WO2004066047A1 - Systeme et procede de generation de donnees d'angle de braquage et de commande de la vitesse pour des vehicules a conduite automatique par compensation de la variation de la conduite - Google Patents

Systeme et procede de generation de donnees d'angle de braquage et de commande de la vitesse pour des vehicules a conduite automatique par compensation de la variation de la conduite Download PDF

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Publication number
WO2004066047A1
WO2004066047A1 PCT/KR2003/002933 KR0302933W WO2004066047A1 WO 2004066047 A1 WO2004066047 A1 WO 2004066047A1 KR 0302933 W KR0302933 W KR 0302933W WO 2004066047 A1 WO2004066047 A1 WO 2004066047A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane
speed
steering angle
image data
Prior art date
Application number
PCT/KR2003/002933
Other languages
English (en)
Inventor
Yong-Kwon Choi
Yong-Jun Choi
In-Cheol Choi
Original Assignee
Yong-Kwon Choi
Yong-Jun Choi
In-Cheol Choi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Yong-Kwon Choi, Yong-Jun Choi, In-Cheol Choi filed Critical Yong-Kwon Choi
Publication of WO2004066047A1 publication Critical patent/WO2004066047A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle

Definitions

  • the present invention relates to generation of driving data in an automatic navigation system mounted on a vehicle capable of allowing for unmanned driving of the vehicle. More particularly, the present invention relates to a system and method for generating steering angle data via deviation compensation in driving, which can analyze image data obtained by image pickup means mounted on a front portion of the vehicle in order to adjust the steering angle of the vehicle and control the speed thereof . In particular, the present invention relates to a method and system for generating speed control data, which can obtain a lateral deviation between a road and an optical axis of image pickup means, calculate the steering angle of the vehicle to provide steering data, and drive a brake and an accelerator.
  • an accelerator sensor such as a gyroscope, an attitude indicator, a positioning device such as a GPS, an active mark on a road and the like .
  • the present invention can realize the above objects by providing a system and method which can obtain a lateral deviation between a road and an optical axis of image pickup means, calculate the steering angle of the vehicle based upon the lateral deviation, shaft-to-shaft distances of the vehicle and a lateral distance from the image pickup means to adjust the degree of steering, and analyze a longitudinal deviation and a position of a leading vehicle of image data in front of the automatic navigation vehicle to actuate a brake and an accelerator.
  • an automatic navigation system of the invention generally comprises a steering angle control unit, a speed control unit and a drive unit.
  • the automatic navigation system of the invention further comprises image pickup means mounted on the vehicle for photographing front road images, image data storage means for storing photographed image data and lane image-extracting means for extracting lane data from the image data of the road stored in the image data storage means.
  • the steering angle control unit includes first calculating means for designating horizontal distances and shaft-to-shaft distances and calculating a lateral deviation based upon the lane data extracted by the image-extracting means, second calculating means for calculating a target steering angle based upon the lateral deviation, the horizontal distances and the shaft-to-shaft distances, steering angle-comparing means for comparing the calculated target steering angle with an actual steering angle measured by a steering angle sensor and steering information-generating means for generating steering information based upon differences between the calculated and measured steering angles.
  • the speed control unit includes deviation-calculating means for calculating y according to procedures in FIG.
  • status value-generating means for determining a status value according to a status value expression
  • speed-comparing means for comparing speed data inputted by a speed sensor with a set speed to find a difference therebetween
  • controller-selecting means for selecting a speed controller based upon the status value and a current speed and speed control information-generating means for comparing values of a brake sensor and an accelerator sensor to generate speed control information.
  • the drive unit includes steering information storage means for storing information from the steering information-generating means, steering actuation means for independently adjusting steering operation based upon the steering information stored in the steering information storage means, speed control information storage means for storing speed control information generated by the speed control information-generating means, brake-driving means for driving a brake based upon the stored speed control information and accelerator-driving means for driving an accelerator based upon the stored speed control information.
  • FIG. 1A illustrates the concept of initializing image pickup means in accordance with the present invention
  • FIG. IB illustrates the concept of image average technique in accordance with the present invention
  • FIG. 2 illustrates definition of a lateral distance in accordance with the present invention
  • FIG.3A illustrates a road image with a halfway line (main lane) in accordance with the present invention
  • FIG. 3B illustrates a road image with both lanes in accordance with the present invention
