CN115871661A - Intelligent driving system and method for identifying road pit packet - Google Patents
Intelligent driving system and method for identifying road pit packet Download PDFInfo
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Abstract
An intelligent driving method and system for identifying road pit packets relates to the technical field of vehicle safety, and comprises the following steps: the 4D millimeter wave radar is arranged at the front part of the vehicle grille and used for identifying the potholes or the hugs of the road section in front of the vehicle and identifying the potholes or the hugs in real time; the ultrasonic radar is arranged below a vehicle rearview mirror and used for measuring the ground clearance value of a vehicle chassis in real time and calculating the negligible pit depth and the acceptable pit depth of the vehicle and the negligible cuddle height and the acceptable cuddle height of the vehicle; and the vehicle control unit is used for carrying out logic judgment in real time by combining ultrasonic radar data and vehicle data according to the identification of the 4D millimeter wave radar, and giving out warning and driving suggestions according to a judgment result. The invention acquires the information of the hollow and the congestion possibly existing in real time, improves the driving safety under the severe driving scene and avoids the occurrence of traffic accidents.
Description
Technical Field
The application relates to the technical field of vehicle safety, in particular to an intelligent driving system and method for identifying road pit packages.
Background
With the continuous popularization of the application range of automobiles in daily production and life of people, the environment of the running road of the automobile is increasingly complicated. When a vehicle runs on a pothole road, unexpected loss of the vehicle, especially in rainy and foggy days, is often caused by failure in timely recognizing the actual depth and the vehicle bearability, and risks are more difficult to recognize.
In recent years, in severe driving scenes such as national roads, city bad roads and mountain roads, traffic accidents such as vehicle sinking into pits happen frequently, and vehicle damage and even casualties are caused.
In the related art, there is a perception fusion device of a driving assistance system focusing on collision warning and control in the lateral and longitudinal directions in a vehicle traveling plane, but there is a lack of a detailed technique for recognizing a hollow in the vertical direction. In addition, according to the scheme for identifying the hollow condition on the road plane through the laser radar and the infrared sensing system or the camera, whether warning and avoidance are performed or not is confirmed according to the size of the hollow and the shape of the vehicle, but the problems that the application is difficult, the popularization cost is high and the identification speed is slow exist in related equipment when the weather is bad.
Disclosure of Invention
The embodiment of the application provides an intelligent driving system and method for identifying a road pit packet, and aims to solve the problems of driving safety, high popularization cost and low identification speed in a severe driving scene.
In a first aspect, an intelligent driving system for identifying a road pit package is provided, the system comprising:
the 4D millimeter wave radar is arranged at the front part of the vehicle grille and is used for identifying the pothole or the parcel of the road section in front of the vehicle and identifying the pothole depth or the parcel height in real time;
the ultrasonic radar is arranged below a vehicle rearview mirror and used for measuring the ground clearance value of a vehicle chassis in real time, and calculating the negligible pit depth and the acceptable pit depth of the vehicle and the negligible congestion height and the acceptable congestion height of the vehicle;
and the vehicle control unit is used for carrying out logic judgment in real time according to the identification of the 4D millimeter wave radar and by combining the ultrasonic radar data and the vehicle data, and giving out warning and driving suggestions according to a judgment result.
In some embodiments, the vehicle control unit judges whether a pothole or a congestion is in a pre-judged vehicle running track model in real time, if so, the vehicle is indicated to be in a risk, and gives an alarm and a running suggestion by combining the collision time TTC and a preset time threshold value, wherein the running suggestion comprises a suggested vehicle speed and emergency braking.
In some embodiments, the real-time determination of whether a pothole or a congestion is on the predicted vehicle driving track model by the vehicle control unit comprises:
the 4D millimeter wave radar acquires the azimuth angle and the relative distance of a hollow or a congestion relative to the vehicle in real time;
and the vehicle controller confirms the coincidence degree of the vehicle running track model in real time according to the azimuth angle and the relative distance, and if the coincidence exists, the vehicle controller confirms that the pothole or the hug is on the pre-judged vehicle running track model.
