CN116691696A - Driving auxiliary control method based on vehicle millimeter wave radar - Google Patents
Driving auxiliary control method based on vehicle millimeter wave radar Download PDFInfo
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Classifications
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
Abstract
The invention provides a driving auxiliary control method based on a vehicle millimeter wave radar, which comprises an environment sensing layer, a signal processing layer, a control decision layer and a response execution layer; the environment sensing layer is a 77G vehicle millimeter wave radar and is used for sensing external environment information; the signal processing layer identifies and selects information and outputs effective information in the current scene; the control decision layer outputs required acceleration, braking and steering signals according to target object information, vehicle states and the like; and the response execution layer acts on the signals of the control decision layer and feeds back the execution result to the control decision layer. According to the technical scheme, not only can the main target information closest to the vehicle be obtained, but also the auxiliary target information shielded by the main target can be perceived, and after the information of the closest vehicle and the information of the shielded vehicle are fused by the signal processing layer, a decision is made, so that the comprehensive response capability of the driving auxiliary system to the external environment can be improved, an accurate decision can be made in advance, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of driving assistance, in particular to a driving assistance control method based on a vehicle-mounted millimeter wave radar.
Background
The driving assistance is a hot topic in the current automobile field, comprises collision early warning, automatic parking, emergency braking, self-adaptive cruise control and the like, can effectively reduce driving difficulty, reduce the burden of a driver and the occurrence of accidents, and is the standard of the next-generation intelligent vehicle.
The driving auxiliary system mainly acquires the current obstacle information around the vehicle through a sensor (radar or a camera), and determines whether to perform actions such as early warning or acceleration, braking, steering and the like by combining the running state of the vehicle so as to prompt or assist a driver to control the vehicle.
The driving of a vehicle is often limited by one or more vehicles in front, the state of the nearest obstacle from the vehicle, which is acquired by a sensor, is mainly taken as input by the control system at present, consideration of global environment around the vehicle is lacked, and particularly in a high-level driving auxiliary system, if consideration of the state of the blocked vehicle is lacked, actions of overtaking, braking, steering, following and the like determined by a controller are not comprehensive, so that good driving experience is influenced, and even traffic accidents are dangerous.
Disclosure of Invention
A driving auxiliary control method based on a vehicle-mounted millimeter wave radar comprises the following steps: the environment sensing layer, the signal processing layer, the control decision layer and the response execution layer are sequentially connected;
the environment sensing layer is used for sensing the running state of the vehicle around the vehicle, including the distance between the vehicle and the speed; the method is characterized in that: the signal processing layer is used for carrying out internal processing on the transmission signals of the receiving environment sensing layer, and comprises the steps of calculating a current lane and an adjacent lane, screening vehicles in the lanes, and outputting effective target information under the current situation, wherein the effective target information comprises the distance and the speed of a main target from a vehicle in the current lane within a certain distance range, the distance and the speed of an auxiliary target from the vehicle within a certain range, and the target vehicle within a certain range in the adjacent lane, the main target is a vehicle which is positioned in front of the vehicle in the current lane and has the minimum longitudinal distance with the vehicle, and the auxiliary target is a vehicle which is positioned in front of the main target and has the minimum longitudinal distance with the main target; the control decision layer calculates and outputs the information of the driving track and the driving speed required by the vehicle according to the target information output by the signal processing layer, compares and judges whether the information output condition is met according to the parameters such as the following speed, the distance and the like set by a driver, and outputs a control signal under the condition that the information output condition is met; the response execution layer receives the control signals of the control decision layer and then executes the control signals by the brake-by-wire, the accelerator-by-wire and the steering-by-wire to instantly adjust the acceleration, the braking and the steering of the self-vehicle, and the execution results are fed back to the environment sensing layer, the signal processing layer and the control decision layer in real time so as to realize real-time communication between the self-vehicle and each layer.
