技术领域technical field
本发明涉及汽车自动驾驶技术装置领域，尤其是涉及一种汽车智能超车方法及系统。The invention relates to the field of automobile automatic driving technical devices, in particular to an automobile intelligent overtaking method and system.
背景技术Background technique
随着我国汽车的不断增多，汽车已进入了千家万户，汽车在给人们出行提供方便的同时，也为不断增多的汽车交通事故发生的频率。超车是行驶过程中较为常见的行为，然而在短短的超车时间内，由于驾驶员很难观察到所有周围车辆的状况以及预测前方车辆的运行轨迹，因此很容易发生交通事故。若能通过一套系统来判断超车前提是否满足，随后预测前方车辆的运行轨迹，继而形成一条理想的超车路径，对于提高超车的安全性有很大作用。Along with the continuous increase of my country's automobiles, automobiles have entered thousands of households. When automobiles provide convenience for people to travel, they also increase the frequency of automobile traffic accidents. Overtaking is a relatively common behavior during driving. However, in a short overtaking time, it is difficult for the driver to observe the conditions of all surrounding vehicles and predict the trajectory of the vehicle in front, so traffic accidents are prone to occur. If a system can be used to judge whether the prerequisites for overtaking are met, and then predict the trajectory of the vehicle in front, and then form an ideal overtaking path, it will have a great effect on improving the safety of overtaking.
发明内容Contents of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种提高超车安全性、操作简单、成本低、算法先进的汽车智能超车方法及系统。The purpose of the present invention is to provide an intelligent overtaking method and system for overtaking vehicles with improved overtaking safety, simple operation, low cost, and advanced algorithms in order to overcome the above-mentioned defects in the prior art.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种汽车智能超车方法，包括以下步骤：A kind of automobile intelligent overtaking method, comprises the following steps:
1)开启超车系统，车载雷达获取本车的周围车辆的位置信息，并且选定一个固定点为原点，本车正前方为Y轴，本车右方为X轴，建立平面坐标系；1) Turn on the overtaking system, the on-board radar acquires the position information of the surrounding vehicles of the vehicle, and select a fixed point as the origin, the front of the vehicle is the Y axis, the right of the vehicle is the X axis, and a plane coordinate system is established;
2)判断是否满足超车条件，若是，则进行步骤3)，若否，则等待一个雷达采集周期后，返回步骤2)；2) Judging whether the overtaking condition is satisfied, if so, then proceed to step 3), if not, then wait for a radar acquisition cycle, and then return to step 2);
3)根据本车的位置以及检测到的待超越前车相对于本车的位置，将待超越车辆的位置转化到平面坐标系下，并根据在线预测算法得到待超越前车的预测行车轨迹；3) Transform the position of the vehicle to be overtaken into a plane coordinate system according to the position of the vehicle and the detected position of the vehicle to be overtaken relative to the vehicle in front, and obtain the predicted driving trajectory of the vehicle to be overtaken according to the online prediction algorithm;
4)根据待超越前车的预测行车轨迹生成本车的初始超车轨迹，本车依照初始超车轨迹进行超车，并且K赋值1；4) Generate the initial overtaking trajectory of the own vehicle according to the predicted driving trajectory of the vehicle to be overtaken, and the vehicle overtakes according to the initial overtaking trajectory, and K is assigned a value of 1;
5)根据实时获取的待超越前车的位置信息，判断超车是否结束，若是，则进行步骤9)，若否，则进行步骤6)；5) According to the position information of the vehicle in front to be overtaken that is acquired in real time, it is judged whether the overtaking is over, if so, then proceed to step 9), if not, then proceed to step 6);
6)继续实时获取待超越前车的位置信号，根据在线预测算法实时预测待超越前车的行车轨迹，实时地修正本车的超车轨迹，得到本车的修正超车轨迹；6) Continue to obtain the position signal of the vehicle in front to be overtaken in real time, predict the driving trajectory of the vehicle in front to be overtaken in real time according to the online prediction algorithm, correct the overtaking trajectory of the own vehicle in real time, and obtain the corrected overtaking trajectory of the own vehicle;
7)计算待超越前车X、Y方向上的加速度，判断其加速度的大小是否超过对应的阈值，若是，则K＝K+1，并进行步骤8)；若否，则K＝1，返回步骤5)；7) Calculate the acceleration on the X and Y directions of the vehicle to be overtaken, and judge whether the magnitude of the acceleration exceeds the corresponding threshold, if so, then K=K+1, and proceed to step 8); if not, then K=1, return step 5);
8)判断K的值是否等于5，若是，则减速，并返回原车道，超车失败，进行步骤9)，若否，则返回步骤5)；8) judge whether the value of K is equal to 5, if so, then decelerate, and return to the original lane, if overtaking fails, proceed to step 9), if not, then return to step 5);
9)蜂鸣器连响三次，关闭智能超车系统。9) The buzzer sounds three times in a row, and the intelligent overtaking system is turned off.