In some embodiments, when the vehicle encounters a risk, the vehicle controller determines that the pit depth identified by the 4D millimeter wave radar is less than or equal to the negligible pit depth of the vehicle, or that the hug height identified by the 4D millimeter wave radar is less than or equal to the negligible hug height of the vehicle, and the vehicle controller does not perform any processing.
In some embodiments, when the vehicle encounters a risk, the vehicle controller determines that the pit depth identified by the 4D millimeter wave radar is greater than or equal to the acceptable pit depth of the vehicle, or that the hugging height identified by the 4D millimeter wave radar is greater than or equal to the acceptable hugging height of the vehicle, and the vehicle controller performs the following processing:
when the TTC is less than or equal to a first preset time value t1, the whole vehicle controller gives an alarm through an instrument and indicates an electronic stability control system ESC of the vehicle to realize emergency braking of the vehicle through a central gateway;
when the t1 is larger than the TTC and smaller than a second preset time value t2, the whole vehicle controller sends out an alarm through a human-machine interface HMI;
and when the TTC is larger than or equal to t2, the whole vehicle controller does not process the TTC.
In some embodiments, when the vehicle encounters a risk, the vehicle control unit determines that the pit depth identified by the 4D millimeter wave radar is greater than the negligible pit depth of the vehicle and less than the acceptable pit depth, or that the hug height identified by the 4D millimeter wave radar is greater than the negligible hug height of the vehicle and less than the acceptable hug height, and performs the following processing by the vehicle control unit:
when the TTC is less than or equal to a second preset time value t2, the whole vehicle controller sends out an alarm through the HMI and gives out a suggested vehicle speed;
and when the t2< TTC < a third preset time value t3, the vehicle control unit sends out an alarm through the HMI.
In some embodiments, the warning is a voice broadcast and/or a meter display sent by the vehicle control unit through the HMI.
In some embodiments, the 4D millimeter wave radar calculates the pit depth S according to the following formula within the recognition accuracy range,
θ＝arctan(h/z)，
S＝z·tan(θ+Δr)-h，
the method comprises the following steps that theta is an initial calibration angle of the 4D millimeter wave radar, h is a vertical distance between the 4D millimeter wave radar and the ground, z is an effective distance for identifying an obstacle in the front direction of the 4D millimeter wave radar, and delta r is the measurement accuracy of the 4D millimeter wave radar.
In some embodiments, the ultrasonic radar measures the ground clearance value p of the vehicle chassis in real time through the fixed geometric dimension value of the vehicle body, calculates the negligible pit depth m and the acceptable pit depth k according to the following formulas,
wherein c is the tire pressure coefficient of the vehicle, d is the suspension parameter, ν is the real-time vehicle speed value, and μ and δ are both correction coefficients.
On the other hand, the intelligent driving method for identifying the road pit packet based on the system comprises the following steps:
identifying the potholes or the hugs of the road section in front of the vehicle by the 4D millimeter wave radar, and identifying the pothole depth or the hug height in real time;
the ultrasonic radar measures the ground clearance value of the chassis of the vehicle in real time, and calculates the negligible pit depth and the acceptable pit depth of the vehicle, and the negligible congestion height and the acceptable congestion height of the vehicle;
and the vehicle control unit performs logic judgment in real time by combining ultrasonic radar data and vehicle data according to the identification of the 4D millimeter wave radar, and gives out warning and driving suggestions according to a judgment result.
The technical scheme who provides this application brings beneficial effect includes:
the embodiment of the application provides an intelligent driving system and method for identifying road bags, 4D millimeter wave radar equipment is utilized in the road driving process, possible pit and bag information is obtained in real time, the depth and the height of a bag can be measured and calculated through an ultrasonic radar, a whole vehicle controller is combined with ultrasonic radar data and vehicle data to conduct logic judgment in real time, warning and driving suggestions are given according to judgment results, the identification precision of the bags in the vertical direction is improved, suggested vehicle speed or emergency braking is given, a driver is prompted, driving safety under severe driving scenes is improved, and traffic accidents are avoided.
