TWI583581B - Automatic Driving System with Driving Behavior Decision and Its - Google Patents
Automatic Driving System with Driving Behavior Decision and Its Download PDFInfo
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本發明係為有關一種自動駕駛行車之相關技術,特別是指一種可判斷最佳避障行為之具駕駛行為決策之自動駕駛系統及其方法。 The present invention relates to a related art of automatic driving, and particularly relates to an automatic driving system and method for determining driving behaviors for determining the best obstacle avoidance behavior.
為了尋求更安全的駕駛方式以及更有效率的道路使用環境,各大車廠一直積極投入自動輔助駕駛或是自動駕駛系統的開發,好讓車輛可自動協助駕駛者進行決策或進而介入控制車輛,希望就預防的角度著手,可達到直接避免意外事故的目標。 In order to find a safer driving style and a more efficient road use environment, major automakers have been actively investing in the development of automatic assisted driving or automatic driving systems so that the vehicle can automatically assist the driver in making decisions or intervening to control the vehicle. Starting from a preventive perspective, you can achieve the goal of avoiding accidents directly.
一般自動駕駛系統係利用感知器得到周圍環境的情況,協助駕駛操控車輛或直接控制車輛進行碰撞避免的規避行為,可有效降低碰撞危險的發生。但目前的自動駕駛決策方法係如下所述,若前方有一物體時,一般自動駕駛決策邏輯只有利用下列兩點判斷,1.發現可行駛空間,自動駕駛系統可朝可行駛空間前進。2.未發現可行駛空間,自動駕駛系統產生錯誤訊息,表示前方並無可行駛空間,表示不可前進。但由於僅根據可行駛空間的數據判定安全性過於武斷,且判斷依據過於狹隘,更可能造成爾後路徑計算模組之計算複雜度增加,因此使用此判斷方法相當不安全。 The general automatic driving system uses the sensor to obtain the surrounding environment, assists in driving the vehicle or directly controls the vehicle to avoid the collision avoidance behavior, and can effectively reduce the collision risk. However, the current automatic driving decision method is as follows. If there is an object in front, the general automatic driving decision logic can only use the following two points to judge. 1. When the available space is found, the automatic driving system can advance toward the travelable space. 2. No driving space is found, and the automatic driving system generates an error message indicating that there is no driving space ahead, indicating that it is not possible to move forward. However, since it is judged that the security is too arbitrary based on the data of the travelable space, and the judgment basis is too narrow, it is more likely to cause an increase in the computational complexity of the subsequent path calculation module, so it is quite insecure to use this judgment method.
有鑑於此,本發明遂針對上述習知技術之缺失,提出一種具避障功能之具駕駛行為決策之自動駕駛系統及其方法,以有效克服上述之 該等問題。 In view of the above, the present invention provides an automatic driving system with a driving behavior decision-making function and a method thereof for effectively avoiding the above-mentioned problems. These questions.
本發明之主要目的在提供一種具駕駛行為決策之自動駕駛系統及其方法,其係使用多種判斷方式,以提高駕駛行為的安全性,同時降低路徑計算的複雜度,可產生較安全的移動行為供車輛依照前進。 The main object of the present invention is to provide an automatic driving system with driving behavior decision-making and a method thereof, which use various judgment methods to improve the safety of driving behavior, reduce the complexity of path calculation, and generate safer mobile behavior. For the vehicle to move forward.
本發明之另一目的在提供一種具駕駛行為決策之自動駕駛系統及其方法,其係將道路偵測到的所有物體向量化,以計算物體安全性判定,依據碰撞危險高低給予安全權重,進而推論道路空間安全性,給予空間安全性權重,以供決策左轉、右轉、前行、煞車等駕駛行為。 Another object of the present invention is to provide an automatic driving system with a driving behavior decision and a method thereof, which are to vectorize all objects detected by a road to calculate an object safety determination, and give a safety weight according to the risk of collision, and further Infer the safety of road space, give space security weights, and make driving decisions such as left turn, right turn, forward, and brake.
