CN115320553A - Front vehicle positioning judgment method of AEB system under curve-oriented condition - Google Patents
Front vehicle positioning judgment method of AEB system under curve-oriented condition Download PDFInfo
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- CN115320553A CN115320553A CN202211044829.2A CN202211044829A CN115320553A CN 115320553 A CN115320553 A CN 115320553A CN 202211044829 A CN202211044829 A CN 202211044829A CN 115320553 A CN115320553 A CN 115320553A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000006185 dispersion Substances 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000004807 localization Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The invention relates to the technical field of automatic emergency brake control, in particular to a front vehicle positioning judgment method of an AEB system under the condition of curve, which comprises the steps of firstly obtaining parameters of a lane line through a sensor, then planning the track of a central lane line through the parameters, and dispersing the track according to a certain resolution ratio to obtain track points of the central lane line; and finally, comparing the relative transverse distance with the standard road width to judge the lane where the target vehicle is located, and further selecting a target closest to the vehicle and defining the target as the most dangerous target vehicle. The invention classifies and identifies the vehicles in different lanes, selects the most dangerous target vehicle in the same lane, and can greatly reduce the misoperation of the vehicles in the process of driving on a curve.
Description
Technical Field
The invention relates to the technical field of automatic emergency brake control, in particular to a front vehicle positioning judgment method for an AEB system under the condition of a curve.
Background
The research and application of Automatic Emergency Braking (AEB) as an important vehicle active safety driving auxiliary technology greatly meet the requirements of consumers on vehicle safety and meet the requirements of current vehicle regulations, so the research of the AEB control strategy is the key point for realizing the automatic driving function. The analysis and research of the AEB control execution module are carried out, and the method has important significance for relieving severe traffic safety problems.
The problem that the current AEB system is in urgent need of solving is misrecognition of a vehicle in the process of driving in a curve. When vehicles run in multiple lanes, if a plurality of running vehicles exist in front of the vehicles, if only detected vehicles passing through a target vehicle right in front are dangerous targets, the AEB function is triggered mistakenly, and traffic accidents may also be caused. If the AEB system identifies the front target object simply through the sensing system, the position of the front vehicle cannot be accurately judged.
Disclosure of Invention
The invention aims to provide a front vehicle positioning judgment method of an AEB system under a curve-oriented condition, aiming at solving the problem of false triggering in the curve working condition in the conventional AEB system and improving the stability of the AEB system.
In order to achieve the above object, the present invention provides a front vehicle positioning judgment method of an AEB system under curve-oriented conditions, comprising the following steps:
acquiring lane line information;
dividing different lane line types;
planning a central lane line according to the lane line type;
dispersing the central lane line into different track points according to the dispersion resolution;
acquiring the relative position of the front vehicle based on the track points, and converting the relative position into coordinate points relative to a vehicle coordinate system;
traversing all track points to solve the distance between the track points and the front vehicle, and selecting the shortest distance;
the preceding vehicles are classified based on the relative lane relationship.
The method comprises the steps of obtaining lane line information through a sensor loaded on a vehicle, wherein the lane line information comprises the distance C from the origin of the vehicle to the edge of a lane line 0 And a vehicle heading angle C 1 Curvature C 2 Curvature change rate C 3 And a lane line Quality.
The lane line type is divided based on the lane line Quality, and comprises three types, namely two lane lines, only a left lane line and only a right lane line.
The central lane line is obtained by calculation based on a cubic polynomial under different lane line types, wherein the cubic polynomial is y = C 0 +C 1 *x+C 2 *x 2 +C 3 *x 3 。
The method comprises the steps that a central lane line is dispersed into different track points according to discrete resolution, the discrete resolution is obtained through presetting, and particularly, the central lane line in a fixed distance is dispersed according to a set distance.
The method comprises the steps of traversing all track points to solve the distance between the current position coordinate point of the front vehicle and a front vehicle, and selecting the shortest distance, specifically, solving all the distances between the current position coordinate point of the front vehicle and the track points discretely obtained by a central lane line, and selecting the distance between the nearest two points from the obtained distance set as the transverse distance between the two vehicles.
The process of classifying the preceding vehicles based on the relative lane relationship is specifically a process of comparing the transverse distance between the two vehicles with the actual lane width to judge whether the preceding target vehicle is in the lane.
The front vehicle runs in the range of the current road to be a dangerous target, and the front vehicle runs outside the range of the current road to be a safe target.