Adopt 4D millimeter wave radar to carry out the judgement of pothole and hug in this application embodiment, because 4D millimeter wave radar's spatial resolution is high, recognition rate is very fast, is not influenced under bad weather, for the scheme of laser radar, infrared perception system or camera discernment road plane upper crate package condition, can make navigating mate in various complicated road (high-speed, national road, mountain road etc.) travel process, improve the travelling comfort of driving and improve the security of driving. Compared with the prior art, the price of the 4D millimeter wave radar is reduced, the cost of vehicle equipment is reduced, the popularization price is low, and the method is more suitable for mass production.
The vehicle can set the threshold value of the corresponding scene according to each parameter of the vehicle so as to be convenient for logic judgment, and vehicles with different purposes (such as commercial vehicles or sports cross-country vehicles) have more flexible functional strategies facing the same scene.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an intelligent driving system for identifying road pit packages according to an embodiment of the present invention;
FIG. 2 is a flowchart of an intelligent driving method for identifying a road pit package according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a geometrical relationship between the millimeter wave radar and the depth S of the hole at different distances from the hole in embodiment 4D of the present invention;
fig. 4 is a schematic diagram of a geometrical relationship between a hollow position and a vehicle driving track according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
As shown in fig. 1, the present invention provides an embodiment of an intelligent driving system for identifying a road pothole or a parcel, in this embodiment, the pothole or the parcel refers to a pothole or a parcel in a road. The intelligent driving system for identifying the road pit package comprises a 4D millimeter wave radar, an ultrasonic radar and a vehicle control unit; the 4D millimeter wave radar is installed in the front of the vehicle grille and used for identifying the pothole or the hug in the road section in front of the vehicle and identifying the pothole depth or the hug height in real time. The ultrasonic radar is arranged below a rearview mirror of the vehicle and used for measuring the ground clearance value of a chassis of the vehicle in real time, calculating the negligible pit depth and the acceptable pit depth of the vehicle and the negligible and the acceptable hug heights of the vehicle. And the vehicle control unit is used for carrying out logic judgment in real time by combining ultrasonic radar data and vehicle data according to the identification of the 4D millimeter wave radar, and giving out warning and driving suggestions according to a judgment result. Further, the driving advice includes a recommended vehicle speed and an emergency brake.
After the 4D millimeter wave radar recognizes that a pothole or a congestion exists on the road section in front, the vehicle control unit judges whether the pothole or the congestion is on a pre-judged vehicle running track model in real Time, if so, the vehicle is subjected to risks, and warning and driving suggestions are given by combining Time To Collision (TTC) and a preset Time threshold; if not, the vehicle does not encounter the risk or the vehicle leaves the risk at the moment, no warning is given, and the judgment is continued. Where TTC is the real time of the vehicle's collision with a preceding obstacle (pothole or hug). Further, the TTC is calculated according to the real-time vehicle speed v of the vehicle relative to the front pit bag and the real-time relative distance (here, the horizontal distance X), and the specific calculation formula is as follows: TTC = X/v. It will be appreciated that the real-time vehicle speed of the vehicle may be obtained from a wheel speed sensor of the vehicle.
Specifically, the 4D millimeter wave radar acquires the azimuth angle and the relative distance of a hollow or a congestion relative to the vehicle in real time; and the vehicle control unit confirms the coincidence degree of the vehicle driving track model in real time according to the azimuth angle and the relative distance, and if coincidence exists, the vehicle control unit confirms that the pothole or the parcel is on the pre-judged vehicle driving track model, so that the vehicle is subjected to risks.
As shown in fig. 2, an embodiment of an intelligent driving method for identifying a road pit package is provided, based on the above system embodiment, the intelligent driving of a vehicle on a pit package road is realized, and the above method includes the following steps:
s101, when the vehicle runs, the 4D millimeter wave radar identifies the road section ahead in real time, when the fact that a pothole or a hug exists in the road section ahead of the vehicle is identified, the pothole depth or the hug height is also identified in real time, and the relative distance from the pothole or the hug to the vehicle can be measured in real time.
