CN116985796A - Vehicle control method, device, electronic equipment and storage medium - Google Patents

Vehicle control method, device, electronic equipment and storage medium Download PDF

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Publication number
CN116985796A
CN116985796A CN202310986471.3A CN202310986471A CN116985796A CN 116985796 A CN116985796 A CN 116985796A CN 202310986471 A CN202310986471 A CN 202310986471A CN 116985796 A CN116985796 A CN 116985796A
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China
Prior art keywords
value
vehicle
current
observation
lane
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Inventor
潘健
杨首辰
郝值
孙中辉
王阳
曹海强
王静怡
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FAW Jiefang Automotive Co Ltd
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FAW Jiefang Automotive Co Ltd
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Priority to CN202310986471.3A priority Critical patent/CN116985796A/en
Publication of CN116985796A publication Critical patent/CN116985796A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks

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

Abstract

The invention discloses a vehicle control method, a vehicle control device, electronic equipment and a storage medium. The method comprises the following steps: acquiring an observed value of a visual driving parameter at the current moment under the expected track by taking the center line of a lane line; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment; calculating a predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment; filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value; and calculating the current steering wheel angle control quantity according to the updated observed value, and controlling the current vehicle to run along the current lane in a centering manner according to the current steering wheel angle control quantity. The technical scheme of the embodiment of the invention improves the accuracy and reliability of lane centering control and the stability of an automatic driving vehicle.

Description

Vehicle control method, device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a vehicle control method, a device, an electronic apparatus, and a storage medium.
Background
With the development of automatic driving technology, the application of lane centering control of vehicles by automatic driving is becoming more and more widespread.
The prior art mainly controls an automatic driving vehicle to run in the middle of a lane based on data acquired by a camera.
However, it is difficult to ensure accuracy, reliability, and stability of the automated driving vehicle for lane centering control.
Disclosure of Invention
The invention provides a vehicle control method, a device, electronic equipment and a storage medium, which improve the accuracy of a vehicle in the lane centering control process and the stability of an automatic driving vehicle.
According to an aspect of the present invention, there is provided a vehicle control method including:
acquiring an observed value of a visual driving parameter at the current moment under the expected track by taking the center line of a lane line; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment;
calculating a predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment;
filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value;
and calculating the current steering wheel angle control quantity according to the updated observed value, and controlling the current vehicle to run along the current lane in the middle according to the current steering wheel angle control quantity.
According to another aspect of the present invention, there is provided a vehicle control apparatus including:
The observation value acquisition module is used for acquiring an observation value of a visual driving parameter at the current moment under the expected track by taking the center line of the lane line; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment;
the predicted value calculation module is used for calculating the predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment;
the observation value updating module is used for filtering the observation value and the predicted value to obtain a filtering result and updating the observation value;
and the current vehicle control module is used for calculating the current steering wheel angle control quantity according to the updated observed value and controlling the current vehicle to run along the current lane in the middle according to the current steering wheel angle control quantity.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle control method according to any one of the embodiments of the present invention.
According to the technical scheme, the observation value of the visual driving parameter at the current moment under the expected track is obtained by taking the center line of the lane line, wherein the driving parameter is obtained by real-time acquisition and fitting through the vehicle-mounted image acquisition equipment, and the prediction value of the visual driving parameter at the next moment is calculated according to the observation value of the visual driving parameter at the current moment; filtering the observed value and the predicted value to obtain a filtering result, updating the observed value, calculating the current steering wheel angle control quantity according to the updated observed value, controlling the current vehicle to run along the current lane in the middle according to the current steering wheel angle control quantity, solving the problems that the accuracy and the reliability of lane centering control and the stability of the automatic driving vehicle are difficult to ensure, and improving the accuracy and the reliability of the lane centering control and the stability of the automatic driving vehicle.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a vehicle control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of an electronic device implementing a vehicle control method of an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. The embodiment of the invention can be applied to the situation of controlling the vehicle, the method can be executed by a vehicle control device, the vehicle control device can be realized in the form of hardware and/or software, and the vehicle control device can be configured in an electronic device carrying vehicle control functions.
Referring to the vehicle control method shown in fig. 1, it includes:
s110, acquiring an observed value of a visual driving parameter at the current moment under the expected track by taking a lane center line; the visual driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment.