為達上述之目的,本發明提供一種自動駕駛之駕駛行為決策方法,步驟包括首先透過一處理器產生一左轉訊號、一直行訊號以及一右轉訊號,並透過一檢測裝置蒐集一車身之一車身移動訊號以及複數物體之物體移動訊號;處理器將車身移動訊號以及複數物體移動訊號分別轉換為一車身移動向量以及複數物體移動向量;處理器根據車身移動向量以及複數物體移動向量判斷每一物體是否為危險物體,若是,判斷物體為危險物體,則利用所有物體與車身的碰撞時間的總和,以及危險物體與車身碰撞時間之比值,產生一危險物體權重,若否,判斷物體為非危險物體,則利用非危險物體與車身的距離產生一非危險物體權重;接下來處理器定義左轉訊號之左轉道路區域,直行訊號之直行道路區域以及右轉訊號之右轉道路區域,並根據欲通過該道路區域之危險物體權重與非危險物體權重,分別判斷左轉道路區域、直行道路區域以及右轉道路區域之權重;處理器透過左轉道路區域、直行道路區域以及右轉道路區域之權重產生一左轉訊號權重、一直行訊號權重以及一右轉訊號權重;處理器擷取左轉訊號權重、直行訊號權重以及右轉訊號權重中最高權重之訊號,以判斷最高權重之訊 號的權重是否大於一權重預設值,若是,則依最高權重之訊號方向產生一前進訊號;若否,則產生一煞車訊號。 In order to achieve the above object, the present invention provides a method for determining driving behavior of an automatic driving. The method comprises the steps of: first generating a left turn signal, a straight line signal and a right turn signal through a processor, and collecting one of the vehicle bodies through a detecting device. The body movement signal and the object movement signal of the plurality of objects; the processor converts the body movement signal and the plurality of object movement signals into a body movement vector and a plurality of object movement vectors respectively; the processor determines each object according to the body movement vector and the plurality of object movement vectors. Whether it is a dangerous object, if it is judged that the object is a dangerous object, the sum of the collision time of all the objects and the vehicle body, and the ratio of the collision time between the dangerous object and the vehicle body, generates a weight of the dangerous object, and if not, judges that the object is a non-hazardous object. , using the distance between the non-hazardous object and the vehicle body to generate a non-hazardous object weight; the processor then defines the left turn road area of the left turn signal, the straight road area of the straight signal and the right turn road area of the right turn signal, and according to Dangerous objects passing through the road area The weights of the weighted and non-hazardous objects are respectively used to determine the weights of the left-turn road area, the straight road area, and the right-turn road area; the processor generates a left-turn signal weight by using the weights of the left-turn road area, the straight road area, and the right-turn road area, Always signal weight and a right-turn signal weight; the processor takes the left-turn signal weight, the straight-line signal weight, and the highest weight of the right-turn signal weight to determine the highest weight signal. Whether the weight of the number is greater than a preset value of the weight, and if so, a forward signal is generated according to the direction of the highest weight signal; if not, a traffic signal is generated.