In some embodiments, the 4D millimeter wave radar is prompted by an HMI (Human Machine Interface) system after identifying a pothole or hug. It will be appreciated that an HMI system is a medium for interaction and exchange of information between a vehicle and a user that enables conversion between an internal form of information and a human-acceptable form, and that a human may also operate the vehicle through the HMI system. Specifically, can show "the place ahead has the hole package" typeface through the panel board of HMI system, can also distinguish the demonstration with hole and hug package, for example show "the place ahead has the hole" or "the place ahead has the hug package" typeface, can also give corresponding pattern according to the typeface that shows and remind, simultaneously, the speech system of vehicle can play corresponding suggestion pronunciation.
S102.4D millimeter wave radar recognizes the pothole or the hug, the vehicle controller judges whether the pothole or the hug is on the predicted vehicle driving track model in real time, if so, the vehicle is subjected to risks, and the S103 is entered; if not, the vehicle does not encounter the risk or the vehicle leaves the risk at the moment, and the step S101 is carried out, and the 4D millimeter wave radar continues to carry out real-time identification.
S103, measuring the ground clearance value of the vehicle chassis in real time according to the ultrasonic radar, calculating the negligible pit depth m and the acceptable pit depth k of the vehicle, the negligible congestion height m 'and the acceptable congestion height k' of the vehicle, and carrying out logic judgment on the vehicle control unit in real time. The vehicle control unit judges whether the recognized pit depth S is less than or equal to the negligible pit depth m of the vehicle (namely S is less than or equal to m), or whether the 4D millimeter wave radar recognizes that the congestion height S 'is less than or equal to the negligible congestion height m' of the vehicle (namely S 'is less than or equal to m'); if yes, the vehicle control unit does not need to carry out any processing, and the S101 and 4D millimeter wave radar is switched to continue to carry out real-time identification; if not, the process proceeds to S104.
And S104, when the vehicle is in risk, the vehicle controller performs logic judgment according to the information of the depression depth or the hugging height acquired by the 4D millimeter wave radar in real time and by combining the negligible depression depth m and the acceptable depression depth k of the vehicle or the negligible hugging height m' and the acceptable hugging height k. And if the vehicle control unit judges that the pit depth S identified by the 4D millimeter wave radar is greater than or equal to the acceptable pit depth k (namely S ≧ k), or the congestion height S 'identified by the 4D millimeter wave radar is greater than or equal to the acceptable congestion height k' (namely S '≧ k'), entering S105. If the vehicle controller determines that the pit depth S identified by the 4D millimeter wave radar is greater than the negligible pit depth m (i.e., S > m) and the pit depth S is less than the acceptable pit depth k (i.e., S < k), or that the hug height S 'identified by the 4D millimeter wave radar is greater than the negligible hug height m' (i.e., S '> m') and the hug height S 'is less than the acceptable hug height k' (i.e., S '< k'), the process proceeds to S106.
And S105, giving out a warning and/or a driving suggestion according to the TTC and different time set values, and finishing the processing. The time setting value can be set according to driving habits, and in the embodiment, the first preset time value t is set 1 Set to 0.8s, a second predetermined time value t 2 Set to 2.5s. In other embodiments, the limit data corresponding to the scene can be set according to various parameters of the vehicle itself, so that vehicles with different purposes (e.g., business or sports cross-country) have more flexible functional strategies facing the same scene.
When TTC is less than or equal to t 1 The vehicle Controller can be regarded as the necessary collision condition of the vehicle and the pit bag, the whole vehicle Controller gives an alarm through the instrument and sends an instruction to an Electronic Stability Controller (ESC) of the vehicle through the central gateway, and the ESC realizes the emergency braking of the vehicle after receiving the instruction.
When t is 1 ＜TTC＜t 2 And the vehicle sends out a warning signal through the HMI system. Specifically, can show "the place ahead has the hole package" typeface through the panel board, can also distinguish the demonstration with hole and hug package, for example show "the place ahead has the hole" or "the place ahead has the hug package" typeface, can also give corresponding pattern according to the typeface that shows and remind, simultaneously, the voice system of vehicle can play corresponding suggestion pronunciation.
When TTC is more than or equal to t 2 And the vehicle controller does not process the vehicle, and the vehicle runs normally.