Taking the lane center line as the expected trajectory, it can be understood that the vehicle is traveling centered. The visual driving parameter may be a driving parameter of a lane center line. The visual driving parameters may be used to control the vehicle to drive centrally. The visual driving parameters can be obtained through real-time acquisition and fitting of the vehicle-mounted image acquisition equipment. The vehicle-mounted image acquisition device can be a vehicle-mounted camera. Optionally, the vehicle-mounted image acquisition device acquires the fitted lane center line in real time and can be a cubic polynomial. For example, at a front x position of the vehicle, the point coordinates of the lane center line may be expressed as (x, C 0 +C 1 *x+C 2 *x 2 +C 3 *x 3 ) Wherein C 0 、C 1 、C 2 And C 3 C is the observed value of the visual driving parameter 0 The degree of deviation of the lane line from the vehicle-mounted image acquisition device along the vertical direction of the vehicle; c (C) 1 The degree of deviation of the lane line relative to the vehicle; c (C) 2 Is the curvature of the lane line; c (C) 3 Is the lane line curvature change rate. Accordingly, the visual driving parameter may include at least one of a degree of deviation of the lane line from the in-vehicle image capturing apparatus in a direction perpendicular to the vehicle, a degree of deviation of the lane line from the vehicle, a lane line curvature, and a lane line curvature change rate. The degree of deviation of the lane line from the vehicle-mounted image capturing device along the vehicle-oriented vertical direction may include a deviation distance of the lane line from the vehicle-mounted image capturing device along the vehicle-oriented vertical direction or a deviation angle of the lane line from the vehicle-mounted image capturing device along the vehicle-oriented vertical direction. The degree of departure of the lane line from the vehicle may include a departure distance of the lane line from the vehicle or a direction angle of the lane line from the vehicle. The observed value of the visual driving parameter may be a real-time acquisition value of the visual driving parameter.
Specifically, the observation value of the visual driving parameter at the current moment under the expected track, which is obtained by real-time acquisition and fitting of the vehicle-mounted image acquisition equipment, can be obtained.
S120, calculating a predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment.
Specifically, the offset between the predicted value and the observed value may be calculated based on a time difference between the next time and the current time, the running speed of the current vehicle, and/or the running direction of the current vehicle. And summing the observed value of the visual driving parameter at the current moment and the offset, and calculating the predicted value of the visual driving parameter at the next moment.
By way of example, the visual driving parameters may include a degree of deviation of the lane line from the in-vehicle image capturing apparatus in a direction perpendicular to the vehicle, a degree of deviation of the lane line from the vehicle, a lane line curvature, and a lane line curvature change rate.
The following formula may be used to calculate the predicted value of the lane-line curvature change rate at the next time:
C 3pre ＝C 3 ；
wherein C is 3pre The predicted value of the curvature change rate of the lane line at the next moment; c (C) 3 Is the observed value of the curvature change rate of the lane line at the current moment.
The following formula may be used to calculate the predicted value of lane line curvature at the next time:
C 2pre ＝C 2 +θ 3 dx·C 3pre ；
wherein C is 2pre The predicted value of the curvature of the lane line at the next moment; c (C) 2 The observation value is the observation value of the curvature of the lane line at the current moment; θ 3 Is a proportionality coefficient; dx is the distance that the vehicle advances between the next moment and the current moment; c (C) 3pre Is the predicted value of the curvature change rate of the lane line at the next moment.
The predicted value of the degree of deviation of the lane line with respect to the vehicle at the next time may be calculated using the following formula:
C 1pre ＝C 1 +θ 2 dx·C 2pre +θ 3 dx 2 ·C 3pre ；
wherein C is 1pre A predicted value of the degree of deviation of the lane line with respect to the vehicle at the next time; c (C) 1 An observation value of the degree of deviation of the lane line relative to the vehicle at the current time; c (C) 2pre The predicted value of the curvature of the lane line at the next moment; θ 2 And theta 3 Is a proportionality coefficient; dx is the distance that the vehicle advances between the next moment and the current moment; c (C) 3pre Is the predicted value of the curvature change rate of the lane line at the next moment.
The following formula may be adopted to calculate a predicted value of the degree of deviation of the lane line at the next time from the in-vehicle image capturing apparatus along the vehicle toward the vertical direction:
C 0pre ＝C 0 +θ 1 dx·C 1pre +θ 2 dx 2 ·C 2pre +θ 3 dx 3 ·C 3pre ；
wherein C is 0pre The predicted value of the deviation degree of the lane line and the vehicle-mounted image acquisition equipment at the next moment along the vertical direction of the vehicle; c (C) 0 The method comprises the steps that the observation value of the deviation degree of a lane line at the current moment and the vehicle-mounted image acquisition equipment along the vertical direction of the vehicle is obtained; c (C) 1pre A predicted value of the degree of deviation of the lane line with respect to the vehicle at the next time; c (C) 2pre The predicted value of the curvature of the lane line at the next moment; θ 1 、θ 2 And theta 3 Is a proportionality coefficient; dx is the distance that the vehicle advances between the next moment and the current moment; c (C) 3pre Is the predicted value of the curvature change rate of the lane line at the next moment.
