CN116424322A - Vehicle control method, control device, vehicle and storage medium - Google Patents
Vehicle control method, control device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a vehicle control method, a control device, a vehicle and a storage medium, wherein the vehicle control method comprises the following steps: acquiring the distance, the speed, the relative lane position and the vehicle size of a vehicle in front of a lane; identifying whether a vehicle exists in front of a left lane and a right lane, and acquiring the size and the speed of the vehicle with the vehicle; identifying whether a vehicle exists behind the left lane and the right lane, and acquiring the distance and the speed of the existing vehicle; acquiring the transverse distance between the vehicle and the vehicle on the left lane and the right lane; and controlling the vehicle to overtake according to the acquired distance, the vehicle speed, the relative lane position, the vehicle type and the vehicle size of the vehicle in front of the own lane, the vehicle size and the vehicle speed of the vehicle in front of the left lane and the right lane, the distance and the vehicle speed of the vehicle in back of the left lane and the right lane and the transverse distance between the own vehicle and the vehicle on the left lane and the right lane. According to the invention, the vehicle size and the vehicle speed of lanes at two sides are considered in the overtaking process, the central running position of the vehicle is controlled, unsafe factors can be reduced, and the driving safety is improved.
Description
Technical Field
The invention relates to the field of intelligent driving of automobiles, in particular to an intelligent driving lane and position control system.
Background
In recent years, along with the gradual improvement of intelligent driving grade, the road condition and the function of automatic driving support are gradually expanded, from early constant-speed cruising to self-adaptive cruising to high-level self-adaptive cruising of variable-lane overtaking, the simple self-adaptive cruising only needs to control a vehicle to run in a lane and to follow a front vehicle, the functions and the capabilities of overtaking and lane control are not available, and the self-adaptive cruising under the high-level automatic driving can control the overtaking of the vehicle, the position control of the lane centering and the like according to the comprehensive vehicle condition of the lane, so that the control requirement and the difficulty are greatly increased.
CN110614999a discloses an automatic lane-changing overtaking control method for a vehicle. Firstly, the control method does not support the high-level automatic driving above L4, and the lane-changing overtaking is realized by human assistance; secondly, the logic for judging the state of the vehicle in the target area is too simple, only whether the vehicle exists or not is judged, and the detailed states of the left, right, front and rear vehicles are not judged, so that supportable overtaking working conditions are severely limited; finally, no control of the lane centering state is performed in the overtaking process, and safety is insufficient.
Disclosure of Invention
The invention provides an intelligent driving lane and position control system, which is used for acquiring picture data based on a front high-definition camera, judging the direction, the position and the vehicle size of a vehicle relative to a road, combining left and right forward millimeter wave radars to monitor the relative distance between the vehicle and the vehicle in front and the conditions of the vehicles on two sides, monitoring the conditions of the vehicles coming from the rear of the two sides based on the backward millimeter wave radars on the two sides, judging to switch driving lanes and overtaking according to the setting preference of a driver, controlling the center position of the lane according to the size of the overtaken vehicle in front, the position of the relative lane line and other factors, and improving the actual safety and the safety feeling of the driver.
The invention utilizes the unique sensor combination scheme of the front camera and a plurality of millimeter wave radars, can clearly and redundantly monitor the road conditions of the left, right, front and back sides, has extremely high cost performance, and is a high-level automatic driving scheme capable of mass production. Based on the sensor combination scheme, the following effects can be achieved:
1. the method disclosed by the invention does not need human intervention, and can support high-level automatic driving above L4.
2. In the area where the sensor combination can be accurately identified, the running state of surrounding vehicles can be identified, the vehicle speed of the surrounding vehicles can be correspondingly changed to match with overtaking, rather than prohibiting overtaking when the vehicle is detected, and overtaking can be realized under more vehicle conditions.
3. The vehicle size and the vehicle speed of lanes on two sides are considered in the overtaking process. The wider and bigger the vehicle is, the larger the psychological pressure on the driver of the vehicle is, and the driving of a normal person is slightly far away from the large vehicle, which is a psychological protection; in view of actual safety, the safety risk of exceeding the cart is also high, such as the risk of falling of goods on the cart, and therefore, the distance from the cart needs to be adjusted according to the size of the overtaking cart. The vehicle is controlled to run at the center, unsafe factors can be reduced, and driving safety is improved.