S106. According to TTC, the t 2 And a third preset time value t 3 And giving out a warning and/or a driving suggestion. t is t 3 Can be set according to driving habits, t in the embodiment 3 Set to 5s.
When TTC is less than or equal to t 2 The vehicle control unit sends out an alarm through the HMI system and gives out a suggested vehicle speed, and the suggested vehicle speed can be set according to different vehicle types and pit information. It is understood that the suggested vehicle speed may also be displayed via the dashboard, and a voice of the suggested vehicle speed may also be played via the vehicle's voice system.
When t is 2 ＜TTC＜t 3 And the vehicle control unit sends out warning through the HMI. It can be understood that the warning can be a vehicle HMI system, such as an instrument panel, etc. for sending and displaying the character of 'having pothole in front' and can also distinguish pothole from hug for display, such as displaying the character of 'having pothole in front' or 'having hug in front', and meanwhile, the information of pothole depth or hug height, etc. can also be broadcasted through a voice system, and the driver is prompted in time.
In the steps, under the condition that the risks of vehicle encountering are always definite, the 4D millimeter wave radar acquires information of dugs (potholes and congestion) in real time, when congestion is identified, the congestion height can be directly judged according to the congestion top, and the congestion height is adopted in subsequent judgment. However, when a pothole is identified, the pothole depth needs to be obtained in real time, and with the fact that the relative distance between the vehicle and an actual pothole section is continuously reduced, it can be confirmed through a geometrical relation that the identifiable pothole depth is continuously shallow (the identification angle of the 4D millimeter wave radar is reduced in a jump mode) until the identified pothole depth S is within the acceptable pothole depth k (namely S is less than or equal to k) of the vehicle. If the pit depth S becomes shallow continuously until the pit depth S is reduced to be within the negligible pit depth m (namely S is less than or equal to m), no warning or driving suggestion is made, and normal vehicle driving is kept.
In the steps, different measures of the vehicle, including warning, suggested vehicle speed giving and emergency braking, can be given under different scenes by judging the potholes and the congestion bags and combining with different set thresholds facing the potholes or the congestion bags of the front road section, so that a driver can effectively improve the driving comfort of the existing vehicle in the driving process of various complex roads (high speed, national roads, mountain roads and the like) and the driving safety of the vehicle is obviously improved. Meanwhile, the vehicles can set the threshold values of the corresponding scenes according to various parameters of the vehicles, so that logic judgment is facilitated, and vehicles with different purposes have more flexible function strategies facing the same scenes.
As shown in fig. 3, it can be understood that, in the present embodiment, the FOV angle in the horizontal direction of the 4D millimeter wave radar is 100 °, and the angles, distances, and vehicle relative speed information of the positions of the pothole and the user bag can be simultaneously recognized and fed back. The 4D millimeter wave radar has a measurement capability in the vertical direction, and the measurement range is R, for example ± 10 °. Assuming that the installation position of the 4D millimeter wave radar is a conventional installation position, the 4D millimeter wave radar is installed at the front end of the vehicle in the embodiment, and the vertical distance from the ground is h, such as 400mm; the recognition angle of the vertical direction ground of the 4D millimeter wave radar is θ, and when a crater within the recognition accuracy range occurs and is within the recognition accuracy range, the crater depth S is calculated according to the following formula:
θ＝arctan(h/z)，
S＝z·tan(θ+Δr)-h，
wherein z is an effective distance of the 4D millimeter wave radar for identifying the obstacle in the forward direction, such as 200m; Δ r is the measurement accuracy of the 4D millimeter wave radar, for example, 0.5 °.
It can be understood that, for the height S 'of the user' S bag, the calculation formula is the same as the calculation formula of the pit depth S, and the calculation result is a positive value, which is not described herein again.
The forward recognizable distance of the existing released 4D millimeter wave radar is ARS540 300m with Conti, the fifth generation millimeter wave radar of BOSCH is 350m, and the like. The recognition accuracy range refers to the value within the hardware recognizable range which is required to be clear by the system according to the function definition, for example, the value is defined as 200m, and if the recognition is actually far away, the additional calculation amount and the development risk are caused. In this embodiment, the recognizable range of the 4D millimeter wave radar is 200m as defined.