  • FIG. 4 illustrates the concept of a lateral deviation in accordance with the present invention
  • FIG. 5 illustrates the concept of radius of gyration known in the art
  • FIG. 6 illustrates the concept of steering based upon outer wheels in accordance with the present invention
  • FIG. 7 illustrates the concept of steering based upon image pickup means in accordance with the present invention
  • FIG. 8 is a block diagram of an automatic navigation system in accordance with the present invention
  • FIG. 9 illustrates a hardware structure in accordance with the present invention.
  • FIG. 10 is a flowchart for illustrating image data initialization in accordance with the present invention
  • FIG. 11 is a flowchart for illustrating a steering angle-calculating method in accordance with the present invention
  • FIG. 12 is a flowchart for illustrating calculation of a longitudinal deviation ⁇ y in accordance with the present invention.
  • FIG. 13 is a flowchart for illustrating generation of a status value in accordance with the present invention.
  • image data obtained from the image pickup means is processed into black and white images to calculate average position values of a lane according to respective projection lines.
  • projection lines are selected from the bottom to the top of the image data, each of the selected projections lines being divided by n, i.e., the number of pixels, so that average positions are measured for some of the pixels of large gray scales.
  • numbers from 0 to 250 are designated to 250 pixels, and most of the 250 pixels are eliminated except for those (white) having gray scales larger than average values. Than, the remaining pixels are averaged in their positions.
  • the average position of an adjacent region is in the vicinity of a boundary of a next region and the average position of the next region is also in the vicinity of a boundary of a previous region, the average positions are incorporated into one lane.
  • left lane is main lane
  • right lane is sub-lane.
  • the main lane and sub-lane will be designated to the contrary in Japan or United Kingdom.
  • FIG. 1A illustrates the concept of initializing image pickup means in accordance with the invention.
  • a vehicle is parked in a moving direction on a central region of a road with straight lanes .
  • the steering angle of the vehicle is adjusted so that a steering angle sensor is set "0".
  • the optical axis of the image pickup means is disposed in the center of the vehicle, parallel with the center line of the vehicle, before the image pickup means is initialized.
  • the image pickup means may be deviated from the center line of the vehicle to a predetermined distance X 0 . If the image pickup means is deviated from the center line to the distance X 0 as shown in FIG. 1A, the deviated distance is reflected to the initial value.
  • the image pickup means is initialized by inputting all of projection line numbers Pn, horizontal distances of an actual image, distances Xm of a main lane m from the center of the optical axis and distances Xs to a sub-lane s appearing in the projection lines and the image pickup means as reported in Table 1 below.
  • Distances d to respective projection lines are inputted in meter unit by measuring actual distances of the road displayed on a screen according to the respective lines, distances Xm and Xs from the center of the optical axis are expressed by the number of pixels on the screen.
  • the image pickup means is mounted on the vehicle with its optical axis aligned with the moving direction of the vehicle because there is an advantage that the actual distances d and lateral deviations ⁇ x of the image pickup means and the projection lines are expressed.without being mixed together.
  • An initialization table of the image pickup means as shown in Table 1 can be obtained by setting the origin of orthogonal coordinates in the center of the optical axis with respect to the image from the image pickup means.
  • a horizontal distance d indicates a distance from a vehicle running on a current point A to a front point B on which the vehicle will run after a time period ⁇ t .
  • a lateral deviation ⁇ x indicates the degree of winding of a road, that is, the lateral distance from the optical axis to a point on which the vehicle will run after a time period ⁇ t with respect to the current time of the vehicle .
  • the lateral deviation ⁇ x is a continuously measured value, and reflects a remaining quantity which is not reached or overshot in a previous period.
  • the lane appearing in the image can be recognized via edge extraction, in which lane marks can be simply extracted from the photographed image.
  • the lateral deviations ⁇ x are calculated based upon image position information of the extracted lane marks .
  • ⁇ x Road Width (Xnm + Xns)/ ⁇ (Xm - Xs)X2 ⁇ - X 0 .... Expression 3, wherein Xnm and Xnx indicate coordinate-based deviations of a road on which the vehicle is running, obtained by the image pickup means as reported in Table 2 below.
  • the lateral deviation ⁇ x is the distance between the center of the optical axis of the image pickup means and the lane in the vehicle-moving direction as indicated in FIGS. 6 and 7, in which X 0 is the distance of the image pickup means from the center of the vehicle expressed in meter unit.
  • lateral deviations ⁇ x are calculated from the bottom to the top of the image.
  • Calculated values are stored in a table, and when projection line numbers for calculation of steering angle are determined with respect to a time used by a system and a vehicle speed, the lateral deviations ' ⁇ x are automatically selected.