Drawings
FIG. 1 is a system block diagram;
FIG. 2 is a control flow diagram;
1, an intelligent driving controller; 2. a front high definition camera; 3. left and right forward millimeter wave radars; 4. left and right backward millimeter wave radars; 5. ultrasonic radars at two sides; 6. 360 cameras-two-sided cameras; 7. a vehicle speed acquisition device; 8. a motor controller; 9. and a steering controller.
Description of the embodiments
The present invention provides a vehicle control apparatus, as shown in fig. 1, comprising:
the front high-definition camera 2 is used for collecting road data in front of the vehicle;
a left-right forward millimeter wave radar 3 for acquiring road data in the left-right front of the vehicle;
a left-right backward millimeter wave radar 4 for collecting road data of the left-right rear of the vehicle;
the ultrasonic radars 5 on two sides are used for collecting road data on two sides of the vehicle;
the controller 1 controls the vehicle to overtake according to road data collected by the front high-definition camera 2, the left and right forward millimeter wave radar 3, the left and right backward millimeter wave radar 4, the ultrasonic radars 5 on two sides and the 360 cameras 6 on two sides.
The intelligent driving controller 1 is used as a functional core control module, the current driving state is comprehensively judged according to the information of modules such as a visual sensor, millimeter waves, an ultrasonic radar and the like, and the steering machine controller is controlled to execute steering through a CAN (Controller Area Network );
the ADU (intelligent driving area controller 1) collects the picture data of the front high-definition camera 2 through hard wires, analyzes and processes the picture data, judges the distance, the speed and the relative lane position of the front vehicle, and identifies the type and the size of the front vehicle;
the ADU hard line collects data of the left and right forward millimeter wave radar 3, assists in judging the distance and the speed of a front vehicle, and identifies the vehicle conditions on left and right front lanes;
the ADU hard line collects data of the left and right backward millimeter wave radar 4 and judges whether vehicles exist in the backward directions of the left and right lanes and the distance and the speed of the vehicles;
the ADU hard line collects signals of ultrasonic radars 5 on the left side and the right side, judges the transverse distance between the vehicle and the vehicles on the left side and the right side when overtaking, and evaluates the safety state;
the ADU hard line collects cameras 6 on two sides of the 360 cameras, and assists in judging transverse distances between the vehicle and the vehicles on the left side and the right side when overtaking is judged, and safety states are evaluated;
the ADU acquires a wheel speed signal and a vehicle speed signal of an ABS (brake antilock system (Antilock Brake System, ABS) 7 through CAN;
ADU obtains MCU (motor controller (Motor Control Unit, MCU) 8 motor rotation speed through CAN, calculates the speed according to the transmission ratio, and judges the current actual speed from ABS speed signal synthetically.
The threshold curve is determined according to the vehicle speed and the deviation characteristics of two vehicle speed sensors, and is used for judging the correctness of the vehicle speed, and the difference value of the two vehicle speeds is used as a judging condition, so that the difference value of the vehicle speed needs to be properly amplified along with the increase of the vehicle speed, and each threshold value which is increased along with the increase of the vehicle speed is the threshold curve. The first threshold is any point artificially set on the threshold curve.
The invention calculates the speed of the vehicle by combining the wheel speed signal, the speed signal and the motor rotating speed of the ABS, can ensure the accuracy of the speed of the vehicle, improves the speed accuracy and improves the safety of automatic driving.
When the overtaking is needed, the front vehicle condition of the lane, the front vehicle condition of the left lane and the right lane and the rear vehicle condition of the left lane and the right lane are firstly judged according to the sensors, and the type of the front vehicle, whether overtaking is needed and the overtaking direction is needed are comprehensively judged; in the overtaking process, the position of the vehicle relative to the lane line is controlled according to the type of the overtaking vehicle and the transverse distance between the vehicles in the X-axis direction, so that the safety is improved.