And the 4D millimeter wave radar initialization calibration of the absolute plane is carried out when the vehicle is off line. At this time, assuming that the installation height of the 4D millimeter wave radar is 400mm, and the identification range is defined as 200m, the initially calibrated identification angle θ is 0.1146 °.
In some embodiments, the 4D millimeter wave radar is 12-shot 16 (4 existing 3D millimeter wave radars in hardware), and can simultaneously image the moving and static target point clouds within a distance of 250 meters in a high-definition mode similar to laser point cloud imaging. The hollow edges and the hollow interior can be imaged completely to form a point cloud (with distance information).
When a hollow appears in the recognition range of 200m ahead, but the depth of the hollow is shallow, although the 4D millimeter wave radar can be physically recognized, the recognition accuracy in the vertical direction is 0.5 degrees, the depth of the hollow appears shallow, the angle enlargement range in the vertical direction is less than 0.5 degrees, and the hollow can be understood as not being recognized although the hollow exists really.
For the above-mentioned relative distance with the vehicle and actual pothole section constantly reduces, recognizable pothole depth will constantly become shallow, its principle is: in the 4D millimeter wave radar forward identification process, the radar front identification device can be regarded as a triangle with a pitch angle range. The upper half, bounded by an absolute horizontal line, identifies the upper obstacle (hug) and the lower half identifies the lower obstacle (pothole). For the lower half part, the same identification angle theta value is used, and the identified vertical direction distance is h when z is identified in a long distance; when the distance is close to z-z ', the distance in the vertical direction can be identified as h ', and h ' < h can be known from the basic geometrical principle. h' < h occurs at a single recognition angle θ, which can also be understood as the recognition accuracy in the vertical direction, h being smaller at smaller z, i.e. the recognition angle is higher (a single value of θ corresponds to a smaller value of h). When the pit depth is shallow, the corresponding vertical direction value is small, that is, a smaller h is needed to identify the pit, but the vertical direction identification angle θ of the 4D millimeter wave radar hardware is fixed, so that when the z value is reduced, the identification angle can be increased, that is, "the closer the relative distance is, the shallower the identifiable pit is", and conversely, "the farther the relative distance is, the deeper the identifiable pit is".
The "jump" means that the recognition depth in the vertical direction occurs continuously, but the 4D millimeter wave radar can recognize the depth with the accuracy of 0.5 °, 1 °, 1.5 °, and 2 ° … …, which is understood to occur discontinuously every time the radar recognizes the depth once. Each recognition of the pit depth will also be a "jump" type of directly increasing depth value. In future development, the recognizable accuracy of the 4D millimeter wave radar may be smaller, for example, to 0.1 °.
The embodiment of the invention adopts the 4D millimeter wave radar arranged at the front part of the vehicle grille, has stronger adaptability to various weathers, and can be applied to severe environments, such as heavy fog weather or poor visual effect. Compared with a laser radar and an infrared sensing system, the 4D millimeter wave radar has the advantages that the cost is lower, the working stability is better, the overall cost of the vehicle is reduced, and the popularization is facilitated; simultaneously, 4D millimeter wave radar has still improved recognition speed for prior art, has further promoted the security and the travelling comfort of vehicle driving.