另外,本發明亦提供一種具駕駛行為決策之自動駕駛系統及其方法,包括一處理器電性連接一物體偵測裝置、一車身移動擷取裝置以及一儲存裝置,處理器可產生一左轉訊號、一直行訊號以及一右轉訊號,並擷取車身移動擷取裝置所產生的車身移動訊號以及物體偵測裝置所產生的複數物體移動訊號,分別轉換為一車身移動向量以及複數物體移動向量,處理器再依據車身移動向量以及複數物體移動向量判斷物體是否為危險物體,若為危險物體則擷取儲存裝置中的危險物體權重方程式,計算一危險物體權重,若為非危險物體則擷取儲存裝置中的非危險物體權重方程式,計算一非危險物體權重;處理器並可擷取儲存裝置中的空間權重方程式,將危險物體權重或非危險物體權重代入空間權重方程式,以分別計算左轉訊號之左轉道路區域、直行訊號之直行道路區域以及右轉訊號之右轉道路區域之權重,處理器並擷取訊號權重方程式,將左轉道路區域、直行道路區域以及右轉道路區域之權重代入訊號權重方程式,產生一左轉訊號權重、一直行訊號權重以及一右轉訊號權重,處理器擷取左轉道路區域、直行道路區域以及右轉道路區域中具最高權重之訊號,若最高權重之訊號的權重大於一權重預設值,則依最高權重之訊號方向產生一前進訊號,使一車輛前進,若最高權重之訊號的權重小於一權重預設值,則產生一煞車訊號,使車輛停止前進。 In addition, the present invention also provides an automatic driving system with a driving behavior decision and a method thereof, including a processor electrically connected to an object detecting device, a body moving and picking device, and a storage device, wherein the processor can generate a left turn Signal, continuous signal and a right-turn signal, and capture the body motion signal generated by the body movement pick-up device and the plurality of object motion signals generated by the object detection device, respectively converted into a body motion vector and a plurality of object motion vectors The processor then determines whether the object is a dangerous object according to the vehicle movement vector and the plurality of object movement vectors. If it is a dangerous object, the weight object equation of the dangerous object in the storage device is extracted, and the weight of the dangerous object is calculated, and if it is a non-hazardous object, the object is captured. The weighting equation of the non-hazardous object in the storage device calculates a weight of the non-hazardous object; the processor can calculate the spatial weighting equation in the storage device, and substitute the weight of the dangerous object or the weight of the non-hazardous object into the spatial weight equation to calculate the left turn separately. The left turn of the signal, the straight road of the straight signal The weight of the area and the right turn road area of the right turn signal, the processor draws the signal weight equation, and assigns the weights of the left turn road area, the straight road area, and the right turn road area into the signal weight equation to generate a left turn signal weight, The signal weight and the right turn signal weight are always used. The processor takes the signal with the highest weight in the left turn road area, the straight road area and the right turn road area. If the weight of the highest weight signal is greater than a weight preset value, then A forward signal is generated according to the direction of the highest weight signal to advance a vehicle. If the weight of the highest weight signal is less than a weight preset value, a vehicle signal is generated to stop the vehicle from advancing.
底下藉由具體實施例詳加說明,當更容易瞭解本發明之目的、技術內容、特點及其所達成之功效。 The purpose, technical content, features and effects achieved by the present invention will be more readily understood by the detailed description of the embodiments.
1‧‧‧具駕駛行為決策之自動駕駛系統 1‧‧‧Automatic driving system with driving behavior decision
10‧‧‧物體偵測裝置 10‧‧‧ Object detection device
12‧‧‧車身移動擷取裝置 12‧‧‧ Body moving device
14‧‧‧儲存裝置 14‧‧‧Storage device
16‧‧‧處理器 16‧‧‧ Processor
18‧‧‧物體 18‧‧‧ objects
18’‧‧‧物體 18’‧‧‧ objects
18”‧‧‧物體 18"‧‧‧ objects
20‧‧‧自身車輛 20‧‧‧Self vehicle
32‧‧‧左轉道路區域 32‧‧‧Left to road area
32’‧‧‧左轉道路區域 32’‧‧‧ Turn left road area
34‧‧‧直行道路區域 34‧‧‧ Straight road area
36‧‧‧右轉道路區域 36‧‧‧Right turn road area
a‧‧‧左轉訊號 A‧‧‧left turn signal
b‧‧‧直行訊號 b‧‧‧Direct signal
c‧‧‧右轉訊號 C‧‧‧right turn signal
第一圖係為本發明實施例之自動駕駛系統方塊圖。 The first figure is a block diagram of an automatic driving system in accordance with an embodiment of the present invention.