所述的步骤2)中的超车条件包括：The overtaking condition in described step 2) comprises:
(1)在本车X轴范围-3～0m和Y轴范围-50～250m范围内没有其他车辆；(1) There are no other vehicles within the range of -3 to 0m on the X axis and -50 to 250m on the Y axis of the vehicle;
(2)在本车的正前方的两辆车的车距大于或者等于200m；(2) The distance between the two vehicles directly in front of the vehicle is greater than or equal to 200m;
(3)在本车前方待超越的前车行驶的加速度的大小没有超过设定的阈值；(3) The acceleration of the vehicle in front to be overtaken in front of the vehicle does not exceed the set threshold;
超车时必须满足所有超车条件时才允许超车。Overtaking is only allowed when all overtaking conditions are met.
所述的步骤3)和步骤6)中的在线预测算法为：The online prediction algorithm in described step 3) and step 6) is:
31)根据获取的待超越前车的多个位置与时间数据，判断数据点数s是否大于50个，若是，则对数据进行卡尔曼滤波，然后进行步骤32)，若否，则直接进行步骤32)；31) According to the obtained multiple position and time data of the vehicle to be overtaken, judge whether the number of data points s is greater than 50, if so, perform Kalman filtering on the data, and then proceed to step 32), if not, directly proceed to step 32 );
32)对获得的数据进行三次样条插值，向后插值2秒，使插值后数据的时间间隔相同，三次样条插值函数的表达式为：32) Perform cubic spline interpolation on the obtained data, interpolate backward for 2 seconds, so that the time interval of the interpolated data is the same, the expression of the cubic spline interpolation function is:
hi＝xi+1-xihi = xi+1 - xi
插值的边界条件为：The boundary conditions for interpolation are:
其中，xi为插值函数f(xi)在插值区间上的采样点，Si为采样点xi处的二阶导数，n为插值点数，i＝0，1，2，3……n；Among them, xi is the sampling point of the interpolation function f(xi ) in the interpolation interval, Si is the second order derivative at the sampling point xi , n is the number of interpolation points, i=0, 1, 2, 3...n ;
33)根据三次样条插值后的数据进行卡尔曼预测，得到一组包括待超越前车每个预测时刻位置与车速的预测数据；33) Carry out Kalman prediction according to the data after cubic spline interpolation, and obtain a group of prediction data including each prediction time position and vehicle speed of the vehicle to be overtaken;
34)根据预测数据得到待超越前车的预测行车轨迹，并且接收下一个数据点，s值自加1，返回步骤33)。34) Obtain the predicted driving trajectory of the vehicle in front to be overtaken according to the predicted data, and receive the next data point, add 1 to the value of s, and return to step 33).
所述的初始超车轨迹和修正超车轨迹均同时满足以下条件：Both the initial overtaking trajectory and the corrected overtaking trajectory satisfy the following conditions at the same time:
(1)与待超越前车的预测行车轨迹的对应时间点的距离保持3m以上；(1) Keep a distance of more than 3m from the corresponding time point of the predicted driving trajectory of the vehicle to be overtaken;
(2)在待超越前车的左侧，且轨迹曲率连续；(2) On the left side of the vehicle in front to be overtaken, and the curvature of the trajectory is continuous;
(3)经过本车当前所在位置与待超越前车Y轴正向60m的位置点。(3) Pass through the point where the current position of the vehicle is 60m from the positive direction of the Y-axis of the vehicle to be overtaken.
