 is executed. When the host vehicle has not completed a turn or has not entered the straight traveling region of the next lane, the process returns to S3.
S5: the method comprises the steps of collecting front target state information of the vehicle in real time, and judging whether a first target vehicle which is a first vehicle in front of the vehicle exists in a preset range in front of a current lane of the vehicle according to the front target state information. And when the target vehicle exists in the first preset range, acquiring the speed of the first target vehicle in real time, and executing S6. When the target vehicle does not exist within the preset range one, S8 is executed.
S6: and judging whether the speed of the target vehicle I is higher than the cruising speed of the vehicle according to the speed of the target vehicle I. When the vehicle speed of the target vehicle one is not higher than the cruising vehicle speed of the host vehicle, S7 is executed. When the vehicle speed of the target vehicle one is higher than the cruising vehicle speed of the host vehicle, S8 is executed.
S7: the speed of the vehicle is controlled to be consistent with that of the first vehicle in front of the vehicle, and the distance between the vehicle and the front vehicle is controlled to be not less than a preset following distance to drive.
S8: and controlling the vehicle to run at the set cruising speed.
As a further improvement of the present invention, in S1, the side target state information of the host vehicle is also collected in real time.
Wherein the front target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of the lane line. The side target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in the preset range at the side of the lane and the adjacent lane, and the type and the position of a lane line and a road edge.
As a further improvement of the present invention, the position and the motion state of the vehicle around the host vehicle on the respective lanes are acquired based on the front target state information and the side target state information.
As a further improvement of the invention, the set interval of the cruising speed of the vehicle is (30, 60) km/h. In S3, the preset vehicle speed when the vehicle turns is not higher than 30 km/h.
As a further improvement of the present invention, in S4, the driving state of the vehicle during turning is determined by analyzing the magnitude relationship between the real-time turning angle of the front wheel of the vehicle and a preset angle value interval (a, b):
firstly, when the real-time turning angle is increased from a state of being smaller than a preset angle value a to a state of being larger than a preset angle value b, and the state is kept for more than a preset time period, the vehicle is judged to be in a turning state.
And secondly, when the real-time turning angle is reduced from the state of being larger than the preset angle value b to be smaller than the preset angle value a, judging that the vehicle finishes turning.
And thirdly, when the real-time turning angle is reduced from the state of being larger than the preset angle value b to the state of being smaller than the preset angle value a and the state is kept to exceed a preset time period II, judging that the vehicle finishes turning and enters the straight-going area of the next lane.
As a further improvement of the present invention, after S7, the following steps are also performed:
s9: and judging whether the first target vehicle drives out of the lane and no vehicle exists in a first preset range after driving out. If yes, S8 is executed. Otherwise, the process returns to S7.
As a further improvement of the present invention, after S7, and/or S8, there is further performed:
s10: judging whether a second target vehicle driving into the lane exists in a second preset range of the adjacent lane, wherein the second target vehicle meets the following conditions: the vehicle enters a preset range I of the lane at a speed lower than the current speed of the vehicle and becomes a first vehicle in front of the vehicle after entering the lane. When the target vehicle two exists in the adjacent lane, S7 is executed. When the second target vehicle does not exist in the adjacent lane, the process returns to S5.
The invention also discloses a vehicle speed control system based on adaptive cruise, which comprises: the device comprises a front acquisition module, a side acquisition module, a fusion module, a sensing module and a controller.
The front acquisition module comprises a front-view camera and a front millimeter wave radar. The forward-looking camera is used for collecting a first image in a preset range in front of the lane and the adjacent lane. The object in the first image comprises: the vehicle and the lane line in the preset range in front of the lane and the adjacent lane. The front target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of the lane line.
The side collection module comprises a plurality of side-looking cameras and side millimeter wave radars which are matched with each other. A plurality of cameras are arranged on both sides of the vehicle, respectively, with side millimeter wave radars corresponding to the cameras themselves. The side-looking camera positioned on the same side of the vehicle is used for acquiring a second image in a side preset range of the vehicle lane and the adjacent vehicle lane. The objects in image two include: the vehicle, the lane line and the road edge in the preset range are arranged on the side of the lane and the adjacent lane. The side target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in the preset range at the side of the lane and the adjacent lane, and the type and the position of a lane line and a road edge.