第二圖係為本發明實施例之路徑決策方法流程圖。 The second figure is a flowchart of a path decision method according to an embodiment of the present invention.
第三圖與本發明實施例之產生預選的前進訊號示意圖。 The third figure and the embodiment of the present invention generate a pre-selected forward signal schematic.
第四圖係為本發明實施例之決策前進訊號示意圖。 The fourth figure is a schematic diagram of the decision forward signal of the embodiment of the present invention.
請參照第一圖,本實施例之自動輔助駕駛系統1可設置於一自身車輛上,其中具駕駛行為決策之自動駕駛系統1包括檢測裝置,本實施例舉例檢測裝置係為一物體偵測裝置10以及一車身移動擷取裝置12,物體偵測裝置10係擷取自身車輛以外的物體的移動訊號,以產生複數物體移動訊號;車身移動擷取裝置12則係擷取自身車輛的移動訊號,以產生一車身移動訊號;一儲存裝置14係儲存有一危險物體判斷方程式、一危險物體權重方程式、一非危險物體權重方程式、一空間權重方程式以及一訊號權重方程式;一處理器16電性連接上述之物體偵測裝置10、車身移動擷取裝置12以及儲存裝置14,以接收複數物體移動訊號、車身移動訊號,以及擷取儲存裝置14中的危險物體判斷方程式、危險物體權重方程式、非危險物體權重方程式、空間權重方程式以及訊號權重方程式,藉由將物體移動訊號向量化後,帶入危險物體判斷方程式,並依據需求帶入危險物體權重方程式、非危險物體權重方程式、空間權重方程式以及訊號權重方程式中產生一個行進路徑,以供車輛依照最佳前進路線行進。 Referring to the first figure, the automatic assist driving system 1 of the present embodiment can be disposed on a self-vehicle, wherein the automatic driving system 1 with driving behavior decision includes a detecting device, and the detecting device in the embodiment is an object detecting device. 10 and a body moving and picking device 12, the object detecting device 10 is to take a moving signal of an object other than the own vehicle to generate a plurality of object moving signals; and the body moving and picking device 12 is to take the moving signal of the own vehicle. To generate a body movement signal; a storage device 14 stores a dangerous object determination equation, a dangerous object weight equation, a non-hazardous object weight equation, a spatial weight equation, and a signal weight equation; a processor 16 is electrically connected to the above The object detecting device 10, the vehicle body moving and picking device 12, and the storage device 14 are configured to receive a plurality of object moving signals, a body moving signal, and a dangerous object determining equation, a dangerous object weighting equation, and a non-hazardous object in the storage device 14. Weight equations, spatial weight equations, and signal weight equations, By vectorizing the object motion signal, it is brought into the dangerous object judgment equation, and a travel path is generated according to the demanded dangerous object weight equation, the non-hazardous object weight equation, the spatial weight equation, and the signal weight equation for the vehicle to follow. The best way forward.