所述的步骤5)中超车结束的判定条件为：Described step 5) in the judging condition that overtaking finishes is:
待超越前车的位置位于本车X轴方向-0.5～0.5m，Y轴后方的相对距离大于或者等于30m的范围内。The position of the vehicle to be overtaken is within -0.5-0.5m in the X-axis direction of the own vehicle, and the relative distance behind the Y-axis is greater than or equal to 30m.
一种汽车智能超车系统，其特征在于，包括：An automobile intelligent overtaking system is characterized in that it comprises:
车载雷达，用以侦测附近车辆的位置信息；Car radar, used to detect the location information of nearby vehicles;
节气门电磁阀，用以调节节气门开度，控制本车车速，在超车过程中使本车车速大于待超越前车10-20km/h；The throttle solenoid valve is used to adjust the throttle opening and control the speed of the vehicle, so that the speed of the vehicle is 10-20km/h higher than that of the vehicle in front to be overtaken during the overtaking process;
辅助转向系统电磁阀，用以控制汽车的前轮转向角；The auxiliary steering system solenoid valve is used to control the steering angle of the front wheels of the car;
蜂鸣报警器，用以在超车系统关闭时发出蜂鸣报警；The buzzer alarm is used to issue a buzzer alarm when the overtaking system is closed;
ECU，内置行车轨迹算法程序，分别与车载雷达、节气门电磁阀、辅助转向系统电磁阀和蜂鸣报警器连接，ECU通过接收车载雷达的信息，根据内置的程序得到行车轨迹，通过调节节气门电磁阀控制车速，调节辅助转向系统电磁阀，控制行车方向。The ECU has a built-in driving trajectory algorithm program, which is respectively connected with the vehicle radar, throttle solenoid valve, auxiliary steering system solenoid valve and buzzer alarm. The solenoid valve controls the speed of the vehicle, adjusts the solenoid valve of the auxiliary steering system, and controls the driving direction.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
一、提高超车安全性，通过判断超车前提是否满足，以及在超车过程中判断是否满足继续超车的条件，并且考虑到了待超越前车行驶过程中的意外情况，从而形成理想的超车轨迹，使超车车辆安全平稳的超车。1. To improve the safety of overtaking, by judging whether the premise of overtaking is satisfied, and judging whether the conditions for continuing overtaking are met during the overtaking process, and taking into account the unexpected situation during the driving process of the vehicle in front to be overtaken, an ideal overtaking trajectory is formed, so that overtaking The vehicle overtakes safely and smoothly.
二、操作简单，本超车系统打开后，自动进行判断，自动生成超车轨迹，并且自动按照超车轨迹超车，降低了驾驶员的负担，减轻驾驶员疲劳。2. The operation is simple. After the overtaking system is turned on, it will automatically judge, automatically generate the overtaking track, and automatically overtake according to the overtaking track, which reduces the burden on the driver and reduces the fatigue of the driver.
三、成本低，本发明只需通过雷达接收周围汽车的位置信号，并运用雷达的锁定目标功能，而不需要其他传感器，因此实现起来更加容易，成本相对较低。3. The cost is low. The present invention only needs to receive the position signal of the surrounding cars through the radar, and uses the radar's target locking function without requiring other sensors, so it is easier to implement and the cost is relatively low.
四、算法先进，通过在ECU中内置的基于卡尔曼预测原理的在线预测算法，增强了在线预测的实时性和可靠性。4. The algorithm is advanced. Through the built-in online prediction algorithm based on the Kalman prediction principle in the ECU, the real-time and reliability of the online prediction are enhanced.
附图说明Description of drawings
图1为本发明的方法流程图。Fig. 1 is a flow chart of the method of the present invention.