The fusion module is used for identifying the targets in the first image and the second image through an image identification technology, fusing the targets in the first image and the second image to detection data of a corresponding millimeter wave radar respectively through a fusion algorithm, and further identifying target state information in the first image and the second image, namely front target state information and side target state information.
The sensing module is used for acquiring the positions and the motion states of the surrounding vehicles on the lanes of the surrounding vehicles according to the state information of the front targets and the state information of the side targets.
The controller is used for controlling the speed of the vehicle according to the positions and the motion states of the vehicle and the surrounding vehicles on the lanes.
The controller controls the speed of the vehicle by applying any one of the self-adaptive cruise-based vehicle speed control methods.
As a further improvement of the invention, the side-looking cameras and the side millimeter wave radar are respectively provided with at least four cameras, which are in one-to-one correspondence and are respectively arranged at four corners of the vehicle.
As a further improvement of the present invention, the object in the first image further includes: a guide arrow in the own lane; the type features of the guide arrow include: left turn, left turn straight going, right turn straight going.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the vehicle speed control method is based on the adaptive cruise function, and the turning area of the vehicle in the turning lane is recognized as the basis, so that the driving speed of the vehicle is actively controlled to be kept at a safe threshold value, the acceleration of the vehicle caused by the loss of a target when the vehicle turns in front of the traditional lane adaptive cruise system can be avoided, the risk of collision with the vehicle in the opposite lane is reduced, and the safety factor of vehicle auxiliary driving is effectively improved. In addition, the vehicle speed control method also sets two prerequisites of turning completion and straight-going area entering the next lane, and only if the two prerequisites are met simultaneously, the fact that the vehicle can carry out the traditional ACC cruising condition is judged, so that the safety and the reliability of the vehicle speed control method are further improved.
2. According to the vehicle speed control system, the front acquisition module and the side acquisition module are respectively arranged at the front end and two sides of the vehicle, images in front of and at the sides of the vehicle are acquired and distances are detected, and the acquired images and detection data are fused by the fusion module, so that front target state information and side target state information of the vehicle are obtained, different control strategies for the vehicle speed of the vehicle can be realized according to different lane conditions or target vehicle motion states, and the safety factor of automatic auxiliary driving of the vehicle is effectively improved.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling a vehicle speed based on adaptive cruise according to embodiment 1 of the present invention;
FIG. 2 is a logic diagram of a vehicle speed control method based on adaptive cruise according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram illustrating classification of lanes of a current road section according to embodiment 1 of the present invention;
FIG. 4 is a schematic illustration of the area delineation of the turnaround lane of FIG. 3;
fig. 5 is a schematic view of the range in which the vehicle acquires the front and side lane lines and the vehicle state in embodiment 1 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, the present embodiment provides a vehicle speed control method based on adaptive cruise, which includes steps S1-S8.
S1: the method comprises the steps of setting the cruising speed of the vehicle, collecting the position information of the vehicle in real time, and classifying each lane of the road section where the vehicle is located into a straight lane or a turning lane according to the lane type. The type of the lane in which the host vehicle is traveling is analyzed based on the position information of the host vehicle. When the host vehicle is traveling in the straight-ahead lane, S5 is executed.
In step S1, the state information of the side target of the host vehicle may be acquired in real time. The set range of the cruising speed may be (30, 60) km/h.
In this embodiment, the front target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of the lane line. The side target state information includes: the moving speed, the moving direction and the distance between the vehicle and the vehicle in the preset range at the side of the lane and the adjacent lane, and the type and the position of a lane line and a road edge.
It should be added that the type of lane line may include a dotted line and a solid line. Types of curbs may include guard rails, green belts, road shoulders, curbs, and the like. According to the type of the road edge and the position of the road edge, the type of the lane where the vehicle is located can be identified. For example, when it is recognized that the right side road edge of the vehicle is the guardrail and the left side is the lane line, it can be determined that the lane where the vehicle is located is the right-turn lane.