S130, filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value.
Specifically, the observed value and the predicted value may be subjected to kalman filtering or wiener filtering to obtain a filtering result, and the observed value is updated.
And S140, calculating the current steering wheel angle control quantity according to the updated observation value, and controlling the current vehicle to run along the lane center line according to the current steering wheel angle control quantity.
The current steering wheel angle control amount may be a steering wheel angle required to control the current vehicle to travel along the lane center line.
Specifically, the pre-aiming error can be calculated according to the updated observed value, and the current steering wheel angle control quantity can be calculated according to the pre-aiming error and the vehicle kinematics relation. And calculating the difference between the current steering wheel angle control quantity and the current steering wheel actual angle, inputting the difference between the steering wheel angles to a PID controller of the vehicle, and performing closed-loop control on the steering wheel angle by using the PID controller so as to control the current vehicle to run along the lane center line.
By way of example, the following steps may be taken to effect centering control of the current vehicle:
s141, determining a pre-aiming distance according to the curvature of the lane and the speed of the vehicle. Wherein, the pretightening distance increases in proportion to the increase of the vehicle speed and decreases in inverse proportion to the increase of the road curvature. Alternatively, the preset value of the pretightening distance can also be obtained by calibrating the current vehicle.
S142, calculating a pre-aiming error by adopting the following formula:
wherein error is a pretightening error; c (C) 0 、C 1 、C 2 And C 3 The observed value of the vision running parameter at the updated current moment; wherein C is 0 The method comprises the steps that the observation value of the deviation degree of a lane line at the current moment and the vehicle-mounted image acquisition equipment along the vertical direction of the vehicle is obtained; c (C) 1 An observation value of the degree of deviation of the lane line relative to the vehicle at the current time; c (C) 2 The observation value is the observation value of the curvature of the lane line at the current moment; c (C) 3 The method is an observed value of the curvature change rate of the lane line at the current moment; x is X pre Is the pretarget distance.
S143, calculating the current steering wheel angle control quantity according to the pre-aiming error and the vehicle kinematics relation by adopting the following formula:
wherein error is a pretightening error; v 0 Is the transverse vehicle speed; v is the longitudinal vehicle speed; a is the desired lateral acceleration; x is X pre Is the pretarget distance; SWA is the current steering wheel angle control amount; i is the steering gear ratio; l is the wheelbase.
Step S144, the difference between the current steering wheel angle control quantity and the current steering wheel actual angle can be input into a PID (Process Identifier ) controller, the steering wheel angle is controlled in a closed loop mode by utilizing the PID controller, and optionally, the PID controller parameters can be obtained through calibrating the current vehicle.
According to the technical scheme, the observation value of the visual driving parameter at the current moment under the expected track is obtained, wherein the driving parameter is obtained through real-time acquisition and fitting by the vehicle-mounted image acquisition equipment, and the prediction value of the visual driving parameter at the next moment is calculated according to the observation value of the visual driving parameter at the current moment; filtering the observed value and the predicted value to obtain a filtering result, updating the observed value, calculating the current steering wheel angle control quantity according to the updated observed value, controlling the current vehicle to run along the center line of the lane according to the current steering wheel angle control quantity, and improving the accuracy, the reliability and the stability of the automatic driving vehicle of the lane centering control compared with the method of directly controlling the vehicle to run in the center according to the visual driving parameters, wherein the observed value of the visual driving parameters at the current moment and the predicted value of the visual driving parameters at the next moment are filtered, the observed value is updated, and the current vehicle is controlled to run in the center according to the updated observed value, so that the problems of inaccurate observed value, difficult guarantee of the accuracy and the reliability of the lane centering control and the stability of the automatic driving vehicle are avoided.
In an alternative embodiment of the present invention, obtaining an observed value of a visual driving parameter at a current time under an expected track with a lane line center line includes: obtaining observation values of visual driving parameters of a vehicle relative to two lane lines of a current lane at the current moment and observation accurate information of the two lane lines; when the observed accurate information of the two lane lines is larger than or equal to a preset observed accurate information threshold value, calculating the average value of the observed values of the visual driving parameters of the two lane lines to obtain the observed value of the visual driving parameters at the current moment under the expected track by taking the line in the lane lines.
The current lane comprises two lane lines, which can be understood as that the current lane has corresponding lane lines on the left side and the right side of the current vehicle. The observation accuracy information may be information of the accuracy degree of the observation value of the visual driving parameter of the single lane line by the vehicle-mounted image acquisition apparatus. Two lane lines of the current lane are provided with corresponding accurate observation information. Alternatively, the observed accurate information may be a numerical value or a letter. Different values or letters, from low to high, represent different degrees of accuracy, respectively. The preset observation accurate information threshold may be a minimum value of the preset observation accurate information. The preset observation accurate information threshold value can be set and adjusted according to the experience of a technician.