图2为本发明的系统结构示意图。Fig. 2 is a schematic diagram of the system structure of the present invention.
图3为在线预测算法的流程图。Figure 3 is a flowchart of the online prediction algorithm.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
实施例：Example:
如图1所示，一种汽车智能超车方法，包括以下步骤：As shown in Figure 1, a kind of automobile intelligent overtaking method, comprises the following steps:
一种汽车智能超车方法，包括以下步骤：A kind of automobile intelligent overtaking method, comprises the following steps:
1)开启超车系统，车载雷达获取本车的周围车辆的位置信息，并且选定一个固定点为原点，本车正前方为Y轴，本车右方为X轴，建立平面坐标系；1) Turn on the overtaking system, the on-board radar acquires the position information of the surrounding vehicles of the vehicle, and select a fixed point as the origin, the front of the vehicle is the Y axis, the right of the vehicle is the X axis, and a plane coordinate system is established;
2)判断是否满足超车条件，若是，则进行步骤3)，若否，则等待一个雷达采集周期后，返回步骤2)超车条件包括：2) Judging whether the overtaking condition is satisfied, if so, proceed to step 3), if not, then wait for a radar acquisition cycle, and then return to step 2) The overtaking condition includes:
(1)在本车X轴范围-3～0m和Y轴范围-50～250m范围内没有其他车辆；(1) There are no other vehicles within the range of -3 to 0m on the X axis and -50 to 250m on the Y axis of the vehicle;
(2)在本车的正前方的两辆车的车距大于或者等于200m；(2) The distance between the two vehicles directly in front of the vehicle is greater than or equal to 200m;
(3)在本车前方待超越的前车行驶的加速度的大小没有超过设定的阈值；(3) The acceleration of the vehicle in front to be overtaken in front of the vehicle does not exceed the set threshold;
超车时必须满足所有超车条件时才允许超车；When overtaking, all overtaking conditions must be met before overtaking is allowed;
3)根据本车的位置以及检测到的待超越前车相对于本车的位置，将待超越车辆的位置转化到平面坐标系下，并根据在线预测算法得到待超越前车的预测行车轨迹；3) Transform the position of the vehicle to be overtaken into a plane coordinate system according to the position of the vehicle and the detected position of the vehicle to be overtaken relative to the vehicle in front, and obtain the predicted driving trajectory of the vehicle to be overtaken according to the online prediction algorithm;
4)根据待超越前车的预测行车轨迹生成本车的初始超车轨迹，本车依照初始超车轨迹进行超车，并且K赋值1，初始超车轨迹和修正超车轨迹均同时满足以下条件：4) Generate the initial overtaking trajectory of the vehicle based on the predicted trajectory of the vehicle to be overtaken. The vehicle overtakes according to the initial overtaking trajectory, and K is assigned a value of 1. Both the initial overtaking trajectory and the corrected overtaking trajectory meet the following conditions:
(1)与待超越前车的预测行车轨迹的对应时间点的距离保持3m以上；(1) Keep a distance of more than 3m from the corresponding time point of the predicted driving trajectory of the vehicle to be overtaken;
(2)在待超越前车的左侧，且轨迹曲率连续；(2) On the left side of the vehicle in front to be overtaken, and the curvature of the trajectory is continuous;
(3)经过本车当前所在位置与待超越前车Y轴正向60m的位置点；(3) Pass the current position of the vehicle and the position point 60m in the positive direction of the Y-axis of the vehicle to be overtaken;