The invention provides a front vehicle positioning judgment method of an AEB system under the condition of curve, which comprises the steps of firstly obtaining the parameters of a lane line through a sensor, then planning the track of a central lane line through the parameters, and dispersing the track according to a certain resolution ratio to obtain the track point of the central lane line; the relative position and the azimuth angle of a front target vehicle are obtained through a sensor, then the relative position and the azimuth angle are converted into coordinate points under a vehicle coordinate system, then the relative distance between the track point of a center lane line and the track point of the target vehicle is traversed and solved, the shortest distance is selected as the transverse distance between the two vehicles, finally the lane where the target vehicle is located is judged through comparing the relative transverse distance with the standard road width, and further the target closest to the vehicle can be selected and defined as the most dangerous target vehicle. The invention classifies and identifies vehicles in different lanes, selects the most dangerous target vehicle in the same lane, and can greatly reduce the false operation of the vehicles in the process of driving on a curve.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow diagram of a method for determining the location of a leading vehicle of an AEB system in a curve-oriented situation according to the present invention.
Fig. 2 is a flow chart of a method of an embodiment of the present invention.
Fig. 3 is a schematic diagram of center lane line determination, dispersion, and shortest lateral distance determination in an embodiment of the present invention.
FIG. 4 is a schematic view of a vehicular curve environment in an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, the present invention provides a method for determining a leading vehicle positioning of an AEB system under curve-oriented conditions, comprising the following steps:
s1: acquiring lane line information;
s2: dividing different lane line types;
s3: planning a central lane line according to the lane line type;
s4: dispersing the central lane line into different track points according to the dispersion resolution;
s5: acquiring the relative position of the front vehicle based on the track points, and converting the relative position into coordinate points relative to a vehicle coordinate system;
s6: traversing all track points to solve the distance between the track points and the front vehicle, and selecting the shortest distance;
s7: the preceding vehicles are classified based on the relative lane relationship.
The basic principle of the invention is as follows:
first, the information of the left and right lane lines is obtained from the sensor, including C 0 (distance from the origin of the vehicle to the edge of the lane line), C 1 (heading Angle of vehicle), C 2 (curvature), C 3 (rate of change of curvature), quality (lane line mass), by the level of lane line mass, the lane line is divided into three types, the first is that two lane lines are present, the second is that only the left lane line exists, the third is that only the right lane line exists. Respectively calculating the difference according to the three conditionsAnd a cubic polynomial of the center line of the same lane. The relative position (transverse position and longitudinal position) of a front obstacle can be obtained by a sensor, the sensor is arranged on a vehicle body, so that coordinate points of a front target vehicle relative to the vehicle body under a coordinate system can be calculated, the obtained planned central lane line is dispersed according to a certain resolution, lane lines planned in a certain range can be dispersed into different points, the distance between the front target vehicle and the discrete points can be further solved, a shortest distance value is obtained from the distance values and is used as the transverse distance between two vehicles, and the shortest distance value is compared with the actual lane width to judge whether the front target vehicle is in the vehicle lane, so that the false triggering of an AEB system caused by the fact that the relative distance between the two different vehicles is too close can not be caused.
Further, the following detailed description is made in conjunction with specific embodiments and execution steps:
referring to fig. 2, fig. 2 is a flowchart of a method according to an embodiment of the invention. The specific execution steps are as follows:
s1, obtaining lane line information from a sensor. Some lane line information can be obtained from the vehicle-mounted sensor, such as lane line quality Q, distance C of the vehicle from the edge of the lane line 0 Yaw angle C of the vehicle 1 Road curvature C 2 Rate of change of curvature C 3 。
And S2, dividing different lane line types according to the quality of the lane lines. The quality of the lane line output by the sensor is divided into 1,2,3, the quality of the lane line is represented from low to high, and the state is 1 when the quality (L _ Q) of the left lane line is more than or equal to 2 and the quality (R _ Q) of the right lane line is more than or equal to 2; when only L _ Q is more than or equal to 2, the state is 2; when only L _ Q is more than or equal to 2, the state is 3; when R _ Q and L _ Q are both smaller than 2, the driver is reminded of the current vehicle state.
In the state 1, the process is carried out,
in the state 2, the first and second switches are turned on,
in the state of 3, the first phase is,
in the above formula, L represents left lane line information, and R represents right lane line information.
And S3, solving the planned central lane line. Formed by a cubic polynomial y = C 0 +C 1 *x+C 2 *x 2 +C 3 *x 3 The cubic polynomial after planning is found.
And S4, dispersing the central lane line into different track points according to the dispersion resolution.
As shown in fig. 3, a reasonable discrete resolution is set. Before the AEB system starts a braking stage, the AEB system needs an early warning function to remind a driver, so that the set resolution also needs a reasonable range, and the early warning system is started late due to an excessively small range, so that the vehicle cannot avoid the occurrence of an accident condition; the driving experience of the driver is influenced due to the overlarge range. The time for starting the alarm strategy is set to be 2.6s by analyzing the deceleration value of the driver in the collision process and the collision avoidance time required under different braking decelerations, and the distance required to be dispersed is set to be 90m by considering the general driving speed. The planned lane lines generated ahead are discretized by a discretization resolution of 0.5 m.