Preferably, the environment sensing layer comprises a left front millimeter wave radar and a right front millimeter wave radar which are arranged at two ends of a front bumper of the vehicle, a left rear millimeter wave radar and a right rear millimeter wave radar which are arranged at two ends of a rear bumper of the vehicle, and a forward millimeter wave radar which is arranged in the front middle of the vehicle, wherein the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the forward millimeter wave radar comprise a current lane, a front vehicle distance detection module in an adjacent lane and a front vehicle speed detection module;
the signal processing layer comprises a signal receiving module, a signal fusion module and a signal output module which are sequentially and unidirectionally connected, wherein the signal receiving module is in communication connection with a vehicle distance detection module and a vehicle speed detection module in each millimeter wave radar in the environment sensing layer, the signal fusion module screens out main targets and auxiliary targets in a current lane and an adjacent lane according to longitudinal distance data from a plurality of front vehicle detection data, and effective information of the main targets and the auxiliary targets is transmitted to the control decision layer through the signal output module;
the control decision layer comprises an information receiving module, a data calculating module, a data judging module and a data output control module which are sequentially connected in a unidirectional manner, wherein the signal output module in the signal processing layer is in communication connection with the information receiving module in the control decision layer, the data calculating module calculates the track and speed of the vehicle demand according to effective information statistics, standard parameters of the minimum following distance and the maximum following speed are arranged in the data judging module, and a control signal is output through the data output control module under the condition that the track parameter calculated by the data calculating module is larger than the minimum following distance and the speed is smaller than the maximum following speed;
the vehicle information of the self-vehicle is in communication connection with the environment sensing layer, the signal processing layer, the control decision layer and the response execution layer through CAN or CAN-FD, so that the real-time sharing of the vehicle information of the self-vehicle is realized.
Preferably, in the driving assistance control method based on the vehicle millimeter wave radar, the data calculation module comprises a track calculation unit, a speed calculation unit and an acceleration braking steering calculation unit which are connected in a unidirectional manner; the track calculation unit calculates a following track according to effective information of a main target and/or an auxiliary target in a current lane, calculates a overtaking track according to a distance between the main target and/or the auxiliary target in an adjacent lane, calculates a following speed according to a speed of the main target and/or the auxiliary target in the current lane, calculates an overtaking speed according to a speed of the main target and/or the auxiliary target in the adjacent lane, and the acceleration braking and steering calculation unit calculates a lateral acceleration and a longitudinal acceleration according to a speed vector value output by the speed calculation unit.
Preferably, in the driving auxiliary control method based on the vehicle millimeter wave radar, when the speed of the vehicle is calculated under the condition that the auxiliary target exists, the reference weight of the main target and the auxiliary target is 6:4-8:2, preferably 7:3.
Preferably, in the driving assistance control method based on the vehicle millimeter wave radar, the main target in the certain distance range is a vehicle with the minimum distance from the longitudinal direction of the vehicle and the distance is less than 60m, the auxiliary target in the certain distance range is a vehicle with the distance from the longitudinal direction of the vehicle being less than 100m when the main target exists, and if the main target is out of the range, the main target or/and the auxiliary target are considered to be absent.
Preferably, the vehicle-mounted millimeter wave radar-based driving auxiliary control method includes that a left front millimeter wave radar, a right front millimeter wave radar, a left rear millimeter wave radar, a right rear millimeter wave radar and a forward millimeter wave radar in the environment sensing layer all adopt a middle-long distance working mode, the working frequency of the middle-long distance working mode is 76 GHz-77 GHz, and the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the forward millimeter wave radar are all connected with the signal processing layer through radar buses.