  • FIG. 5 illustrates the concept of a steering system of a vehicle well known in the art.
  • F indicates a forward direction of the vehicle
  • T indicates a steering direction of a front outer wheel .
  • a steering angle ⁇ is defined by the forward direction F of the vehicle and the front outer steering wheel of the vehicle, in which the steering angle of the front outer wheel is oriented to a tangential direction of a circle of rotation and extended perpendicular to a line connecting with the center of rotation.
  • L indicates the shaft-to-shaft distances between front and rear wheels, and the radius of rotation is calculated according to
  • Example 5 expresses a steering angle of an outer wheel of a vehicle in the absence of slippage.
  • the steering angle of the vehicle is set on the basis of the outer wheel.
  • a steering angle calculation method according to a lateral deviation ⁇ x will be described as follows:
  • Target steering angle ⁇ sin _1 ⁇ 2L ⁇ x/ ( ( ⁇ x 2 ) + d 2 ) ⁇ ....
  • the target steering angle can be calculated according to [Expression 8] above.
  • lateral deviations are calculated based upon lane images extracted by lane image-extracting means.
  • the lateral deviations ⁇ x are calculated for all of projection lines in which the lateral deviations exist repeatedly.
  • lateral deviation values are stored in Table 2.
  • y indicates the maximum projection line number in which a lateral deviation exists. Then, it is judged by the vehicle image-extracting means for extracting the color of a vehicle with a color filter whether any vehicle image exists in a position having a lateral deviation. This operation is simply performed by inspecting whether any color value of the vehicle exists in a position where a lateral deviation exists. Then, presence of any vehicle between the stored y value and the automatic vehicle can be simply sensed.
  • lane data detected by the image pickup means is processed according to respective projection lines to determine the maximum value a-a' of a projection line in which a lateral deviation ⁇ x of the lane is calculated and thus adjust the speed of the vehicle.
  • ⁇ y is difference in projection line numbers indicating the actual distance between proj ection lines, and determined as the balance to a distance which is determined in initialization according to Table 1.
  • the image pickup is operated at a predetermined time interval, its variation ⁇ y/ ⁇ t can be calculated. That is, the vehicle speed is adjusted based upon a value which is varied according to relative velocity.
  • the vehicle will proceed at a fixed speed (based upon speed limits on respective road sections) .
  • Absence of an obstacle is determined by judging whether the color value extracted by the vehicle image-extracting means exists in a lateral deviation position. In the absence of a leading vehicle between a-a' and the automatic navigation vehicle, the vehicle maintains the current speed. In the presence of a leading vehicle between a-a' and the automatic navigation vehicle, the speed is adjusted according to following status value expressions:
  • FIG. 8 is a block diagram of an automatic navigation system of a vehicle via compensation of variation in driving in accordance with the present invention.
  • the automatic navigation system of the invention will be described in detail with reference to FIG.8.
  • the invention is related to a driving system of a hybrid vehicle available for both manual and automatic operation.
  • the automatic navigation system of the invention generally comprises a steering angle control unit 60, a speed control unit 50 and a drive unit 70.
  • the automatic navigation system of the invention further comprises image pickup means 10 mounted on the vehicle for photographing front road images, image data storage means 20 for storing photographed image data and lane image-extracting means 30 for extracting lane data from the image data of the road stored in the image data storage means 20.
  • the steering angle control unit 60 includes first calculating means 61 for designating horizontal distances d and shaft-to-shaft distances L and calculating a lateral deviation ⁇ x based upon the lane data extracted by the image-extracting means 30, second calculating means 62 for calculating a target steering angle based upon the lateral deviation ⁇ x, the horizontal distances d and the shaft-to-shaft distances L, steering angle-comparing means 63 for comparing the calculated target steering angle with an actual steering angle measured by a steering angle sensor 60a and steering information-generating means 64 for generating steering information based upon differences between the calculated and measured steering angles.
  • the speed control unit 50 includes deviation-calculating means 51 for calculating y according to procedures in FIG.
  • ⁇ y that is, a difference from y in a previous period based upon vehicle image data extracted from the road image data by the vehicle image-extracting means 31 and lane image data extracted from the vehicle image data by the lane image-extracting means 30; status value-generating means 52 for determining a status value according to a status value expression, speed-comparing means 53 for comparing speed data inputted by a speed sensor 50a with a set speed to find a difference therebetween, controller-selecting means 54 for selecting a speed controller based upon the status value and a current speed and speed control information-generating means 55 for comparing values of a brake sensor 58b and an accelerator sensor 57b to generate speed control information.