Dispersing the central lane line into different track points J = { J = according to the determined resolution 1 ,J 2 ,J 3 ……J n-1 ,J n ,J n+1 J point coordinate is (x) 1 ,y 1 )。
And S5, obtaining the relative position of the front target vehicle from the sensor. The relative position between the vehicle and the preceding vehicle is obtained from the sensor. And calculating a coordinate point of the front vehicle relative to a vehicle coordinate system.
And S6, traversing all the track points to solve the distance between the target vehicle and the target vehicle. Rail obtained by solving current position coordinate point and central lane line of vehicle in discrete modeAll of the distances between the points of traces are,
and selecting the shortest distance. Selecting the distance between the nearest two points from the obtained distance set as the actual distance between the two vehicles, D min ＝{D 1 ,D 2 ……D J-1 ,D J Get the minimum distance D of the point on the reference track from the current vehicle position min 。
And S7, classifying the target vehicles. As shown in fig. 4, when the vehicle is traveling in a multi-lane scene, the dangerous objects need to be screened to determine whether the front object is in the same lane as the vehicle. The method adopts a logic judgment method to classify the front target vehicle based on the relative lane relation between the front target vehicle and the vehicle. The highway technical standard in China has a clear rule on the lane width W, the lane width is generally 3.25-3.75 m, and the research value is 3.6m.
(1) When the temperature is higher than the set temperature
When the vehicle runs in the lane, the target 1 is a vehicle which normally runs in the lane, namely the target vehicle runs in the lane, and the target is a dangerous target;
(2) When the temperature is higher than the set temperature
When the vehicle is in the safe driving state, the target 2 is a vehicle normally driving in an adjacent right lane, namely the target vehicle drives outside the range of the vehicle lane, and the target is a safe target;
(3) When the temperature is higher than the set temperature
When the target 3 is a vehicle normally running in an adjacent left lane, namely the target vehicle runs out of the range of the lane, the target is a safety target.
After being judged by the set logic rules, the AEB system classifies the front multi-target vehicles and filters the information of the safe target vehicles. And for the front dangerous target vehicle in the lane, screening a target closest to the vehicle by adopting a same-lane closest principle, and defining the target as the most dangerous target vehicle.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A front vehicle positioning judgment method of an AEB system under the condition of curve is characterized by comprising the following steps:
acquiring lane line information;
dividing different lane line types;
planning a central lane line according to the lane line type;
dispersing the central lane line into different track points according to the dispersion resolution;
acquiring the relative position of the front vehicle based on the track points, and converting the relative position into coordinate points relative to a vehicle coordinate system;
traversing all track points to solve the distance between the track points and the front vehicle, and selecting the shortest distance;
the preceding vehicles are classified based on the relative lane relationship.
2. The method of claim 1 for determining the location of a leading vehicle in an AEB system in a curve-oriented situation,
acquiring lane line information through a sensor loaded on a vehicle, wherein the lane line information comprises a distance C from an original point of the vehicle to an edge of a lane line 0 Vehicle course angle C 1 Curvature C 2 Curvature change rate C 3 And lane line Quality.
3. The curve-oriented AEB system front-vehicle localization method of claim 2, wherein,
the lane line type is divided based on the lane line Quality, and comprises three types, namely two lane lines, only a left lane line and only a right lane line.
4. The method of claim 3 for determining the location of a leading vehicle in an AEB system in a curve-oriented situation,
the central lane line is obtained by calculation based on a cubic polynomial under different lane line types, wherein the cubic polynomial is y = C 0 +C 1 *x+C 2 *x 2 +C 3 *x 3 。
5. The method of claim 4 for determining the location of a leading vehicle in an AEB system in a curve-oriented situation,
in the process of dispersing the central lane line into different track points according to the discrete resolution, the discrete resolution is obtained by presetting, and particularly, the central lane line in the fixed distance is dispersed according to the set distance.
6. The method of claim 5 for determining the location of a leading vehicle in an AEB system during a curve-oriented situation,
traversing all track points to solve the distance between the current position coordinate point of the front vehicle and the track point discretely obtained by the central lane line, and selecting the shortest distance, namely firstly solving all the distances between the current position coordinate point of the front vehicle and the track point discretely obtained, and then selecting the distance between the nearest two points from the obtained distance set as the transverse distance between the two vehicles.
7. The method of claim 6 for determining the location of a leading vehicle in an AEB system in a curve-oriented situation,
the process of classifying the front vehicles based on the relative lane relationship is specifically a process of comparing the transverse distance between the two vehicles with the actual lane width to judge whether the front target vehicle is in the lane.
8. The method of claim 7 for determining the location of a leading vehicle in an AEB system in a curve-oriented situation,
the front vehicle runs in the lane to be a dangerous target, and the front vehicle runs out of the lane to be a safe target.
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Patent Citations (7)
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| CN104129389A (en) * | 2014-08-06 | 2014-11-05 | 中电海康集团有限公司 | Method for effectively judging and recognizing vehicle travelling conditions and device thereof |
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