Description of the drawings:
the embodiments are further described below with reference to the accompanying drawings, in which:
fig. 1 is a connection diagram of a vehicle-mounted millimeter wave radar-based driving assistance control system according to the present invention;
FIG. 2 is a connection diagram of a data computation module in a control decision layer;
FIG. 3 is a flow chart of an auxiliary control method of a specific embodiment;
FIG. 4 is a schematic diagram of the installation of millimeter wave mines in an environment-aware layer on a host vehicle;
fig. 5 is a schematic diagram of a forward millimeter wave radar perception scenario.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
Specific embodiment case 1:
as shown in fig. 1 to 4, a driving assistance control method based on a vehicle-mounted millimeter wave radar includes: the environment sensing layer, the signal processing layer, the control decision layer and the response execution layer are sequentially connected;
the environment sensing layer comprises a left front millimeter wave radar and a right front millimeter wave radar which are arranged at two ends of a front bumper of the bicycle, and comprises a left rear millimeter wave radar and a right rear millimeter wave radar which are arranged at two ends of a rear bumper of the bicycle, and comprises a front millimeter wave radar which is arranged in the front middle of the bicycle, wherein the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the front millimeter wave radar comprise a current lane, a front vehicle distance detection module in an adjacent lane and a front vehicle speed detection module; all millimeter wave radars are in communication connection with a signal receiving module in the signal processing layer;
the signal processing layer comprises a signal receiving module, a signal fusion module and a signal output module which are sequentially and unidirectionally connected, wherein the signal receiving module is in communication connection with a vehicle distance detection module and a vehicle speed detection module in each millimeter wave radar in the environment sensing layer, the signal fusion module screens out main targets and auxiliary targets in a current lane and an adjacent lane according to distance data from a plurality of front vehicle detection data, and effective information of the main targets and the auxiliary targets is transmitted to the control decision layer through the signal output module;
the control decision layer comprises an information receiving module, a data calculating module, a data judging module and a data output control module which are sequentially connected in a unidirectional manner, wherein the signal output module in the signal processing layer is in communication connection with the information receiving module in the control decision layer, the data calculating module calculates the track and speed of the vehicle demand according to effective information statistics, standard parameters of the minimum following distance and the maximum following speed are arranged in the data judging module, and a control signal is output through the data output control module under the condition that the track parameter calculated by the data calculating module is larger than the minimum following distance and the speed is smaller than the maximum following speed;
the vehicle information of the vehicle is connected with the gateway of the vehicle peripheral system/the vehicle controller through CAN communication (CAN also be through CAN-FD or Ethernet bus), so as to realize real-time sharing of the vehicle information of the vehicle, obtain the vehicle information (such as speed, yaw angle, steering wheel angle, gear information and the like) from the vehicle peripheral system, and send control commands to the vehicle peripheral system.
The control steps are as follows:
s1, an ADAS function is started, and the radar senses external environment information;
s2, after receiving the target, the signal processing layer judges the effectiveness of the target, if the target is an effective target, the signal processing layer carries out the next screening, and if the target is not the effective target, the signal processing layer deletes the target;
s3, carrying out current lane calculation, current lane target screening and adjacent lane target screening;
wherein the current lane calculation input formula is
r=v/Yawrate, R (turning radius, m), yawrate yaw rate (rad/s)
The current lane target screening input is
R width =3.75m (road width)
P tag (X, Y) target point position
P sub (X, Y) vehicle position, x=0, y=0
C_Lane＝Screen(P sub ,P tag ,R width R), C_Lane (Main target of the current Lane)
Adjacent lane target screening input
A_Lane＝Screen(P sub ,P tag ,R width ,R，2R width ，-2R width ) C_Lane (Main target of current Lane)
S4, judging the number of targets: if the current lane is 1 target object, entering a conventional ADAS control program; if the current lane is 2 targets, entering an ADAS control program related to the invention;
s5, the track calculation unit performs track planning of the own vehicle at the current moment according to the relative distance between the own vehicle and the main target and the relative distance between the own vehicle and the auxiliary target and the position relation between the own vehicle and the adjacent lane vehicle;
trajectory calculation input
P init ＝(P sub (X,Y),C-Lane,A_Lane,θ stant ),P init (initial position), θ start (initial heading angle of the host vehicle)
P goad ＝(P sub (X,Y),C-Lane,A_Lane,θ end )，P goad (end position), θ end (host vehicle end course angle)
The speed calculation unit is used for calculating the speed according to the relative speed relation between the vehicle and the main target and the auxiliary target by combining the expected track output by the track calculation unit;
V sub (X, Y) speed of current own vehicle
V goad (X，Y)＝(V sub (X，Y)，P init ，P goad ，C_Lane,A_Lane，)
S6, judging acceleration, deceleration and steering conditions: and (5) according to the track and the speed calculated in the step S5, judging by combining parameters set by the driver of the vehicle, such as the following speed and the distance: outputting a control signal if the condition is satisfied; if not, keeping the current state of the vehicle unchanged;
s7, responding to the control signal received by the execution layer, and performing actions such as steering, braking, acceleration, deceleration and the like;
s8, if the vehicle state reaches the expected state, exiting; if the expected speed is not reached, returning to track and speed calculation.