  • the drive unit 70 includes steering information storage means 65 for storing information from the steering information-generating means 64, steering actuation means 66 for independently adjusting steering operation 67 based upon the steering information stored in the steering information storage means 65, speed control information storage means 56 for storing speed control information generated by the speed control information-generating means 55, brake-driving means 58 for driving a brake 58a based upon the stored speed control information and accelerator-driving means 57 for driving an accelerator based upon the stored speed control information.
  • steering information storage means 65 for storing information from the steering information-generating means 64
  • steering actuation means 66 for independently adjusting steering operation 67 based upon the steering information stored in the steering information storage means 65
  • speed control information storage means 56 for storing speed control information generated by the speed control information-generating means 55
  • brake-driving means 58 for driving a brake 58a based upon the stored speed control information
  • accelerator-driving means 57 for driving an accelerator based upon the stored speed control information.
  • an image pickup module 11 photographs images of a road which are in turn stored in an image data storage module 22, and an Electronic Control Unit (ECU) 40 (or any other processor for executing corresponding operations) controls the lane image-extracting means 30 to extract the lane data from the road image data stored in an image data storage module 21. While edge extraction is generally used to extract the lane image data, an average method of section images per respective projection lines is also available.
  • ECU Electronic Control Unit
  • the ECU 40 controls the first calculation means 61 for designating the horizontal distances d, the shaft-to-shaft distances L and the lateral deviation ⁇ x based upon the lane data extracted from the lane image-extracting means to generate the steering information.
  • the second calculating means- 62 for calculating a target steering angle based upon the lateral deviation ⁇ x, the horizontal distances d and the shaft-to-shaft distances L is also controlled by the ECU 40.
  • the ECU 40 also controls the steering angle-comparing means 63 to compare the calculated target steering angle with the actual steering angle measured by the steering angle sensor 60a and the steering information-generating means 64 to generate the steering information based upon the differences between the calculated and measured steering angles.
  • the ECU 40 receives road image data extracted by the vehicle image-extracting means 31 from the vehicle image data and lane image data extracted by the lane image-extracting means 30 from the vehicle image data, and controls the deviation-calculating means 51 to calculate y according to procedures in FIG. 11 and a longitudinal deviation ⁇ y, that is, a difference from y in a previous period.
  • the ECU 40 controls the status value-generating means 52 to determine a status value according to a status value expression and the speed-comparing means 53 to compare speed data inputted by the speed sensor 50a with a set speed to find a difference therebetween.
  • the ECU 40 controls the controller-selecting means 54 to select a speed controller based upon the status value and the current speed and the speed control information-generating means 55 to compare the values of the brake sensor 58b and the accelerator sensor 57b to generate the speed control information.
  • the information stored in the steering information-generating means 64 is stored in the steering information storage means 65 by the ECU 40, and a steering adjustment module 65a independently adjusts the steering operation 67 based upon the steering information stored in the steering information storage means 65.
  • the speed control information storage means 56 stores the speed control information generated by the speed control information-generating means 55 under the control of the ECU
  • the brake-driving means 58 and the accelerator-driving means 57 drive the brake 58a and the accelerator 57a based upon the stored speed control information to regulate the speed.
  • the road image data stored in the image data storage means are initialized according to initializing steps as can be seen in FIG. 10.
  • variables including projection line numbers Pn, lateral distances d, main lane distances Xm and sub-lane distances inputted from the image pickup means are initialized in Sll.
  • the lateral distances d are measured for the respective main lane numbers and stored, and the main lane distances and the sub-lane distances are calculated and stored in Table 1 in S12 and S13.
  • initial values are set before start of automatic navigation.
  • the main lane number is successively increased to the last number while corresponding data are stored in these steps.
  • the initialization steps are completed by storing data of the last main lane in S14 and S15.
  • the shaft-to-shaft distances L are separately measured and stored according to the type of the vehicle.
  • the image pickup means 10 mounted on the vehicle for photographing front road images take image data which are in turn stored in the image data storage means 20, and the lane image-extracting means 30 selectively extracts lane information from the road image data stored in the image data storage means 20.
  • the lane information can be extracted via edge extraction or an average method of section images. Alternatively, other schemes may be also available.