Specifically, the observation values of the visual driving parameters of the vehicle relative to the two lane lines of the current lane at the current moment and the observation accurate information corresponding to the two lane lines can be obtained. And comparing each piece of observation accurate information with a preset observation accurate information threshold value, and calculating the average value of the observation values of the visual driving parameters of the two lane lines when the observation accurate information of the two lane lines is larger than or equal to the preset observation accurate information threshold value to obtain the observation value of the visual driving parameters of the current moment under the expected track by taking the center line of the lane line.
By way of example, the observation accuracy information may include 0, 1, 2, 3, and 4. It is understood that the accuracy of the observed values is from small to large, corresponding to 0, 1, 2, 3 and 4, respectively. The preset observation accuracy information threshold may be 2. The observation values of the visual driving parameters of the vehicle relative to the two lane lines of the current lane at the current moment and the observation accurate information corresponding to the two lane lines can be obtained. If the observation accuracy information corresponding to the two lane lines is more than or equal to 2, the average value of the observation values of the visual driving parameters of the two lane lines can be calculated, and the observation value of the visual driving parameters at the current moment under the expected track by taking the line in the lane lines is obtained.
The scheme realizes the preliminary detection of the accuracy of the observed value of the visual driving parameter, ensures the accuracy of the observed value of the visual driving parameter, and further improves the accuracy, reliability and stability of the automatic driving vehicle in lane centering control.
In an alternative embodiment of the invention, the method further comprises: when any one of the observation accurate information of the two lane lines is smaller than a preset observation accurate information threshold value, acquiring an observation value of the visual driving parameter at the previous moment, and determining the observation value as the observation value of the visual driving parameter at the current moment.
Specifically, when any one of the observation accurate information of the two lane lines is smaller than a preset observation accurate information threshold value, an observation value of the visual driving parameter at the previous moment can be obtained. And determining the observed value of the visual driving parameter at the previous moment as the observed value of the visual driving parameter at the current moment.
Referring to the above example, if any one of the observation accuracy information corresponding to the two lane lines is smaller than 2, the observed value of the visual driving parameter at the previous time is obtained. And determining the observed value of the visual driving parameter at the previous moment as the observed value of the visual driving parameter at the current moment.
The scheme improves the fault tolerance of vehicle control, avoids adopting the observation value of the visual driving parameter with lower accuracy, carries out lane centering control on the vehicle, and ensures the accuracy, reliability and stability of automatic driving vehicle of the lane centering control.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention. On the basis of the embodiment, the embodiment of the invention filters the observed value and the predicted value to obtain a filtering result, and updates the observed value to obtain a first historical driving track generated by the current vehicle based on positioning; acquiring a second historical driving track of the current vehicle generated based on the vehicle-mounted image acquisition equipment; calculating the maximum value of the transverse position deviation of the first historical driving track and the second historical driving track at the same longitudinal position; when the maximum value of the transverse position deviation is smaller than or equal to a first set threshold value, filtering is carried out on the observed value and the predicted value to obtain a filtering result, the observed value is updated, the accuracy of the vehicle-mounted image acquisition equipment is detected in advance, the accuracy of the updated observed value is further ensured, and the accuracy and the reliability of lane centering control and the stability of an automatic driving vehicle are further improved. In the embodiments of the present invention, the descriptions of other embodiments may be referred to in the portions not described in detail.
Referring to the vehicle control method shown in fig. 2, it includes:
s210, acquiring an observed value of a visual driving parameter at the current moment under the expected track by taking a lane center line; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment.
S220, calculating a predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment.
S230, acquiring a first historical driving track generated by the current vehicle based on positioning.
The first historical travel track may be a travel track generated from positioning information of the current vehicle over a historical period of time. The data source of the first historical driving track information is positioning information. Optionally, positioning information of the vehicle positioning system in a historical time period may be recorded during the running process of the current vehicle, and the first historical running track may be generated according to the positioning information.
Specifically, a first historical travel track generated by the current vehicle based on the positioning may be obtained.
S240, acquiring a second historical driving track of the current vehicle generated based on the vehicle-mounted image acquisition equipment.
The second historical driving track can be a driving track generated by fitting the video data acquired by the vehicle-mounted image acquisition device of the current vehicle in the historical time period. The data source of the second historical driving track is video data of the vehicle-mounted image acquisition equipment. The first historical driving track and the second historical driving track are in the same time period and are both historical time periods. However, the data sources corresponding to the first historical travel track and the second historical travel track are different. The first historical travel track is generated based on positioning, and the second historical travel track is generated based on the in-vehicle image acquisition device.
Specifically, a second historical travel track of the current vehicle generated based on the vehicle-mounted image acquisition device may be acquired.