接下來請參照第一圖至第三圖,以說明如何搭配上述之具駕駛行為決策之自動駕駛系統1來判斷產生一安全的駕駛行為,以輔助車輛依安全的路徑前進。首先進入步驟S10,處理器16產生一左轉訊號a、一直行訊號b以及一右轉訊號c後,透過物體偵測裝置10偵測自身車輛20周圍的複
數物體18、18’、18”的物體移動訊號,以及透過車身移動擷取裝置12偵測自身車輛20的一車身移動訊號。接下來進入步驟S12,處理器16接收到車身移動訊號以及複數物體移動訊號時,分別將車身移動訊號轉換為車身移動向量,以及將複數物體移動訊號轉換為複數物體移動向量。接著如步驟S14,處理器16擷取儲存裝置14中危險物體判斷方程式,逐一判斷每一物體18、18’、18”是否為危險物體,其判斷方式係將車身移動向量以及複數物體移動向量代入危險物體判斷方程式中,危險物體判斷方程式(1)係如下所示:
但若在步驟S14時,處理器16判斷危險物體判斷方程式(1)的條件皆不成立時,表示物體18係為非危險物體,本實施例舉例物體18係為非危險物體,判斷物體18係為非危險物體時則進入步驟S18,計算非危險物體18的非危險物體權重,處理器16擷取儲存裝置14中的非危險物體權重方程式,利用產生非危險物體18與自身車輛20之距離產生非危險物體權重,其中非危險物體權重方程式(3)係表示為:
接下來如步驟S20所示,並同時配合參照第四圖,透過步驟S16計算出危險物體18’、18”的危險物體權重,以及步驟S18計算出非危險物體18的非危險物體權重後,處理器16根據左轉訊號a定義出複數左轉道路區域32、根據直行訊號b定義出複數直行道路區域34以及根據右轉訊號c定義出複數右轉道路區域36,處理器16擷取儲存裝置14中之空間權重方程式判
斷每一左轉道路區域32、直行道路區域34以及右轉道路區域36之權重,其中空間權重方程式(4)係表示為:
接下來進入步驟S22,處理器16擷取儲存裝置14中的訊號權重方程式,並根據左轉訊號a通過之每一左轉道路區域32,直行訊號b通過之每一直行道路區域34以及右轉訊號c通過之每一右轉道路區域36之權重,分別產生一左轉訊號權重、直行訊號權重和右轉訊號權重,訊號權重 方程式(5)如下所示:Bi=min WR (5);其中WR係為道路區域權重,Bi係為訊號權重,本實施例舉例含左轉訊號權重、直行訊號權重以及右轉訊號權重,其判斷方式係判斷依據係根據左轉訊號a於左轉道路區域32、直行訊號b於直行道路區域34以及右轉訊號c於右轉道路區域36中具最小道路區域權重的區域作為該訊號權重計算,以複數左轉道路區域32、32’為例,由於物體18係為直行向前的物體18,若自身車輛20欲依照左轉訊號a前進時,行進到左轉道路區域32’時,可能會與物體18碰撞,因此左轉道路區域32’判斷為複數個左轉道路區域32中最不安全的點,所以使用最不安全的左轉道路區域32’作為表示左轉訊號權重,因其行為安全是觀察整個路徑是否皆安全,故以最危險之道路區域32’表示整體行為安全性。 Next, proceeding to step S22, the processor 16 retrieves the signal weighting equation in the storage device 14, and passes each of the left-turning road regions 32 according to the left-turning signal a, and the straight-line signal b passes through each of the straight road regions 34 and turns right. The signal c passes through the weight of each right turn road area 36, and generates a left turn signal weight, a straight line signal weight and a right turn signal weight respectively. The signal weight equation (5) is as follows: B i =min W R (5) Where W R is the road area weight, and B i is the signal weight. In this embodiment, the left-turn signal weight, the straight-line signal weight, and the right-turn signal weight are included in the example, and the judgment manner is based on the left-turn signal a to the left. The turn road area 32, the straight line signal b in the straight road area 34, and the right turn signal c in the right turn road area 36 have the minimum road area weight as the signal weight calculation, taking the plurality of left turn road areas 32, 32' as an example. Since the object 18 is a straight forward object 18, if the own vehicle 20 wants to advance according to the left turn signal a, when traveling to the left turn road area 32', it may collide with the object 18, so the left turn road area 32' is judged to be the most unsafe point in the plurality of left turn road areas 32, so the least secure left turn road area 32' is used as the left turn signal weight, because its behavior is safe to observe whether the entire path is safe, so The overall behavioral safety is represented by the most dangerous road area 32'.