The invention also provides a vehicle control method, comprising the following steps:
acquiring the distance, the speed, the relative lane position and the vehicle size of a vehicle in front of a lane;
identifying whether a vehicle exists in front of a left lane and a right lane, and acquiring the size and the speed of the vehicle with the vehicle;
identifying whether a vehicle exists behind the left lane and the right lane, and acquiring the distance and the speed of the existing vehicle;
acquiring the transverse distance between the vehicle and the vehicle on the left lane and the right lane;
and controlling the vehicle to overtake according to the acquired distance, the vehicle speed, the relative lane position, the vehicle type and the vehicle size of the vehicle in front of the own lane, the vehicle size and the vehicle speed of the vehicle in front of the left lane and the right lane, the distance and the vehicle speed of the vehicle in back of the left lane and the right lane and the transverse distance between the own vehicle and the vehicle on the left lane and the right lane.
Referring to fig. 2, the vehicle control method of the present invention specifically comprises the following steps:
s1, when a vehicle normally runs, entering a judging process of an advanced self-adaptive cruise function;
s2, if the advanced self-adaptive cruise function is not triggered, shielding the intelligent driving and steering control function, and ensuring the safety of manual driving;
s3, if the advanced self-adaptive cruise function is triggered, calculating the vehicle speed according to the motor rotating speed and the transmission ratio fed back by the MCU, comprehensively judging the current actual vehicle speed by combining the vehicle speed signal fed back by the ABS, and improving the vehicle speed precision;
s4, judging the front vehicle speed and the vehicle size according to multi-frame data, photographing frequency and vehicle speed of the front Fang Gaoqing camera, and comprehensively judging the front vehicle speed by combining data fed back by the front millimeter wave radar;
the vehicle size mainly considers the vehicle width, and the overtaking process adjusts the vehicle centering state according to the vehicle size.
The method comprises the steps of integrating signals of a front camera and a front millimeter wave radar to calculate the actual width of the vehicle, and if the measured width of the camera and the measured width of the millimeter wave radar are smaller than a first threshold value, considering that the measurement results of the two sensors are reliable, and obtaining the final vehicle width and the final vehicle height by using a weighting coefficient; if the difference between the two measurement results is larger than a first threshold value, adopting the vehicle width and the vehicle height of the previous calculation period; and when the difference between the two measurement results is continuously larger than the first threshold value and the duration is larger than the second threshold value, judging that the sensing is abnormal, and not executing overtaking on two sides of the vehicle.
Regarding the setting of the first threshold value, in one embodiment this may be set: if an object outside 1 meter is measured, the error of the millimeter wave radar is 0.1 meter, the error of the camera is 0.08 meter, and then the first threshold value may be set to 1-0.08=0.02 meter.
Regarding the setting of the first threshold value, in one embodiment this may be set: if an object outside 1 meter is measured, the error of the millimeter wave radar is 0.1 meter, and the error of the camera is 0.08 meter, the second threshold value may be set to be twice the normal error, 2×1-0.08) =0.04 meter.
S5, according to the set target speed, the front speed and the set preference of a driver of the self-adaptive cruise system of the vehicle, judging whether the overtaking requirement exists at present;
s6, if no overtaking requirement is judged, keeping the lane to continue running;
s7, if the overtaking requirement is judged, firstly combining the data of the front high-definition camera and the left and right forward millimeter wave radars to judge whether a vehicle exists in front of the left and right lanes, and the size and the speed of the vehicle; then judging whether an incoming vehicle exists behind lanes on the left side and the right side and judging the speed of the incoming vehicle by utilizing the data of the left and right backward millimeter wave radars;
s8, if no vehicles or distances are far in front of the left lane and the right lane, and no vehicles or vehicles behind the left lane and the right lane are far in a slower distance, and the overtaking requirement is continuously met (generally more than 1 second is taken, less than 3 seconds is taken, the requirement is not frequently met, and the overtaking is not too long), judging that the overtaking requirement is met when three conditions are simultaneously met, otherwise, the overtaking condition is not met; if the overtaking condition is not met, keeping the lane to continue running, and returning to S6;
s9, if the overtaking condition is met, starting to control the vehicle to turn to the corresponding lane direction and starting to accelerate, and entering an accelerating overtaking state;
s10, after entering a new lane, judging the distance between vehicles on two sides in front of the new lane and the lane, controlling the lane centering state of the vehicle according to the size of the vehicle, and if the vehicle in any direction is bigger and is closer to the lane line on the side of me, controlling the vehicle to transversely deviate from the vehicle, and increasing the transverse distance from the vehicle;