As shown in fig. 4, for the above step S102, the vehicle travel track model may be calculated based on the geometric relationship. The calculation of the vehicle motion track is established on a ground coordinate system, and a certain time t of the vehicle is defined 1 Is in the position of (x) 1 ，y 1 ) Yaw angle of vehicle is psi 1 (ii) a After t 2 The position of the time is (x) 2 ，y 2 ) Yaw angle psi 2 . The turning radius of the vehicle is R, t 1 The instantaneous turning radius of the vehicle is R at the moment 1 ，t 2 The turning radius at the moment is R 2 . Wherein the yaw angle of the vehicle can be obtained by using a vehicle steering angle sensor, if R is a positive value representing a left turn and a negative value representing a right turn, the vehicle position has the following relationship:
x 2 ＝x 1 -R 1 *sin(ψ 1 )+R 2 *sin(ψ 2 )，
y 2 ＝y 1 -R 1 *cos(ψ 1 )-R 2 *cos(ψ 2 )。
in the above step S103, the vehicle ultrasonic radar is installed below the vehicle rearview mirror for monitoring the ground clearance value of the vehicle chassis in real time, and in some embodiments, the vehicle ultrasonic radar is installed at another position with reference to the existing production project, but the function is not changed. And calculating a real-time minimum ground clearance value P of the vehicle through the fixed geometric dimension value of the vehicle body (the vehicle is periodically calibrated by an initial value, and meanwhile, the specific running real-time data are averaged according to multiple measurements). The negligible pit depth m and the acceptable pit depth k are calculated according to the following equations,
wherein c is the tire pressure coefficient of the vehicle, d is the suspension parameter, v is the real-time vehicle speed value, mu and delta are introduced correction coefficients, N is the statistical frequency, and N represents a certain statistical frequency. Alternatively, a negligible congestion height m 'and an acceptable congestion height k' may be obtained according to the above formula, resulting in positive values.
According to the embodiment, the condition of the inner pit packet in the running process of the vehicle is recognized in advance by adopting the 4D millimeter wave radar and early warning is given, the passing judgment is made for the vehicle suffering from the risk through the calculation of the ultrasonic radar, the pit packet in front of the road can be recognized dynamically in real time, and a warning signal is given to a driver in a set range; in the effective identification distance range, the trafficability is judged and analyzed through logic, driving suggestions including suggested vehicle speed are given, and when the vehicle cannot pass the prediction, the vehicle is directly braked according to the distance between the vehicle and the pit and the bag until the vehicle is braked, so that the loss is reduced to the maximum extent, the driving safety in severe driving scenes is improved, and traffic accidents are avoided. The system can be widely used in vehicles with intelligent driving assistance systems, the driving comfort of the existing vehicles can be effectively improved through the developed functions, and the driving safety performance of the vehicles is obviously improved.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent driving system for identifying a road pit package, the system comprising:
the 4D millimeter wave radar is arranged at the front part of the vehicle grille and used for identifying the potholes or the hugs of the road section in front of the vehicle and identifying the potholes or the hugs in real time;
the ultrasonic radar is arranged below a vehicle rearview mirror and used for measuring the ground clearance value of a vehicle chassis in real time and calculating the negligible pit depth and the acceptable pit depth of the vehicle and the negligible cuddle height and the acceptable cuddle height of the vehicle;
and the vehicle control unit is used for carrying out logic judgment in real time by combining ultrasonic radar data and vehicle data according to the identification of the 4D millimeter wave radar, and giving out warning and driving suggestions according to a judgment result.
2. The intelligent driving system for identifying road pit packages as claimed in claim 1, wherein:
the vehicle control unit judges whether the pothole or the congestion is in a pre-judged vehicle running track model in real time, if so, the vehicle is indicated to be in risk, and gives out warning and running suggestions by combining the Time To Collision (TTC) and a preset time threshold, wherein the running suggestions comprise suggested vehicle speed and emergency braking.
3. The intelligent driving system for identifying the road pit package as claimed in claim 2, wherein the vehicle controller judges whether the pit or the hug is on the pre-judged vehicle driving track model in real time, comprising:
the 4D millimeter wave radar acquires the azimuth angle and the relative distance of a hollow or a cuddle relative to the vehicle in real time;
and the vehicle controller confirms the coincidence degree of the vehicle running track model in real time according to the azimuth angle and the relative distance, and if the coincidence exists, the vehicle controller confirms that the pothole or the hug is on the pre-judged vehicle running track model.
4. The intelligent driving system for identifying road pit packages as claimed in claim 2, wherein:
when the vehicle encounters risks, the vehicle control unit judges that the pit depth identified by the 4D millimeter wave radar is less than or equal to the negligible pit depth of the vehicle, or the bag height identified by the 4D millimeter wave radar is less than or equal to the negligible bag height of the vehicle, and the vehicle control unit does not perform any processing.