S250, calculating the maximum value of the transverse position deviation of the first historical driving track and the second historical driving track at the same longitudinal position.
The lateral position deviation may be used to characterize a difference between lateral positions at the same longitudinal position between the first historical travel track and the second historical travel track. The maximum value of the lateral position deviation may be used to characterize the degree of difference between the first historical travel track and the second historical travel track.
Specifically, the difference between the lateral positions of the first historical driving track and the second historical driving track at the same longitudinal positions may be calculated, so as to obtain the lateral position deviation of the first historical driving track and the second historical driving track at the same longitudinal positions. The lateral position deviations are compared to determine a maximum value of the lateral position deviations.
And S260, when the maximum value of the transverse position deviation is smaller than or equal to a first set threshold value, filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value.
The first set threshold may be a preset lower limit value of the lateral position deviation. The first set threshold may be used to detect the accuracy of the in-vehicle image capturing device. The maximum value of the transverse position deviation is smaller than or equal to the first set threshold value, which can be understood as that the accuracy of detecting the data source of the vehicle-mounted image acquisition equipment is higher through the positioned data source, and the correction can be performed in a filtering mode.
Specifically, when the maximum value of the lateral position deviation is smaller than or equal to the first set threshold value, the observed value and the predicted value may be subjected to kalman filtering or wiener filtering to obtain a filtering result, and the observed value is updated to be the filtering result.
S270, calculating the current steering wheel angle control quantity according to the updated observation value, and controlling the current vehicle to run along the lane center line according to the current steering wheel angle control quantity.
According to the technical scheme, the observation value of the visual driving parameter at the current moment under the expected track is obtained through acquiring and fitting the visual driving parameter by the vehicle-mounted image acquisition device, the prediction value of the visual driving parameter at the next moment is calculated according to the observation value of the visual driving parameter at the current moment, the first historical driving track generated by the current vehicle based on positioning is obtained, the second historical driving track generated by the vehicle-mounted image acquisition device is obtained by the current vehicle, the maximum value of the transverse position deviation of the first historical driving track and the second historical driving track at the same longitudinal position is calculated, when the maximum value of the transverse position deviation is smaller than or equal to a first set threshold value, the observation value and the prediction value are filtered, the filtering result is obtained, the observation value is updated, the current steering wheel corner control quantity is calculated according to the updated observation value, the current steering wheel corner control quantity is controlled to drive along the track, the vehicle-mounted image acquisition device is subjected to the pre-detection of the maximum value of the transverse position deviation by the more accurate positioning data source, the vehicle-mounted image acquisition device is updated only through filtering under the condition that the accuracy of the vehicle-mounted image acquisition device is met, the accuracy of the vehicle-mounted image acquisition device is further guaranteed, the accuracy of the vehicle-mounted image acquisition device is further improved, and the vehicle-mounted vehicle driving stability is further improved, and the accuracy is further improved.
In an alternative embodiment of the invention, the method further comprises: when the maximum value of the transverse position deviation is larger than a first set threshold value and smaller than or equal to a second set threshold value, fitting the first historical driving track to obtain a first observed value of the visual driving parameter of the corresponding historical time period; fitting the second historical driving track to obtain a second observed value of the visual driving parameter of the corresponding historical time period; calculating a difference between the first observation and the second observation; correcting the observed value of the visual driving parameter at the current moment and the predicted value of the visual driving parameter at the next moment according to the difference value; and filtering the corrected observation value and predicted value to obtain a filtering result, and updating the observation value.
The maximum value of the lateral position deviation is greater than the first set threshold value and less than or equal to the second set threshold value, which can be understood that the vehicle-mounted image acquisition device may have a fault, but may continue to be used after correction. The first observed value may be an observed value corresponding to a historical time period obtained by fitting the first historical driving track. The second observed value may be an observed value corresponding to a historical time period obtained by fitting the second historical driving track. The first observation value and the second observation value are observation values obtained by fitting the historical driving track. However, the historical travel track on which the first observation value and the second observation value are based is different. The difference between the first observation value and the second observation value is understood as the difference between the observation value determined on the basis of the located data source and the observation value determined on the basis of the data source of the in-vehicle image acquisition device, i.e. the deviation between the located data source and the data source based on the in-vehicle image acquisition device. Compared with the vehicle-mounted image acquisition equipment, the positioning accuracy is higher, and the observed value of the visual driving parameter at the current moment and the predicted value of the visual driving parameter at the next moment are corrected through the difference value, so that the correction of the data source with lower accuracy by using the data source with higher accuracy can be understood.