The information output by the signal processing layer has the following cases:
1) The current lane is not targeted. The front of the vehicle has no target vehicle, and the main target and the auxiliary target are empty at the moment.
2) The current lane has a target. Only one target vehicle is arranged in front of the vehicle, the vehicle is judged to be a main target vehicle, and an auxiliary target is empty.
3) There are two targets in the current lane. The front of the vehicle is provided with two target vehicles, the longitudinal distance of the vehicle is closer to the main target vehicle, and the longitudinal distance of the vehicle is farther to the auxiliary target vehicle.
If the target information received by the control decision layer has a main target and an auxiliary target, if the auxiliary target vehicle has an obvious deceleration trend, and the main target vehicle has no deceleration trend, the control decision layer should stop all acceleration control at the moment; if the system determines that there is a possibility of a rear-end collision with the auxiliary target vehicle, the system provides a certain deceleration request (0.3 times of the normal deceleration request); if the system determines that the host vehicle is in rear-end collision with the host target vehicle, the deceleration request is increased to a normal value (automatic emergency brake is started); if the target information received by the control decision layer has a main target and an auxiliary target, wherein the auxiliary target vehicle has an obvious acceleration trend, and the main target vehicle keeps an original state, at the moment, the control decision layer enters an overtaking auxiliary judging state, and if the system stores enough speed, has enough overtaking distance, and the road conditions of adjacent lanes and the like meet overtaking conditions, overtaking operation is carried out; if there is no overtaking condition, the main target object is continued to be followed.
In order to better illustrate the invention, a scenario based on forward millimeter wave radar is provided.
Scene description: the vehicle runs forward at a certain speed; in the lane, there are two targets, namely a first target and a second target, which are blocked by the first target and both run forward at a certain speed.
Based on the forward scene, the following specific working conditions are set:
1) The first target runs at a constant speed, the second target keeps the same speed as the first target 1, and then the first target suddenly brakes;
2) The first target runs at a constant speed, the second target keeps the same speed as the first target 1, and then the first target runs at an acceleration;
3) The target runs at a constant speed at first, then decelerates suddenly, and the target runs at a constant speed at second;
4) The target starts to travel at a constant speed, then leaves the current lane, and the target keeps traveling at a constant speed;
after the radar obtains the target object information, calculating a current lane and an adjacent lane according to the vehicle information and the target object information; filtering out effective targets of the current lane and adjacent lanes through a target screening algorithm; judging the target, wherein the target closest to the current lane is defined as a main target, and the target closest to the second lane is defined as an auxiliary target; if the collision time (TargetTTC) between the auxiliary target and the main target is smaller than the set threshold value, judging that the current working condition is only the main target. The invention mainly focuses on scenes with main targets and auxiliary targets, so that scenes with only main targets are not discussed.
After the control decision layer receives the target information of the signal processing layer:
1) If the working condition 1 is judged, the decision layer firstly forbids acceleration of the vehicle in the target two deceleration starting stage; when the TargetTTC is smaller than a set threshold, the vehicle is braked by 0.3 times of full-speed braking force, when the target I finds the target II and starts to brake, and the collision time (TTC) between the vehicle and a main target object reaches an Automatic Emergency Brake (AEB) triggering condition, the AEB is activated, and the vehicle is braked automatically.