接下來進入步驟S24,比較左轉訊號權重、直行訊號權重以及右轉訊號權重,以取得具最高權重之訊號,本實施例舉例左轉訊號a係具有最高權重的訊號,處理器16判斷左轉訊號權重是否大於一權重預設值,若是則進入步驟S26則依左轉道路訊號方向產生一前進訊號,使自身車輛20依據左轉訊號a前進;若左轉訊號權重小於一權重預設值,則如步驟S28所示產生一煞車訊號,以供一自身車輛20停車。 Next, proceeding to step S24, comparing the left-turn signal weight, the straight-line signal weight, and the right-turn signal weight to obtain the signal with the highest weight. In this embodiment, the left-turn signal a is the signal with the highest weight, and the processor 16 determines the left turn. Whether the signal weight is greater than a weight preset value, if yes, proceeding to step S26 to generate a forward signal according to the left turn road signal direction, so that the own vehicle 20 advances according to the left turn signal a; if the left turn signal weight is less than a weight preset value, Then, a brake signal is generated as shown in step S28 for a self-vehicle 20 to stop.
綜上所述,本發明可使用多種的判斷方式,可產生較安全的移動行為供車輛依照前進,判斷方式係將道路偵測到的所有物體向量化,以計算物體安全性判定,依據碰撞危險高低給予安全權重,進而計算道路空間安全性,給予空間安全性權重,以供決策左轉、右轉、前行、煞車等駕駛行為,可以有效提高行車之安全性,同時可低路徑計算的複雜度。 In summary, the present invention can use a variety of judgment methods, which can generate safer mobile behavior for the vehicle to follow the advancement, and the judgment method is to vectorize all the objects detected by the road to calculate the object safety judgment according to the collision risk. The safety weight is given to the high and low, and the safety of the road space is calculated, and the space security weight is given for the driving behaviors such as left turn, right turn, forward travel, and braking, which can effectively improve the safety of driving, and at the same time, the complexity of low path calculation. degree.
唯以上所述者,僅為本發明之較佳實施例而已,並非用來限 定本發明實施之範圍。故即凡依本發明申請範圍所述之特徵及精神所為之均等變化或修飾,均應包括於本發明之申請專利範圍內。 The above is only the preferred embodiment of the present invention, and is not intended to be limiting. The scope of the practice of the invention is defined. Therefore, any changes or modifications of the features and spirits of the present invention should be included in the scope of the present invention.
1‧‧‧具駕駛行為決策之自動駕駛系統 1‧‧‧Automatic driving system with driving behavior decision
10‧‧‧物體偵測裝置 10‧‧‧ Object detection device
12‧‧‧車身移動擷取裝置 12‧‧‧ Body moving device
14‧‧‧儲存裝置 14‧‧‧Storage device
16‧‧‧處理器 16‧‧‧ Processor
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US20040193351A1 (en) * | 2003-03-28 | 2004-09-30 | Nissan Motor Co., Ltd. | Automatic brake system for a vehicle |
JP2006090896A (en) * | 2004-09-24 | 2006-04-06 | Fuji Heavy Ind Ltd | Stereo image processor |
WO2013027803A1 (en) * | 2011-08-25 | 2013-02-28 | 日産自動車株式会社 | Autonomous driving control system for vehicle |
CN103171439A (en) * | 2011-12-22 | 2013-06-26 | 通用汽车环球科技运作有限责任公司 | Behavior prediction of robot guiding system |
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US20040193351A1 (en) * | 2003-03-28 | 2004-09-30 | Nissan Motor Co., Ltd. | Automatic brake system for a vehicle |
JP2006090896A (en) * | 2004-09-24 | 2006-04-06 | Fuji Heavy Ind Ltd | Stereo image processor |
WO2013027803A1 (en) * | 2011-08-25 | 2013-02-28 | 日産自動車株式会社 | Autonomous driving control system for vehicle |
CN103171439A (en) * | 2011-12-22 | 2013-06-26 | 通用汽车环球科技运作有限责任公司 | Behavior prediction of robot guiding system |
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