Specifically, when the maximum value of the lateral position deviation is greater than the first set threshold and less than or equal to the second set threshold, a third-order polynomial fitting mode may be adopted to fit the first historical driving track, so as to obtain a first observed value of the visual driving parameter in the corresponding historical time period. And fitting the second historical driving track by adopting a cubic polynomial fitting mode to obtain a second observed value of the visual driving parameter of the corresponding historical time period. The difference between the first observed value and the second observed value can be calculated, and the observed value of the visual driving parameter at the current moment and the predicted value of the visual driving parameter at the next moment are corrected according to the difference. The corrected observation value and predicted value can be filtered to obtain a filtering result, and the observation value is updated.
According to the scheme, the positioning source of the vehicle-mounted image acquisition equipment with lower accuracy is corrected through the data source with higher accuracy, the observation value and the predicted value are filtered to obtain a filtering result, the observation value is updated, deviation correction and filtering updating of the vehicle-mounted image acquisition equipment are realized, and the accuracy and reliability of lane centering control and the stability of an automatic driving vehicle are further improved.
In an alternative embodiment of the invention, the method further comprises: when the maximum value of the transverse position deviation is larger than a second set threshold value, controlling the current vehicle to run at a constant speed, and sending out alarm information to prompt a driving user to take over the current vehicle.
The second set threshold may be an upper limit value of a lateral position deviation set in advance. The second set threshold may be used to detect the accuracy of the in-vehicle image capturing device. The first set threshold is less than the second set threshold. It is understood that the accuracy of the in-vehicle image capturing apparatus corresponding to the first set threshold value is lower than the accuracy of the in-vehicle image capturing apparatus corresponding to the first set threshold value. The maximum value of the transverse position deviation is larger than the second set threshold value, and it can be understood that the accuracy of the data source of the vehicle-mounted image acquisition equipment is lower (for example, or the vehicle-mounted image acquisition equipment fails) through the positioned data source, the correction is performed in a filtering mode, the running safety of the vehicle is difficult to be ensured, and a driving user is required to take over the current vehicle. The alert information may be used to prompt the driving user to take over the current vehicle. For example, the alert information may include an audible and visual alarm and/or an alert from seat vibration.
Specifically, when the maximum value of the lateral position deviation is greater than the second set threshold, the current vehicle can be controlled to run at a constant speed, and alarm information is sent out to prompt the driving user to take over the current vehicle.
According to the scheme, the vehicle error centering control is avoided under the condition that the accuracy of the vehicle-mounted image acquisition equipment is low, the running danger of the automatic driving vehicle is reduced, the accuracy and the reliability of the lane centering control are further ensured, and the running safety of the automatic driving vehicle is further improved.
In an alternative embodiment of the invention, the method further comprises: and when detecting that the time length for sending the alarm information is greater than or equal to the first preset time length and the driving user still does not take over the current vehicle, controlling the current vehicle to decelerate and stop.
The first preset duration may be a detection duration of preset alarm information.
Specifically, when the duration of sending the alarm information is detected to be greater than or equal to the first preset duration and the driving user still does not take over the current vehicle, the current vehicle can be controlled to be decelerated and stopped.
The scheme further improves the running safety of the automatic driving vehicle.
Optionally, a main controller of the existing automatic driving assistance system is configured in the vehicle-mounted image acquisition device, such as a front-view camera integrated machine. When the vehicle-mounted image acquisition equipment breaks down, the necessary main controller is lack for safety control, and the redundant controller can be lower in cost and calculation force compared with the main controller in the vehicle-mounted image acquisition equipment. Alternatively, a degradation of functionality may be performed when the redundant controller detects a failure of the primary controller. Alternatively, the functional degradation may be divided into three levels. The first stage can be to send out audible and visual alarm to remind the driving user to take over, keep the steering wheel corner to be 0 degree simultaneously, the vehicle is at uniform velocity to travel. If the driving user does not take over for more than 2 seconds, the second-stage function degradation is entered, the seat vibration alarm is increased to remind the driving user, meanwhile, the steering wheel angle is kept to be 0 degree, the vehicle runs at a reduced speed, and the double flashing lamps are started. If the driving user does not take over for more than 4 seconds, the third-stage function degradation is entered, the sound-light alarm and seat vibration alarm intensity is improved, meanwhile, the steering wheel angle is kept to be 0 degree, the vehicle is decelerated to stop at a higher deceleration, and the double flashing lamps are started.
The scheme reduces the risk when the main controller of the vehicle-mounted image acquisition equipment fails, can effectively remind a driving user, executes a degradation strategy and improves the safety.
Example III
Fig. 3 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present invention. The embodiment of the invention is applicable to the situation of controlling the vehicle, the device can execute the vehicle control method, the device can be realized in the form of hardware and/or software, and the device can be configured in the electronic equipment carrying the vehicle control function.