Referring to fig. 3, fig. 3 shows the vehicle on a four-lane road segment. According to the lane category, the four lanes on the road section can be divided into two middle straight lanes (L) S ，Lane street), and two turning lanes (L) at the edge T ，Lane turn)。
In other embodiments, the vehicle may also be directly positioned by a beidou satellite navigation system or a GPS, and after the positioning information of the vehicle is acquired, the current lane of the vehicle is directly determined according to a satellite map. For some lanes which can be used for straight-going and turning (front left turning/front right turning), the lane can be firstly judged to need to turn or go straight at the next intersection according to the planned running route of the vehicle, and if the vehicle needs to turn, the lane is a turning lane; if straight driving is required, the lane is a straight driving lane.
S2: when the vehicle runs in the turning lane, the turning lane is divided into a straight-going area and a turning area which are communicated with each other, and the area of the vehicle on the turning lane is analyzed according to the position information of the vehicle. When the host vehicle is located in the straight traveling region on the turning lane, S5 is executed.
Referring to fig. 4, a region a in fig. 4 is a straight region of a turning lane, and a region B is a turning region of the turning lane. The turning area does not mean that turning is required immediately after entering the area, but for the purpose of improving driving safety, the turning area is defined within a predetermined distance from one end before entering the intersection, and the vehicle starts turning after traveling to the vicinity of the end of the turning area. Generally, in road traffic, in order to prevent the traffic safety from being affected by the random lane change of vehicles on a road just before the vehicles enter a crossing, different positions of one lane line are different. For example, some lane lines are solid lines at 50-100 m before entering the intersection, and broken lines beyond 100 m. Therefore, the embodiment can judge whether the corresponding position is in the turning area by identifying the virtual and real of the lane lines at two sides of a certain position on the lane. If the lane line is a broken line, which means that the lane can be changed here, it can be determined that the place is a straight-going area; if the lane line is a solid line, meaning that the vehicle is about to enter the vicinity of the intersection, it can be determined that the location is a turning area. Of course, similar to the above-described technique, after the position of the host vehicle on the satellite map is determined, the area attribute of the turning lane in which the host vehicle is located may be directly obtained.
S3: when the host vehicle is located in a turning area on the turning lane, the host vehicle is controlled to run at a preset vehicle speed, and the host vehicle is controlled to start turning at the end of the turning area, and then S4 is executed.
In the embodiment, the preset vehicle speed during the turning of the vehicle is not higher than 30 km/h. The driving speed of the vehicle is actively controlled to be kept at a safe threshold value by taking the turning area where the vehicle is located in the turning lane as the basis, so that the risk that the vehicle is accelerated and collides with the vehicle in the opposite lane due to the fact that the target is lost when the vehicle turns by the traditional lane self-adaptive cruise system can be avoided, and the safety factor of vehicle auxiliary driving is effectively improved on the basis of the traditional lane self-adaptive cruise system.
S4: and judging whether the vehicle finishes turning and enters a straight-going area of the next lane in real time by analyzing the real-time turning angle of the front wheel of the vehicle. When the host vehicle completes the turn and enters the straight traveling region of the next lane, S5 is executed. When the host vehicle has not completed a turn or has not entered the straight traveling region of the next lane, the process returns to S3.
In this embodiment, in S4, the driving state of the vehicle during turning can be determined by analyzing the magnitude relationship between the real-time turning angle of the front wheel of the vehicle and a preset angle value interval (a, b):
firstly, when the real-time turning angle is increased from a state of being smaller than a preset angle value a to a state of being larger than a preset angle value b, and the state is kept to exceed a preset time period, the vehicle is judged to be in a turning state. In this link, it is considered that the current vehicle cannot absolutely maintain zero degrees when running straight, that is, the real-time rotation angle inevitably changes dynamically. However, the change can be concluded through experimental tests, and the analysis and judgment of the change just utilizes two conditions of 'real-time corner' and 'state holding time', and the vehicle is judged to be in a turning state when the two conditions are both met, so that the probability of misjudgment can be reduced, and the method for controlling the vehicle speed is more accurate.
And secondly, when the real-time turning angle is reduced from the state of being larger than the preset angle value b to be smaller than the preset angle value a, judging that the vehicle finishes turning. In this link, according to the steering wheel control logic of the normal driving process, when just turning to the next lane, the real-time turning angle of the steering wheel is gradually restored to zero from the original 'maximum state', namely: the direction returns to the positive direction. The analysis and judgment here determines that the vehicle has finished turning by using the trigger point of 'reducing to less than the preset angle value a'.