  • Deviations of front lanes are stored based upon the extracted lane image data as reported in Table 2.
  • the first calculating means 61 of the steering angle control means 60 calculate a lateral deviation ⁇ x according to one of [Expressions 1 to 3] above, and the lateral deviation ⁇ x is calculated as set forth above.
  • the lateral distance and the shaft-to-shaft distances L are determined.
  • the steering angle for deciding the proceeding direction of the vehicle is calculated by the steering angle-calculating means 62.
  • the steering angle is calculated based upon the data inputted by the image pickup means.
  • a memory (L, d and ⁇ x) is initialized in S21, values of the main lane numbers Pn are selected in S22, and the lateral deviation ⁇ x is calculated as reported in Table 2 and stored in new variables in S23.
  • the steering angle is calculated according to [Expression 8] above in S24 so that the steering angle of the vehicle can be adjusted.
  • the steering angle-comparing means 63 compares the calculated target steering angle with actual steering angle information from the steering angle sensor 60a, and the steering information-generating means 64 generates a target steering angle to which the vehicle will be steered.
  • the generated steering information is stored in the steering information storage means 65.
  • the steering actuation means 66 is operated based upon the stored steering information.
  • a time period from the operation of the image pickup module 11 to that of the steering actuation means 66 is referred to a control period ⁇ t .
  • ⁇ t A time period from the operation of the image pickup module 11 to that of the steering actuation means 66 is referred to a control period ⁇ t .
  • ⁇ t At a long control period, overshooting occurs or control is impossible at the failure of reaching the target values . Accordingly, it is essential to reduce the time necessary for calculating the steering angle in determination of a response rate.
  • the speed control unit 50 calculates the lateral deviation ⁇ x of the road based upon the road lanes which are extracted for the respective projection lines from the bottom to the top by the lane image-extracting means 30. Calculation is repeated from the bottom to the top to the last lateral deviation. Upon completing calculation of the lateral deviation ⁇ x, it is judged whether the vehicle image extracted by the vehicle image-extracting means 31 is positioned within the range of the lateral deviation. Then, a value y is established by the longitudinal deviation-calculating means 51 according to the afore-described method, and a longitudinal deviation ⁇ y is obtained.
  • FIG. 12 illustrates a process of obtaining ⁇ y.
  • this process initializes a main lane distance Xm, a sub-lane distance Xs , a distance X 0 from the center line of the vehicle and a lateral deviation ⁇ x in S31.
  • Pn value is stored as a coordinate (Pn, ⁇ x, Cn) , and then a next lateral deviation is repeatedly calculated for a next main lane number in S36 and S37. Then, according to the invention, the projection line position of the vehicle is compared with the maximum lateral deviation projection line to determine a small value as y.
  • a status value is determined by the status value-generating means 52 according to the Expression as mentioned above. As shown in FIG. 13, the status value-generating means
  • the C code for maintaining a fixed speed is generated (S49) and the process is returned. If the relative velocity ⁇ y/ ⁇ t is not "0", it is judged whether the relative velocity ⁇ y/ ⁇ t is larger than "0". If the relative velocity ⁇ y/ ⁇ t is larger than 0", an accelerator operation code A is generated in S48, and the process is returned. If the relative velocity ⁇ y/ ⁇ t is smaller than "0", a BA code for simultaneously operating the brake and accelerator is generated in S47 and the process is returned.
  • the status code generated by the status value-generating means 52 is compared with the speed from the speed sensor 50a by the speed-comparing means 53 before operation of the brake 58a and the accelerator 57a is determined by the speed controller-selecting means 54.
  • the current speed is maintained.
  • the speed is accelerated.
  • the speed control information for stopping the accelerator while actuating the brake is generated and stored in the speed control information storage means 56.
  • the brake and the accelerator are independently controlled according to the stored speed control information.
  • a hardware structure is provided with a command input module 40a and a monitor module
  • the monitor module 80 installed inside the vehicle for displaying driving conditions and the forward image.
  • the monitor module 80 displays the vehicle speed, the distance to a leading vehicle, the steering angle, the brake status and the accelerator actuating status from the speed sensor 50a, the steering angle sensor 60a, the accelerator sensor 57b and the brake sensor
  • a GPS module a communication module and a map module can be additionally provided.
  • a positioning system of the GPS module is used to obtain general positional information of the vehicle and substantial automatic navigation is performed according to the invention.
  • the invention provides a steering and speed control system for an automatic navigation vehicle. Based upon lane information from the image pickup means, a method and system for processing steering angle can be provided . The invention further provides a method and system for controlling speed based upon visible lane information.