Referring to the vehicle control apparatus shown in fig. 3, comprising: the system comprises an observation value acquisition module 310, a predicted value calculation module 320, an observation value update module 330 and a current vehicle control module 340, wherein the observation value acquisition module 310 is used for acquiring an observation value of a visual driving parameter taking a lane center line as a current moment under an expected track; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment; a predicted value calculation module 320, configured to calculate a predicted value of the visual driving parameter at the next time according to the observed value of the visual driving parameter at the current time; the observation value updating module 330 is configured to filter the observation value and the predicted value to obtain a filtering result, and update the observation value; the current vehicle control module 340 is configured to calculate a current steering wheel angle control amount according to the updated observed value, and control the current vehicle to travel along the lane center line according to the current steering wheel angle control amount.
According to the technical scheme, the observation value of the visual driving parameter at the current moment under the expected track is obtained, wherein the driving parameter is obtained through real-time acquisition and fitting by the vehicle-mounted image acquisition equipment, and the prediction value of the visual driving parameter at the next moment is calculated according to the observation value of the visual driving parameter at the current moment; filtering the observed value and the predicted value to obtain a filtering result, updating the observed value, calculating the current steering wheel angle control quantity according to the updated observed value, controlling the current vehicle to run along the center line of the lane according to the current steering wheel angle control quantity, and improving the accuracy, the reliability and the stability of the automatic driving vehicle of the lane centering control compared with the method of directly controlling the vehicle to run in the center according to the visual driving parameters, wherein the observed value of the visual driving parameters at the current moment and the predicted value of the visual driving parameters at the next moment are filtered, the observed value is updated, and the current vehicle is controlled to run in the center according to the updated observed value, so that the problems of inaccurate observed value, difficult guarantee of the accuracy and the reliability of the lane centering control and the stability of the automatic driving vehicle are avoided.
In an alternative embodiment of the present invention, the observation update module 330 includes: the first historical driving track acquisition unit is used for acquiring a first historical driving track generated by the current vehicle based on positioning; a second historical driving track acquisition unit for acquiring a second historical driving track of the current vehicle generated based on the vehicle-mounted image acquisition equipment; a lateral position deviation maximum value calculation unit for calculating a maximum value of lateral position deviations of the first historical travel locus and the second historical travel locus at the same longitudinal position; and the first observation value updating unit is used for filtering the observation value and the predicted value to obtain a filtering result when the maximum value of the transverse position deviation is smaller than or equal to a first set threshold value, and updating the observation value.
In an alternative embodiment of the present invention, the observation updating module 330 further includes: the first observation value determining unit is used for fitting the first historical driving track when the maximum value of the transverse position deviation is larger than a first set threshold value and smaller than or equal to a second set threshold value to obtain a first observation value of the visual driving parameter of the corresponding historical time period; the second observation value determining unit is used for fitting a second historical driving track to obtain a second observation value of the visual driving parameter of the corresponding historical time period; an observation value difference calculation unit for calculating a difference between the first observation value and the second observation value; the observation value correction unit is used for correcting the observation value of the visual driving parameter at the current moment and the predicted value of the visual driving parameter at the next moment according to the difference value; and the second observation value updating unit is used for filtering the corrected observation value and the predicted value to obtain a filtering result and updating the observation value.
In an alternative embodiment of the present invention, the observation updating module 330 further includes: and the warning information sending unit is used for controlling the current vehicle to run at a constant speed when the maximum value of the transverse position deviation is larger than a second set threshold value, and sending warning information so as to prompt a driving user to take over the current vehicle.
In an alternative embodiment of the present invention, the observation updating module 330 further includes: and the deceleration parking control unit is used for controlling the current vehicle to decelerate and park when detecting that the duration for sending the alarm information is greater than or equal to the first preset duration and the driving user still does not take over the current vehicle.
In an alternative embodiment of the present invention, the observation acquisition module 310 includes: the observation value acquisition unit is used for acquiring the observation values of the visual driving parameters of the vehicle relative to the two lane lines of the current lane at the current moment and the observation accurate information of the two lane lines; the first observation value acquisition unit is used for calculating the average value of the observation values of the visual driving parameters of the two lane lines when the observation accuracy information of the two lane lines is larger than or equal to a preset observation accuracy information threshold value, and obtaining the observation value of the visual driving parameters at the current moment under the condition that the center line of the lane lines is taken as an expected track.
In an alternative embodiment of the present invention, the observation acquisition module 310 further includes: the second observation value acquisition unit is used for acquiring the observation value of the visual driving parameter at the previous moment and determining the observation value as the observation value of the visual driving parameter at the current moment when any one of the observation accurate information of the two lane lines is smaller than a preset observation accurate information threshold value.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
In the technical scheme of the embodiment of the invention, the related observation value of the visual driving parameter at the current moment by taking the center line of the lane line as the expected track, the first historical driving track generated by the current vehicle based on positioning, the second historical driving track generated by the current vehicle based on the camera, the observation value of the driving parameters of the vehicle relative to the two lane lines of the current lane at the current moment and the like are acquired, stored and applied, and the like, all meet the requirements of related laws and regulations and do not violate the popular public order.