s11, judging whether the vehicle is in a overtaking state or not; when the vehicle is not in the overtaking state, the step S12 is entered; when the vehicle is in the overtaking state, the step S13 is entered;
s12, the vehicle keeps the relative position of the current lane to run;
s13, judging the transverse distance between the vehicle and the overtaken vehicle according to the left and right ultrasonic radars, accurately calculating the transverse interval distance by combining the visual assistance of the left and right cameras of the 360 cameras, adjusting the lane centering position at any time, and giving up overtaking at any time if the interval is too small and the like, wherein the safety is a first target; the method comprises the steps that a sensing fusion algorithm is needed to be used, ultrasonic signals of an ultrasonic radar and visual signals of left and right cameras of a 360-degree camera are analyzed and fused, the distance between a target object and the left and right cameras is calculated according to the time interval of ultrasonic transmission and receiving, then image data of the left and right cameras are analyzed and processed, the distance between a vehicle and the left and right vehicles in the image data is calculated according to the ratio of the width of a lane line in the image to the actual width, and the left and right vehicle distances based on the camera signals are obtained by combining a deep learning scale; when the data analysis results of the ultrasonic radar and the camera are smaller than or equal to a third threshold value, judging that the target distance is reliable, and obtaining a final effective vehicle distance according to a certain weight; if the data analysis result of the ultrasonic radar and the camera is larger than the third threshold, judging that the current vehicle distance is not credible, maintaining the fourth threshold for the time by adopting the vehicle distance calculation result of the previous calculation period, and judging that the vehicle distance is abnormal, reporting errors and giving up the overtaking when the time of the calculation result which is not credible always exceeds the fifth threshold.
The sensing fusion algorithm can adopt the following method: and (3) weighting the vehicle distance measured by the ultrasonic radar and the vehicle distance identified by the camera, and obtaining the final vehicle distance according to a weighting algorithm of 50% and 50%.
Regarding the setting of the third threshold, in one embodiment this may be set: if an object other than 1 meter is measured, the error of the millimeter wave radar is 0.1 meter, the error of the camera is 0.08 meter, and the third threshold value may be set to 1-0.08=0.02 meter.
Regarding the setting of the fourth threshold, in one embodiment this may be set: if an object outside 1 meter is measured, the error of the millimeter wave radar is 0.1 meter, and the error of the camera is 0.08 meter, the fourth threshold value may be set to be twice the normal error, 2×1-0.08) =0.04 meter.
Regarding the setting of the fourth threshold, in one embodiment this may be set: and taking 100 times of the larger period of the ultrasonic radar sensor acquisition period and the camera acquisition period as a fifth threshold.
S14, judging whether overtaking is completed or not; if the overtaking is completed, the step S15 is entered; if the overtaking is not completed, returning to the step S13;
s15, after overtaking is finished, the vehicle is restored to be in the central state of the lane, and the vehicle enters a driving state of lane keeping.
The judging method of the formal overtaking state comprises the following steps: when the vehicle head of the vehicle starts to exceed the vehicles on the left side and the right side in front, the vehicle is judged to be in a formal overtaking state in the middle state of vehicle control.
When entering a formal overtaking state, the transverse distance between the vehicle and the overtaking vehicle is judged according to the left and right ultrasonic radars, the transverse interval distance is accurately calculated by combining the visual assistance of the left and right cameras of the 360 cameras, the lane centering position is adjusted at any time, the safety is a first target, and if the conditions of too small interval and the like occur, overtaking is abandoned at any time.
The judging method for whether overtaking is completed is as follows: and when the tail of the vehicle is formally separated from the front part of the overtaking vehicle, judging that the overtaking is completed. After overtaking is submerged, the vehicle is restored to be in the central state of the lane, and enters the driving state of lane keeping.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring the distance, the speed, the relative lane position and the vehicle size of a vehicle in front of a lane;
identifying whether a vehicle exists in front of a left lane and a right lane, and acquiring the size and the speed of the vehicle with the vehicle;
identifying whether a vehicle exists behind the left lane and the right lane, and acquiring the distance and the speed of the existing vehicle;
acquiring the transverse distance between the vehicle and the vehicle on the left lane and the right lane;
and controlling the vehicle to overtake according to the acquired distance, the vehicle speed, the relative lane position, the vehicle type and the vehicle size of the vehicle in front of the own lane, the vehicle size and the vehicle speed of the vehicle in front of the left lane and the right lane, the distance and the vehicle speed of the vehicle in back of the left lane and the right lane and the transverse distance between the own vehicle and the vehicle on the left lane and the right lane.