5)根据实时获取的待超越前车的位置信息，判断超车是否结束，若是，则进行步骤9)，若否，则进行步骤6)，超车结束的判定条件为：5) According to the position information of the vehicle in front to be overtaken that is acquired in real time, it is judged whether the overtaking is over, if so, then proceed to step 9), if not, then proceed to step 6), the judging conditions for the overtaking end are:
待超越前车的位置位于本车X轴方向-0.5～0.5m，Y轴后方的相对距离大于或者等于30m的范围内；The position of the vehicle to be overtaken is within -0.5~0.5m in the X-axis direction of the own vehicle, and the relative distance behind the Y-axis is greater than or equal to 30m;
6)继续实时获取待超越前车的位置信号，根据在线预测算法实时预测待超越前车的行车轨迹，实时修正本车的超车轨迹，并得到本车的修正超车轨迹；6) Continue to obtain the position signal of the vehicle in front to be overtaken in real time, predict the driving trajectory of the vehicle in front to be overtaken in real time according to the online prediction algorithm, correct the overtaking trajectory of the vehicle in real time, and obtain the corrected overtaking trajectory of the vehicle;
7)计算待超越前车X、Y方向上的加速度，判断其加速度的大小是否超过对应的阈值，若是，则K＝K+1，并进行步骤8)；若否，则K＝1，返回步骤5)；7) Calculate the acceleration on the X and Y directions of the vehicle to be overtaken, and judge whether the magnitude of the acceleration exceeds the corresponding threshold, if so, then K=K+1, and proceed to step 8); if not, then K=1, return step 5);
8)判断K的值是否等于5，若是，则减速，并返回原车道，超车失败，进行步骤9)，若否，则返回步骤5)：8) Determine whether the value of K is equal to 5, if so, slow down and return to the original lane, if overtaking fails, proceed to step 9), if not, return to step 5):
9)蜂鸣器连响三次，关闭智能超车系统。9) The buzzer sounds three times in a row, and the intelligent overtaking system is turned off.
如图3所示，在线预测算法为：As shown in Figure 3, the online prediction algorithm is:
31)根据获取的待超越前车的多个位置与时间数据，判断数据点数s是否大于50个，若是，则对数据进行卡尔曼滤波，然后进行步骤32)，若否，则直接进行步骤32)；31) According to the obtained multiple position and time data of the vehicle to be overtaken, judge whether the number of data points s is greater than 50, if so, perform Kalman filtering on the data, and then proceed to step 32), if not, directly proceed to step 32 );
32)对获得的数据进行三次样条插值，向后插值2秒，使插值后数据的时间间隔相同，三次样条插值函数的表达式为：32) Perform cubic spline interpolation on the obtained data, interpolate backward for 2 seconds, so that the time interval of the interpolated data is the same, the expression of the cubic spline interpolation function is:
hi＝xi+1-xihi = xi+1 - xi
插值的边界条件为：The boundary conditions for interpolation are:
其中，xi为插值函数f(xi)在插值区间上的采样点，Si为采样点xi处的二阶导数，n为插值点数，i＝0，1，2，3……n；Among them, xi is the sampling point of the interpolation function f(xi ) in the interpolation interval, Si is the second order derivative at the sampling point xi , n is the number of interpolation points, i=0, 1, 2, 3...n ;
33)根据三次样条插值后的数据进行卡尔曼预测，得到一组包括待超越前车每个预测时刻位置与车速的预测数据；33) Carry out Kalman prediction according to the data after cubic spline interpolation, and obtain a group of prediction data including each prediction time position and vehicle speed of the vehicle to be overtaken;
34)根据预测数据得到待超越前车的预测行车轨迹，并且接收下一个数据点，s值自加1，返回步骤31)。34) Obtain the predicted driving trajectory of the vehicle in front to be overtaken according to the predicted data, and receive the next data point, add 1 to the value of s, and return to step 31).