2) If the working condition 2 is judged, after the second acceleration of the target is started, the decision layer is combined with the current working condition to judge whether the overtaking condition is met, if so, the overtaking auxiliary system is activated at the moment, and if not, the current state is kept continuously.
3) If the working condition 3 is judged, when the decision layer suddenly decelerates at the target, if the current TTC meets the AEB activation condition, the vehicle automatically brakes and activates.
4) If the working condition 4 is judged, when the target is driven away from the current lane, the decision layer accelerates or decelerates according to the vehicle speed and the collision time set by the adaptive cruise (ACC); while the system will continue to perform primary and secondary target screening.
If the front nearest target does not decelerate or accelerate according to the traditional driving auxiliary control method, the collision time (TTC) does not change, the vehicle should keep the current position relation with the front vehicle, but still keeps the position relation with the first target under the condition of emergency braking of the second target, if the driver of the first target does not get in touch with the reaction, the driver of the second target is likely to rear-end the second target, and even if the emergency braking system of the vehicle works, the enough braking distance cannot be ensured, and the driving auxiliary control method based on the millimeter wave radar can discover potential danger earlier and respond accurately, so that the driving safety is improved.
The effective information of the target vehicles in the current lane and the adjacent lanes needs to be considered in the signals of the following, overtaking, lane changing and the like in the traditional driving auxiliary control method, and the target information processing method in the adjacent lanes can refer to the prior art, but the reference vehicles in the current lane in the patent are the main targets and auxiliary targets, the control signals are calculated and output according to the main targets and the auxiliary targets, and the control accuracy in the following, overtaking and lane changing processes can be further improved by considering the scenes more truly and effectively.
The above description of the driving assistance control method based on millimeter wave radar provided by the embodiment of the present invention has been provided in detail, and specific examples are applied to describe the technical solution of the present invention, and the above embodiments are only typical examples of the invention, and are not intended to limit the scope of the present invention, and any changes or modifications that can be considered by those skilled in the art within the technical scope of the present invention should be covered by the scope of the present invention.
Claims (6)
1. A driving auxiliary control method based on a vehicle-mounted millimeter wave radar comprises the following steps: the environment sensing layer, the signal processing layer, the control decision layer and the response execution layer are sequentially connected;
the environment sensing layer is used for sensing the running state of the vehicle around the vehicle, including the distance between the vehicle and the speed; the method is characterized in that: the signal processing layer is used for carrying out internal processing on the transmission signals of the receiving environment sensing layer, and comprises the steps of calculating a current lane and an adjacent lane, screening vehicles in the lanes, and outputting effective target information under the current situation, wherein the effective target information comprises the distance and the speed of a main target from a vehicle in the current lane within a certain distance range, the distance and the speed of an auxiliary target from the vehicle within a certain range, and the target vehicle within a certain range in the adjacent lane, the main target is a vehicle which is positioned in front of the vehicle in the current lane and has the minimum longitudinal distance with the vehicle, and the auxiliary target is a vehicle which is positioned in front of the main target and has the minimum longitudinal distance with the main target; the control decision layer calculates and outputs the information of the driving track and the driving speed required by the vehicle according to the target information output by the signal processing layer, compares and judges whether the information output condition is met according to the parameters such as the following speed, the distance and the like set by a driver, and outputs a control signal under the condition that the information output condition is met; the response execution layer receives the control signals of the control decision layer and then executes the control signals by the brake-by-wire, the accelerator-by-wire and the steering-by-wire to instantly adjust the acceleration, the braking and the steering of the self-vehicle, and the execution results are fed back to the environment sensing layer, the signal processing layer and the control decision layer in real time so as to realize real-time communication between the self-vehicle and each layer.