And thirdly, when the real-time turning angle is reduced from the state of being larger than the preset angle value b to the state of being smaller than the preset angle value a and the state is kept to exceed a preset time period II, judging that the vehicle finishes turning and enters the straight-going area of the next lane. In this link, considering that the vehicle may finish in advance in the forward direction, namely: the steering wheel is already back right when the current intersection has not been left, but there is a higher traffic risk if the vehicle accelerates to a later cruising speed. Therefore, a preset time period two similar to the above principle is additionally set in the analysis link, and by adding the condition, only when the condition that the real-time rotation angle is small enough is met and the condition is kept for a certain time, the vehicle can be judged to really complete turning and enter a straight-going area of the next lane, namely leave the current intersection, and then the later cruising speed process can be carried out.
In addition, the parameters of the preset angle value intervals (a, b), the preset time period one and the preset time period two can be adaptively adjusted according to one or more of the road width, the road congestion degree, the vehicle speed and the turning angle (right angle 90 degrees and turning angle 180 degrees).
In summary, step S4 sets two prerequisites, namely "complete turning" and "enter the next lane straight area", and only if the two prerequisites are satisfied simultaneously determines that the host vehicle can perform the conventional ACC cruising condition, so as to further improve the safety and reliability of the host vehicle speed control method.
S5: the method comprises the steps of collecting front target state information of the vehicle in real time, and judging whether a first target vehicle which is a first vehicle in front of the vehicle exists in a preset range in front of a current lane of the vehicle according to the front target state information. And when the target vehicle exists in the first preset range, acquiring the speed of the first target vehicle in real time, and executing S6. When the target vehicle does not exist within the preset range one, S8 is executed.
In this embodiment, the position and the motion state of the vehicle around the host vehicle on each lane may be acquired based on the forward target state information and the side target state information. The existing vehicle-mounted camera and millimeter wave radar fusion technology can be utilized to acquire the state information of the front target and the state information of the side target.
Please refer to fig. 5, R in fig. 5 F Representing the viewing and detection ranges, R, of a forward-looking camera and a forward millimeter-wave radar F The viewing and detection ranges of the side-looking camera and the side millimeter wave radar are corresponded. In this embodiment, a forward-looking camera and a forward-looking millimeter wave radar are installed at the front end of the vehicle, the forward-looking camera collects image information in front of the vehicle, and the image recognition technology is used to recognize a front target vehicle and a far target in front of an adjacent lane, and simultaneously the targets recognized by the forward millimeter wave radar are fused to determine a lane line and a vehicle state in front of the vehicle. Meanwhile, four side-looking cameras and four side millimeter wave radars which are matched with each other are arranged on two sides (near four corners) of the vehicle, and similarly, target information in adjacent lanes collected by the four side millimeter wave radars can be fused to determine lane lines on the sides of the vehicle and the state of the vehicle.
In this embodiment, for image feature recognition of a camera: firstly, recognizing and positioning lane line characteristics in an image through a deep learning algorithm, further recognizing the characteristics in a picture frame by using a picture frame mark, and marking data of lane line width, virtual and real line types and distance between the lane line width, the virtual and real line types and a vehicle; secondly, the images of the guiding arrows in the lane in the images can also be identified through a deep learning algorithm, and the type characteristics of left-turn/left-turn straight-going/right-turn straight-going and the distance from the vehicle are output.
In addition, for identification of curbs and guardrails: the characteristics of the road edge and the guardrail characteristics are clustered according to the differences of the reflection waveforms by using a side millimeter wave radar, and the road edge/guardrail characteristics and the distance (the transverse distance in the case of emphasis) from the vehicle are output; secondly, the curb/guardrail and the distance from the vehicle are identified through the pictures collected by the side-looking camera.
In this embodiment, a fusion algorithm may also be utilized: firstly, the vehicle is judged to run in the lane line through the lane line, the driving lane of the vehicle is judged by combining the feature recognition of the road edge/the guardrail and the distance from the vehicle, and secondly, the driving lane of the vehicle is also assisted to be judged whether the vehicle runs in a straight lane or a turning lane according to the feature recognition result of the guide arrow in the vehicle.