Example IV
Fig. 4 shows a schematic diagram of an electronic device 400 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 400 includes at least one processor 401, and a memory communicatively connected to the at least one processor 401, such as a Read Only Memory (ROM) 402, a Random Access Memory (RAM) 403, etc., in which the memory stores a computer program executable by the at least one processor, and the processor 401 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 402 or the computer program loaded from the storage unit 408 into the Random Access Memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 may also be stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Various components in electronic device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Processor 401 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of processor 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 401 performs the various methods and processes described above, such as a vehicle control method.
In some embodiments, the vehicle control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by processor 401, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 401 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS (Virtual Private Server ) service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle control method, characterized in that the method comprises:
acquiring an observed value of a visual driving parameter at the current moment under the expected track by taking the lane center line as the expected track; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment;
calculating a predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment;
filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value;
And calculating the current steering wheel angle control quantity according to the updated observed value, and controlling the current vehicle to run along the lane center line according to the current steering wheel angle control quantity.
2. The method of claim 1, wherein filtering the observed value and the predicted value to obtain a filtered result, updating the observed value comprises:
acquiring a first historical driving track generated by a current vehicle based on positioning;
acquiring a second historical driving track of the current vehicle generated based on the vehicle-mounted image acquisition equipment;
calculating the maximum value of the transverse position deviation of the first historical driving track and the second historical driving track at the same longitudinal position;
and when the maximum value of the transverse position deviation is smaller than or equal to a first set threshold value, filtering the observed value and the predicted value to obtain a filtering result, and updating the observed value.
3. The method as recited in claim 2, further comprising:
when the maximum value of the transverse position deviation is larger than a first set threshold value and smaller than or equal to a second set threshold value, fitting the first historical driving track to obtain a first observed value of the visual driving parameter of the corresponding historical time period;
Fitting the second historical driving track to obtain a second observed value of the visual driving parameter of the corresponding historical time period;
calculating a difference between the first observation and the second observation;
correcting the observed value of the visual driving parameter at the current moment and the predicted value of the visual driving parameter at the next moment according to the difference value;
and filtering the corrected observed value and the predicted value to obtain a filtering result, and updating the observed value.
4. The method as recited in claim 2, further comprising:
and when the maximum value of the transverse position deviation is larger than a second set threshold value, controlling the current vehicle to run at a constant speed, and sending out alarm information so as to prompt a driving user to take over the current vehicle.
5. The method as recited in claim 4, further comprising:
and when detecting that the time length for sending the alarm information is greater than or equal to a first preset time length and the driving user still does not take over the current vehicle, controlling the current vehicle to decelerate and stop.
6. The method according to claim 1, wherein the obtaining an observed value of the visual driving parameter at the current time under the expected trajectory with the lane line center line includes:
Obtaining observation values of visual driving parameters of a vehicle relative to two lane lines of a current lane at the current moment and observation accurate information of the two lane lines;
when the observation accurate information of the two lane lines is larger than or equal to a preset observation accurate information threshold value, calculating the average value of the observation values of the visual driving parameters of the two lane lines to obtain the observation value of the visual driving parameters at the current moment under the condition that the line of the lane lines is taken as an expected track.
7. The method as recited in claim 6, further comprising:
and when any one of the observation accurate information of the two lane lines is smaller than a preset observation accurate information threshold value, acquiring the observation value of the visual driving parameter at the previous moment, and determining the observation value as the observation value of the visual driving parameter at the current moment.
8. A vehicle control apparatus, characterized in that the apparatus comprises:
the observation value acquisition module is used for acquiring an observation value of a visual driving parameter at the current moment under the expected track by taking the center line of the lane line; the driving parameters are acquired and fitted in real time through the vehicle-mounted image acquisition equipment;
the predicted value calculation module is used for calculating the predicted value of the visual driving parameter at the next moment according to the observed value of the visual driving parameter at the current moment;
The observation value updating module is used for filtering the observation value and the predicted value to obtain a filtering result and updating the observation value;
and the current vehicle control module is used for calculating the current steering wheel angle control quantity according to the updated observed value and controlling the current vehicle to run along the current lane in the middle according to the current steering wheel angle control quantity.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the vehicle control method according to any one of claims 1 to 7.
CN202310986471.3A 2023-08-07 2023-08-07 Vehicle control method, device, electronic equipment and storage medium Pending CN116985796A (en)

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Publication Number Publication Date
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