2. The driving assistance control method based on the vehicle-mounted millimeter wave radar according to claim 1, wherein: the environment sensing layer comprises a left front millimeter wave radar and a right front millimeter wave radar which are arranged at two ends of a front bumper of the bicycle, and comprises a left rear millimeter wave radar and a right rear millimeter wave radar which are arranged at two ends of a rear bumper of the bicycle, and comprises a front millimeter wave radar which is arranged in the front middle of the bicycle, wherein the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the front millimeter wave radar comprise a current lane, a front vehicle distance detection module in an adjacent lane and a front vehicle speed detection module;
the signal processing layer comprises a signal receiving module, a signal fusion module and a signal output module which are sequentially and unidirectionally connected, wherein the signal receiving module is in communication connection with a vehicle distance detection module and a vehicle speed detection module in each millimeter wave radar in the environment sensing layer, the signal fusion module screens out main targets and auxiliary targets in a current lane and an adjacent lane according to longitudinal distance data from a plurality of front vehicle detection data, and effective information of the main targets and the auxiliary targets is transmitted to the control decision layer through the signal output module;
the control decision layer comprises an information receiving module, a data calculating module, a data judging module and a data output control module which are sequentially connected in a unidirectional manner, wherein the signal output module in the signal processing layer is in communication connection with the information receiving module in the control decision layer, the data calculating module calculates the track and speed of the vehicle demand according to effective information statistics, standard parameters of the minimum following distance and the maximum following speed are arranged in the data judging module, and a control signal is output through the data output control module under the condition that the track parameter calculated by the data calculating module is larger than the minimum following distance and the speed is smaller than the maximum following speed;
the vehicle information of the self-vehicle is in communication connection with the environment sensing layer, the signal processing layer, the control decision layer and the response execution layer through CAN or CAN-FD, so that the real-time sharing of the vehicle information of the self-vehicle is realized.
3. The driving assistance control method based on the vehicle-mounted millimeter wave radar according to claim 2, wherein: the data calculation module comprises a track calculation unit, a speed calculation unit and an acceleration braking steering calculation unit which are connected in one way; the track calculation unit calculates a following track according to effective information of a main target and/or an auxiliary target in a current lane, calculates a overtaking track according to a distance between the main target and/or the auxiliary target in an adjacent lane, calculates a following speed according to a speed of the main target and/or the auxiliary target in the current lane, calculates an overtaking speed according to a speed of the main target and/or the auxiliary target in the adjacent lane, and the acceleration braking and steering calculation unit calculates a lateral acceleration and a longitudinal acceleration according to a speed vector value output by the speed calculation unit.
4. The driving assistance control method based on the vehicle-mounted millimeter wave radar as claimed in claim 3, wherein: when the speed of the vehicle is calculated in the presence of the auxiliary target, the reference weight of the main target and the auxiliary target is 6:4-8:2, preferably 7:3.
5. The driving assistance control method based on the vehicle-mounted millimeter wave radar according to claim 1, wherein: the main target in the certain distance range is a vehicle with the minimum longitudinal distance from the own vehicle and the distance is smaller than 60m, the auxiliary target in the certain distance range is a vehicle with the longitudinal distance from the own vehicle being smaller than 100m when the main target exists, and if the auxiliary target is out of the range, no main target or/and no auxiliary target are considered.
6. The driving assistance control method based on the vehicle-mounted millimeter wave radar according to claim 2, wherein: the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the forward millimeter wave radar in the environment sensing layer all adopt a middle-long distance working mode, the working frequency of the middle-long distance working mode is 76 GHz-77 GHz, and the left front millimeter wave radar, the right front millimeter wave radar, the left rear millimeter wave radar, the right rear millimeter wave radar and the forward millimeter wave radar are all connected with the signal processing layer through radar buses.
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| CN202310691304.6A Pending CN116691696A (en) | 2023-06-12 | 2023-06-12 | Driving auxiliary control method based on vehicle millimeter wave radar |
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| Country | Link |
|---|---|
| CN (1) | CN116691696A (en) |
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2023
- 2023-06-12 CN CN202310691304.6A patent/CN116691696A/en active Pending
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