5. The intelligent driving system for identifying road pit bags according to claim 2,
when the vehicle encounters risks, the vehicle control unit judges that the pit depth identified by the 4D millimeter wave radar is greater than or equal to the acceptable pit depth of the vehicle, or the congestion height identified by the 4D millimeter wave radar is greater than or equal to the acceptable congestion height of the vehicle, and the vehicle control unit performs the following processing:
when TTC is less than or equal to a first preset time value t 1 The vehicle controller gives an alarm through an instrument and indicates an electronic stability control system ESC of the vehicle to realize the emergency braking of the vehicle through a central gateway;
when t is 1 < TTC < second predetermined time value t 2 The vehicle control unit sends out an alarm through a human-machine interface HMI;
when TTC is more than or equal to t 2 And the vehicle controller does not process.
6. The intelligent driving system for identifying road pit package as claimed in claim 2,
when the vehicle encounters risks, the vehicle control unit judges that the pit depth identified by the 4D millimeter wave radar is greater than the negligible pit depth of the vehicle and less than the acceptable pit depth, or the congestion height identified by the 4D millimeter wave radar is greater than the negligible congestion height of the vehicle and less than the acceptable congestion height, and the vehicle control unit performs the following processing:
when TTC is less than or equal to a second preset time value t 2 The vehicle control unit passesThe HMI sends out an alarm and gives a suggested vehicle speed;
when t is 2 <TTC<Third preset time value t 3 And the vehicle control unit sends out warning through the HMI.
7. The intelligent driving system for identifying the road pit package according to claim 1, wherein the warning is voice broadcast and/or instrument display sent by the vehicle control unit through HMI.
8. The intelligent driving system for identifying the road pit package according to claim 1, wherein the 4D millimeter wave radar calculates the pit depth S according to the following formula within the identification accuracy range,
θ＝arctan(h/z)，
S＝z·tan(θ+Δr)-h，
the method comprises the following steps of determining the distance between a 4D millimeter wave radar and the ground, determining the distance between the 4D millimeter wave radar and the ground, and determining the distance between the 4D millimeter wave radar and the ground, wherein theta is the initial calibration angle of the 4D millimeter wave radar, h is the vertical distance between the 4D millimeter wave radar and the ground, z is the effective distance for identifying the obstacle in the forward direction of the 4D millimeter wave radar, and delta r is the measurement accuracy of the 4D millimeter wave radar.
9. The intelligent driving system for identifying the road pit package as claimed in claim 1, wherein the ultrasonic radar measures the vehicle chassis ground clearance value p in real time through the fixed geometric dimension value of the vehicle body, the negligible pit depth m and the acceptable pit depth k are calculated according to the following formula,
wherein c is the tire pressure coefficient of the vehicle, d is a suspension parameter, ν is a real-time vehicle speed value, and μ and δ are correction coefficients.
10. An intelligent driving method for identifying road pit package based on the system of any one of claims 1-9, comprising the steps of:
identifying the potholes or the hugs of the road section in front of the vehicle by the 4D millimeter wave radar, and identifying the pothole depth or the hug height in real time;
the ultrasonic radar measures the ground clearance value of the chassis of the vehicle in real time, and calculates the negligible pit depth and the acceptable pit depth of the vehicle, and the negligible congestion height and the acceptable congestion height of the vehicle;
and the vehicle control unit performs logic judgment in real time by combining ultrasonic radar data and vehicle data according to the identification of the 4D millimeter wave radar, and gives out warning and driving suggestions according to a judgment result.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620296A (en) * | 2023-05-18 | 2023-08-22 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116620296A (en) * | 2023-05-18 | 2023-08-22 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN116620296B (en) * | 2023-05-18 | 2024-03-12 | 中公高远(北京)汽车检测技术有限公司 | Danger avoiding method and system for intelligent automobile |
| CN117087675A (en) * | 2023-10-10 | 2023-11-21 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
| CN117087675B (en) * | 2023-10-10 | 2024-04-12 | 镁佳(北京)科技有限公司 | Method, device, equipment and medium for detecting vehicle trafficability |
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