Identification of turning areas: firstly, the lane line type is used, a solid lane line is used as an auxiliary judgment basis, secondly, the distance between the vehicle and a guide arrow mark in a driving lane is considered in a fusion mode (the distance can be designed through calibration), and secondly, the distance between the road edge and the guardrail and the transverse direction of the vehicle is smaller than a calibration value (in principle, the value is a lane width value, and the calibration determination is specifically set according to actually-measured collected data), so that the vehicle is in an edge lane in an auxiliary judgment mode. When the fact that the vehicle runs on the road edge and the guardrail is judged, the lane line is achieved, the turning or straight-going turning mark is arranged in the road, and the distance mark distance is smaller than the calibration value, the fact that the vehicle is located in the turning area is judged.
In addition, by the scheme, the vehicle can sense a scene cut in a short distance. For near plunge: the side-looking camera and the side millimeter wave radar of the vehicle can identify the vehicles in the adjacent lanes, output parameters such as the distance, the speed, the acceleration and the like of the vehicles, carry out prediction calculation by combining the width of the driving lane of the vehicle and the parameters of the driving speed, the direction and the acceleration of the vehicle, and control the vehicle to decelerate in advance when the vehicle in the adjacent lane collides with the vehicle or the distance between the vehicle and the vehicle is less than a set value; and when the calculation result is risk-free, maintaining the driving state of the vehicle.
S6: and judging whether the speed of the target vehicle I is higher than the cruising speed of the vehicle according to the speed of the target vehicle I. When the vehicle speed of the target vehicle one is not higher than the cruising vehicle speed of the host vehicle, S7 is executed. When the vehicle speed of the target vehicle one is higher than the cruising vehicle speed of the host vehicle, S8 is executed.
S7: the speed of the vehicle is controlled to be consistent with that of the first vehicle in front of the vehicle, and the distance between the vehicle and the front vehicle is controlled to be not less than a preset following distance to drive.
In this embodiment, after step S7, step S9 may be further performed, that is: and judging whether the first target vehicle drives out of the lane and no vehicle exists in a first preset range after driving out. If yes, S8 may be performed. Otherwise, return may be made to S7. Therefore, the cruise speed can be recovered under the condition that the low-speed vehicle is not blocked in front of the vehicle, and the driving efficiency is improved.
S8: and controlling the vehicle to run at the set cruising speed.
In this embodiment, after S7, and/or S8, step S10 may be further performed, that is: judging whether a second target vehicle driving into the lane exists in a second preset range of the adjacent lane, wherein the second target vehicle meets the following conditions: the vehicle enters a preset range I of the lane at a speed lower than the current speed of the vehicle and becomes a first vehicle in front of the vehicle after entering the lane. When the target vehicle two exists in the adjacent lane, S7 may be performed. When the target vehicle two does not exist in the adjacent lane, the process may return to S5. Therefore, when a low-speed vehicle is inserted into or overtakes the adjacent lane in front of the vehicle, the vehicle speed can be adjusted, and the risk of collision with the front vehicle is avoided.
Example 2
The present embodiment provides an adaptive cruise-based vehicle speed control system, which includes: the device comprises a front acquisition module, a side acquisition module, a fusion module, a sensing module and a controller.
The front acquisition module may include a front-view camera and a front millimeter wave radar. The forward-looking camera is used for collecting a first image in a preset range in front of the lane and the adjacent lane. The object in the first image comprises: this lane and adjacent lane the place ahead vehicle and lane line within the predetermined range can also include: guide arrows in the own lane. The type features of the guide arrow include: left turn, left turn straight going, right turn straight going. . The front target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of the lane line.
The side collection module may include a plurality of side looking cameras and side millimeter wave radars that match each other. Side millimeter wave radars corresponding to the cameras are arranged on two sides of the vehicle. The side-looking camera positioned on the same side of the vehicle is used for acquiring a second image in a side preset range of the vehicle lane and the adjacent vehicle lane. The objects in image two include: the vehicle, the lane line and the road edge in the preset range are arranged on the side of the lane and the adjacent lane. The side target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in the preset range at the side of the lane and the adjacent lane, and the type and the position of a lane line and a road edge.