Abstract

La présente invention concerne un système et un procédé de génération de données d'angle de braquage obtenues le biais de la compensation de la déviation de la conduite, ce système et ce procédé permettant d'analyser des données d'image obtenues par un moyen de prise de vues installé sur une partie avant du véhicule afin d'ajuster l'angle de braquage du véhicule et de commander sa vitesse et d'assurer ainsi la conduite du véhicule sans pilote humain. La présente invention permet de produire un écart latéral, ¥Ax, entre une route et un axe optique du moyen de prise de vues, de calculer l'angle de braquage du véhicule à partir de l'écart latéral, des distances d'arbre à arbre, L, du véhicule et une distance latérale, d, par rapport au moyen de prise de vues, en vue d'ajuster le degré de braquage et d'analyser un écart longitudinal, ¥Ay, et une position d'un véhicule de tête se trouvant dans les données d'image prises à l'avant du véhicule à conduite automatique afin d'actionner un frein et un accélérateur pour commander ainsi le véhicule de manière automatique.
PCT/KR2003/002933 2003-01-24 2003-12-31 Systeme et procede de generation de donnees d'angle de braquage et de commande de la vitesse pour des vehicules a conduite automatique par compensation de la variation de la conduite WO2004066047A1 (fr)

Applications Claiming Priority (2)

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KR1020030004788A KR100540743B1 (ko) 2003-01-24 2003-01-24 주행편차 보정에 의한 차량의 조향각/속도조절 데이터생성장치 및 방법
KR10-2003-0004788 2003-01-24

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WO2004066047A1 true WO2004066047A1 (fr) 2004-08-05

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US8244434B2 (en) * 2008-06-17 2012-08-14 Agco Corporation Methods and system for automatic user-configurable steering parameter control
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CN113928372A (zh) * 2021-11-08 2022-01-14 中车株洲电力机车有限公司 虚拟轨道列车及其轨道生成方法、辅助驾驶方法、系统

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CN110864704B (zh) * 2018-08-28 2021-02-05 百度在线网络技术（北京）有限公司 自动驾驶里程统计方法、装置及设备

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US8244434B2 (en) * 2008-06-17 2012-08-14 Agco Corporation Methods and system for automatic user-configurable steering parameter control
US20100235032A1 (en) * 2009-03-12 2010-09-16 Electronics And Telecommunications Research Institute Unmanned transport apparatus and operating method thereof
US8380382B2 (en) * 2009-03-12 2013-02-19 Electronics And Telecommunications Research Institute Unmanned transport apparatus and operating method thereof
CN109491380A (zh) * 2018-10-26 2019-03-19 黄鑫 一种智能汽车用无人驾驶系统及使用方法
CN113928372A (zh) * 2021-11-08 2022-01-14 中车株洲电力机车有限公司 虚拟轨道列车及其轨道生成方法、辅助驾驶方法、系统
CN113928372B (zh) * 2021-11-08 2023-12-12 中车株洲电力机车有限公司 虚拟轨道列车及其轨道生成方法、辅助驾驶方法、系统

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