2. The vehicle control method according to claim 1, characterized by controlling the vehicle to make an overtake, comprising:
according to the size of the front vehicle, the centering state of the vehicle is adjusted;
judging whether a overtaking requirement exists at present;
if the overtaking requirement is judged, judging whether the overtaking requirement is met according to the vehicle size and the vehicle speed of the vehicles in front of the left lane and the right lane and the distance and the vehicle speed of the vehicles behind the left lane and the right lane;
judging whether the overtaking condition is met according to the duration time meeting the overtaking requirement;
if the overtaking condition is met, starting to control the vehicle to enter a formal overtaking state;
when entering a formal overtaking state, the lane centering position is adjusted at any time according to the transverse distance between the vehicle and the overtaken vehicle;
and after overtaking is completed, recovering the vehicle from being in the central state of the lane, and entering the driving state of lane keeping.
3. The vehicle control method according to claim 2, characterized in that the judging method of the formal overtaking state is: when the head of the vehicle starts to exceed the vehicles on the left side and the right side in front, the overtaking state is judged.
4. The vehicle control method according to claim 2, characterized in that the determination method of completion of the overtaking is: and when the tail of the vehicle is formally separated from the front part of the overtaking vehicle, judging that the overtaking is completed.
5. The vehicle control method according to claim 1, characterized in that acquiring a distance of a vehicle in front of the own lane, a vehicle speed, a relative lane position, a vehicle type, and a vehicle size, includes:
acquiring multi-frame data, photographing frequency and vehicle speed of a camera in front of a vehicle;
acquiring signals of a front millimeter wave radar;
and (5) fusing the acquired signals of the front camera and the front millimeter wave radar, and calculating the speed of the front vehicle and the actual width of the front vehicle.
6. The vehicle control method according to claim 5, characterized in that the method of acquiring the own vehicle speed is:
acquiring a wheel speed signal and a vehicle speed signal of the ABS through a CAN;
and acquiring the motor rotating speed of the MCU through the CAN, calculating the vehicle speed according to the transmission ratio, and comprehensively judging the current actual vehicle speed from an ABS vehicle speed signal.
7. The vehicle control method according to claim 1, characterized in that acquiring lateral distances of the host vehicle and the vehicle on the left and right lanes includes:
and analyzing and fusing ultrasonic signals of the ultrasonic radar and visual signals of left and right cameras of the 360 cameras by using a sensing fusion algorithm, calculating the distance of a target object according to the time interval of ultrasonic transmission and reception, analyzing and processing picture data of the left and right cameras, calculating the distance of a vehicle from the left and right vehicles in the picture data according to the ratio of the width of a lane line in the picture to the actual width, and obtaining the left and right vehicle distance based on the camera signals by combining a scale of deep learning.
8. A vehicle control apparatus characterized by comprising:
the front high-definition camera is used for collecting road data in front of the vehicle;
the left and right forward millimeter wave radar is used for collecting road data in the left and right front of the vehicle;
the left-right backward millimeter wave radar is used for collecting road data at the left-right rear of the vehicle;
the ultrasonic radars at two sides are used for collecting road data at two sides of the vehicle;
the cameras at two sides 360 are used for collecting road data at two sides of the vehicle;
the controller is used for controlling the vehicle to overtake by adopting the control method according to the road data acquired by the front high-definition camera, the left and right forward millimeter wave radars, the left and right backward millimeter wave radars, the ultrasonic radars on two sides and the 360 cameras on two sides.
9. A vehicle, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any of claims 1-7.
10. A storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the vehicle control method according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117253301A (en) * | 2023-09-25 | 2023-12-19 | 深圳职业技术大学 | Electric automobile safety supervision system and method based on artificial intelligence |
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