In this embodiment, look sideways at camera and side millimeter wave radar and all can be provided with four, and the one-to-one to can install respectively in the four corners department of this car. The front-view camera and the front millimeter wave radar may be disposed at the center of the front end of the host vehicle. The installation point positions of each camera and the corresponding millimeter wave radar can be the same, and the view finding range of the camera and the detection range of the radar can also correspond.
The fusion module is used for identifying the targets in the first image and the second image through an image identification technology, fusing the targets in the first image and the second image to detection data of a corresponding millimeter wave radar respectively through a fusion algorithm, and further identifying target state information in the first image and the second image, namely front target state information and side target state information.
The sensing module is used for acquiring the positions and the motion states of the peripheral vehicles on respective lanes according to the state information of the front target and the state information of the side target.
The controller is used for controlling the speed of the vehicle according to the positions and the motion states of the vehicle and the surrounding vehicles on the lanes.
The controller may control the vehicle speed of the host vehicle by applying the vehicle speed control method based on adaptive cruise in embodiment 1.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A vehicle speed control method based on adaptive cruise is characterized by comprising the following steps:
s1: setting the cruising speed of the vehicle, acquiring the position information of the vehicle in real time, and classifying each lane of the road section where the vehicle is currently located into a straight lane or a turning lane according to the lane type; analyzing the type of a lane in which the vehicle runs according to the position information of the vehicle; when the host vehicle is traveling in the straight lane, S5 is executed;
s2: when the vehicle runs in a turning lane, dividing the turning lane into a straight-going area and a turning area which are mutually communicated, and analyzing the area of the vehicle on the turning lane according to the position information of the vehicle; when the host vehicle is located in the straight-ahead region on the turning lane, S5 is executed;
s3: when the vehicle is located in a turning area on the turning lane, controlling the vehicle to run according to a preset vehicle speed, and controlling the vehicle to start turning at the end of the turning area, thereby executing S4;
s4: judging whether the vehicle finishes turning and enters a straight-going area of the next lane in real time by analyzing the real-time turning angle of the front wheel of the vehicle; when the host vehicle completes the turn and enters the straight traveling region of the next lane, S5 is executed; when the host vehicle does not complete a turn or does not enter the straight-ahead area of the next lane, returning to S3;
s5: acquiring front target state information of the vehicle in real time, and judging whether a first target vehicle which is a first vehicle in front of the vehicle exists in a preset range I in front of the current lane of the vehicle according to the front target state information; when the target vehicle exists in the first preset range, acquiring the speed of the target vehicle in real time, and executing S6; when the target vehicle does not exist within the first preset range, executing S8;
s6: judging whether the speed of the target vehicle I is higher than the cruising speed of the vehicle or not according to the speed of the target vehicle I; executing S7 when the speed of the first target vehicle is not higher than the cruising speed of the vehicle; executing S8 when the speed of the first target vehicle is higher than the cruising speed of the vehicle;
s7: controlling the speed of the vehicle to be consistent with that of a first vehicle in front of the vehicle, and controlling the distance between the vehicle and a front vehicle to be not less than a preset following distance for driving;
s8: and controlling the vehicle to run at the set cruising speed.
2. The vehicle speed control method based on adaptive cruise according to claim 1, characterized in that in S1, the state information of the side target of the vehicle is also collected in real time;
wherein the front object state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of a lane line; the side target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in the preset range at the side of the lane and the adjacent lane, and the type and the position of a lane line and a road edge.
3. The adaptive-cruise-based vehicle speed control method according to claim 2, characterized in that the position and motion state of the vehicle around the host vehicle on each lane are acquired from the front target state information and the side target state information.
4. The adaptive-cruise-based vehicle speed control method according to claim 1, characterized in that the set interval of the cruise vehicle speed of the host vehicle is (30, 60) km/h; in S3, the preset vehicle speed when the vehicle turns is not higher than 30 km/h.