如图2所示，一种汽车智能超车系统，包括：As shown in Figure 2, a vehicle intelligent overtaking system includes:
车载雷达，用以侦测附近车辆的位置信息；Car radar, used to detect the location information of nearby vehicles;
节气门电磁阀，用以调节节气门开度，控制本车车速，在超车过程中使本车车速大于待超越前车10-20km/h；The throttle solenoid valve is used to adjust the throttle opening and control the speed of the vehicle, so that the speed of the vehicle is 10-20km/h higher than that of the vehicle in front to be overtaken during the overtaking process;
辅助转向系统电磁阀，用以控制汽车的前轮转向角；The auxiliary steering system solenoid valve is used to control the steering angle of the front wheels of the car;
蜂鸣报警器，用以在超车系统关闭时发出蜂鸣报警；The buzzer alarm is used to issue a buzzer alarm when the overtaking system is closed;
ECU，内置行车轨迹算法程序，分别与车载雷达、节气门电磁阀、辅助转向系统电磁阀和蜂鸣报警器连接，ECU通过接收车载雷达的信息，根据内置的程序得到行车轨迹，通过调节节气门电磁阀控制车速，调节辅助转向系统电磁阀，控制行车方向。The ECU has a built-in driving trajectory algorithm program, which is respectively connected with the vehicle radar, throttle solenoid valve, auxiliary steering system solenoid valve and buzzer alarm. The solenoid valve controls the speed of the vehicle, adjusts the solenoid valve of the auxiliary steering system, and controls the driving direction.
一种汽车智能超车方法，首先通过雷达探测周围车辆情况判断是否满足超车条件，若不满足，则等待一个雷达采集周期后继续探测周围车辆情况判断是否满足超车条件，直到超车条件满足为止；超车条件满足后，检测待超越前车的位置信号，通过在线预测算法预测待超越前车的轨迹，并生成初始超车轨迹。随后每接收到一次待超越前车位置信号判断超车是否结束，若没有结束，则通过在线预测算法预测待超越前车的轨迹并修正超车轨迹，同时计算其X、Y方向加速度，判断待超越前车的加速度的大小是否超过对应的阈值，若连续五次发生其加速度超过对应阈值的情况，则汽车减速并返回原车道，随后智能超车系统关闭，并触发蜂鸣器连响三次。否则，继续检测待超越前车位置信号，预测其轨迹，并修正超车轨迹。若判断超车结束，则智能超车系统关闭，并触发蜂鸣器连响三次，提醒驾驶员。A kind of automobile intelligent overtaking method, at first judges whether to meet the overtaking condition by radar detection surrounding vehicle situation, if not satisfied, then wait for a radar collection cycle and continue to detect surrounding vehicle situation and judge whether to meet the overtaking condition, until the overtaking condition is met; overtaking condition After satisfying, the position signal of the vehicle to be overtaken is detected, the trajectory of the vehicle to be overtaken is predicted by an online prediction algorithm, and the initial overtaking trajectory is generated. Then, every time the position signal of the vehicle to be overtaken is received, it is judged whether the overtaking is over. If it is not over, the trajectory of the vehicle in front to be overtaken is predicted by the online prediction algorithm and the overtaking trajectory is corrected. Whether the acceleration of the car exceeds the corresponding threshold, if the acceleration exceeds the corresponding threshold for five consecutive times, the car will decelerate and return to the original lane, then the intelligent overtaking system will be turned off, and the buzzer will sound three times in succession. Otherwise, continue to detect the position signal of the vehicle to be overtaken, predict its trajectory, and correct the overtaking trajectory. If it is judged that the overtaking is over, the intelligent overtaking system will be turned off, and the buzzer will sound three times in a row to remind the driver.
上述的对实施例的描述是为便于该技术领域的普通技术人员能理解和使用发明。熟悉本领域技术的人员显然可以容易地对这些实施例做出各种修改，并把在此说明的一般原理应用到其他实施例中而不必经过创造性的劳动。因此，本发明不限于上述实施例，本领域技术人员根据本发明的揭示，不脱离本发明范畴所做出的改进和修改都应该在本发明的保护范围之内。The above descriptions of the embodiments are for those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410815266.1ACN104608765B (en) | 2014-12-19 | 2014-12-19 | A kind of automobile intelligent method of overtaking and system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410815266.1ACN104608765B (en) | 2014-12-19 | 2014-12-19 | A kind of automobile intelligent method of overtaking and system |
| Publication Number | Publication Date |
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| CN104608765Atrue CN104608765A (en) | 2015-05-13 |
| CN104608765B CN104608765B (en) | 2017-04-05 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201410815266.1AActiveCN104608765B (en) | 2014-12-19 | 2014-12-19 | A kind of automobile intelligent method of overtaking and system |
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