5. The adaptive cruise-based vehicle speed control method according to claim 1, characterized in that in S4, the driving state during the turning of the vehicle is judged by analyzing the magnitude relation between the real-time turning angle of the front wheel of the vehicle and a preset angle value interval (a, b):
firstly, when the real-time turning angle is increased from a state of being smaller than a preset angle value a to a state of being larger than a preset angle value b and the state is kept to exceed a preset time period, judging that the vehicle is in a turning proceeding state;
when the real-time turning angle is reduced from the state of being larger than the preset angle value b to being smaller than the preset angle value a, judging that the vehicle finishes turning;
and thirdly, when the real-time corner is reduced from the state of being larger than the preset angle value b to the state of being smaller than the preset angle value a and the state is kept to exceed a preset time period two, judging that the vehicle finishes turning and enters the straight-going area of the next lane.
6. The adaptive cruise-based vehicle speed control method according to claim 1, characterized by, after S7, further performing:
s9: judging whether the first target vehicle drives out of the lane and no vehicle exists in the first preset range after the first target vehicle drives out of the lane; if yes, go to S8; otherwise, the process returns to S7.
7. The adaptive cruise-based vehicle speed control method according to claim 1, characterized in that after S7, and/or S8, further:
s10: judging whether a second preset range of the adjacent lane has a second target vehicle driving into the lane, wherein the second target vehicle meets the following conditions: the vehicle enters the first preset range of the lane at the speed lower than the current speed of the vehicle and becomes a first vehicle in front of the vehicle after entering the first preset range; executing S7 when the target vehicle II exists in the adjacent lane; and returning to the step S5 when the second target vehicle does not exist in the adjacent lane.
8. An adaptive cruise-based vehicle speed control system, comprising:
the front acquisition module comprises a front-view camera and a front millimeter wave radar; the forward-looking camera is used for acquiring a first image in a preset range in front of the lane and an adjacent lane; the target in the first image comprises: the lane, the vehicles in a preset range in front of the adjacent lane and the lane line; the front target state information includes: the moving speed, the moving direction, the distance between the vehicle and the vehicle in a preset range in front of the lane and the adjacent lane, and the type and the position of a lane line;
the side acquisition module comprises a plurality of side view cameras and side millimeter wave radars which are matched with each other; the plurality of cameras are respectively arranged on two sides of the vehicle with side millimeter wave radars corresponding to the cameras; the side-looking cameras positioned on the same side of the vehicle are used for acquiring a second image in a side preset range of the lane and an adjacent lane; the objects in the second image include: vehicles, lane lines and road edges in a preset range on the side of the lane and the adjacent lane; the side target state information includes: the moving speed, the moving direction and the distance between the vehicle and the vehicle in the preset range of the side of the lane and the adjacent lane, and the types and the positions of lane lines and road edges;
the fusion module is used for identifying targets in the first image and the second image through an image identification technology, fusing the targets in the first image and the second image to detection data of a corresponding millimeter wave radar by utilizing a fusion algorithm, and further identifying target state information in the first image and each second image, namely the front target state information and the side target state information;
the sensing module is used for acquiring the positions and the motion states of the surrounding vehicles on the lanes of the surrounding vehicles according to the front target state information and the side target state information; and
a controller for controlling a vehicle speed of the host vehicle in accordance with positions and moving states of the host vehicle and the surrounding vehicle on respective lanes;
wherein the controller controls the vehicle speed of the host vehicle by applying the adaptive cruise-based vehicle speed control method according to any one of claims 1 to 7.
9. The adaptive cruise-based vehicle speed control system according to claim 8, wherein the side view cameras and the side millimeter wave radars are provided with at least four side view cameras and are in one-to-one correspondence, and are respectively installed at four corners of the vehicle.
10. The adaptive cruise-based vehicle speed control system according to claim 8, wherein the object in image one further comprises: a guide arrow in the own lane; the type characteristics of the guide arrow comprise: left turn, left turn straight going, right turn straight going.
CN202210790196.3A 2022-07-05 2022-07-05 Vehicle speed control method and system based on adaptive cruise Pending CN114954452A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115257739A (en) * 2022-09-30 2022-11-01 南通艾美瑞智能制造有限公司 Front vehicle following method capable of self-adaptively adjusting speed

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115257739A (en) * 2022-09-30 2022-11-01 南通艾美瑞智能制造有限公司 Front vehicle following method capable of self-adaptively adjusting speed

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