技术领域technical field
本发明涉及一种避撞策略，具体讲是一种无人驾驶汽车避撞策略，属于汽车主动安全领域。The invention relates to a collision avoidance strategy, specifically a collision avoidance strategy for an unmanned vehicle, which belongs to the field of automobile active safety.
背景技术Background technique
随着计算机技术、环境感知技术的发展，越来越多的自动控制技术被应用在汽车上，无人驾驶汽车也成为了汽车产业的一大变革。在无人驾驶技术的研究过程中，避免无人驾驶车辆在紧急状态下与前车、后车或者护栏发生碰撞，对于提高无人驾驶车辆安全性具有重要意义。With the development of computer technology and environmental perception technology, more and more automatic control technologies are applied to automobiles, and unmanned vehicles have also become a major change in the automobile industry. In the research process of unmanned driving technology, it is of great significance to improve the safety of unmanned vehicles to avoid collisions between unmanned vehicles and front vehicles, rear vehicles or guardrails in emergency situations.
避撞方式包括纵向制动避撞和横向转向避撞。纵向制动避撞在某些路面条件下会出现车辆两侧制动力不平衡和制动距离变长的问题；转向避撞的安全距离较短，但是紧急转向时存在着斜碰、侧翻等危险；单一避撞方式在某些工况下存在一定局限性。The collision avoidance methods include longitudinal braking collision avoidance and lateral steering collision avoidance. Longitudinal braking and collision avoidance will cause problems such as unbalanced braking force on both sides of the vehicle and longer braking distance under certain road conditions; the safety distance for steering collision avoidance is relatively short, but there are oblique collisions, rollovers, etc. during emergency steering Dangerous; a single collision avoidance method has certain limitations in certain working conditions.
发明内容Contents of the invention
发明目的：本发明所要解决的技术问题在于克服现有避撞策略的缺陷，提供一种在紧急路况下汽车避撞策略。Purpose of the invention: The technical problem to be solved by the present invention is to overcome the defects of existing collision avoidance strategies and provide a vehicle collision avoidance strategy in emergency road conditions.
技术方案：一种无人驾驶汽车避撞策略，包括以下步骤：Technical solution: a collision avoidance strategy for unmanned vehicles, comprising the following steps:
步骤一、汽车上相关传感器采集自车和外部环境相关信息，包括通过毫米波雷达采集自车与前车纵向车距的距离S1、自车与干扰车纵向车距的距离S2、干扰车车速U2，通过霍尔式车速传感器采集自车车速U1、横摆角速度传感器检测到的自车横摆角速度等信息，并将各信号传输至ECU中；Step 1. Relevant sensors on the car collect relevant information about the own vehicle and the external environment, including collecting the longitudinal distance S1 between the own vehicle and the preceding vehicle, the longitudinal distance S2 between the own vehicle and the interfering vehicle, and the interfering vehicle Vehicle speed U2 , collect information such as the vehicle speed U1 of the vehicle and the yaw rate of the vehicle detected by the yaw rate sensor through the Hall-type vehicle speed sensor, and transmit each signal to the ECU;
步骤二、ECU解析各传感器的信号，计算自车与前车制动安全距离Br1，目标车道干扰车的制动安全距离和转向安全距离，ECU根据车辆实际环境信息和制动和转向安全距离进行计算，确定当前车辆所处紧急工况，根据车辆所处的紧急工况，决策避撞策略，Step 2. The ECU analyzes the signals of each sensor, calculates the braking safety distance Br1 between the vehicle in front and the vehicle in front, and the braking safety distance and steering safety distance of the target lane interfering vehicle. The ECU uses the actual vehicle environment information and the braking and steering safety distances Carry out calculations to determine the emergency working conditions of the current vehicle, and decide the collision avoidance strategy according to the emergency working conditions of the vehicle.
(1)若S1≥Br1，自车与前车的实际距离大于或等于制动安全距离，自车有制动避撞的条件，因此选择制动模式；(1) If S1 ≥ Br1 , the actual distance between the self-vehicle and the vehicle in front is greater than or equal to the braking safety distance, and the self-vehicle has the conditions for braking to avoid collisions, so the braking mode is selected;
(2)若St1≤S1＜Br1，S2≥St2，U1≤U2，自车与前车的实际距离大于或等于转向安全距离，但小于等于制动安全距离，自车可以通过换道的方式避免与前车发生碰撞事故，当自车与干扰车的实际距离大于转向安全距离时且自车车速小于干扰车的车速，自车换道后不会与干扰车发生碰撞危险，因此选择转向模式；(2) If St1 ≤ S1 < Br1 , S2 ≥ St2 , U1 ≤ U2 , the actual distance between the ego vehicle and the vehicle in front is greater than or equal to the steering safety distance, but less than or equal to the braking safety distance, the ego vehicle A collision with the vehicle in front can be avoided by changing lanes. When the actual distance between the self-vehicle and the interfering vehicle is greater than the steering safety distance and the speed of the self-vehicle is lower than the speed of the interfering vehicle, the ego-vehicle will not collide with the interfering vehicle after changing lanes dangerous, so select the steering mode;
(3)若St1≤S1＜Br1，S2≥St2，U1＞U2，自车避免与前车发生碰撞，可以转向避撞，但是此时自车车速大于相邻换道车道干扰车的车速，自车需要减速进入相邻车道，因此选择制动转向分段控制模式；(3) If St1 ≤ S1 < Br1 , S2 ≥ St2 , U1 > U2 , the ego vehicle can avoid collision with the vehicle in front and can turn to avoid collision, but at this time the ego vehicle speed is greater than the adjacent lane change The speed of the lane interfering vehicle, the ego vehicle needs to decelerate and enter the adjacent lane, so select the braking and steering segmented control mode;
(4)若St1≤S1＜Br1，S2＜St2，自车可以通过转向避免与前车发生碰撞，但自车实际距离小于自车与干扰车的换道安全距离，此时选择转向模式同时启动预警系统，自车在转向避撞的同时预警前车及干扰车注意紧急情况，此时自车预警灯闪烁，并且语音播报，通过自车避撞和车车合作相结合的方式减少事故；(4) If St1 ≤ S1 < Br1 , S2 < St2 , the self-vehicle can avoid collision with the vehicle in front by turning, but the actual distance between the self-vehicle and the interfering vehicle is smaller than the safe lane-changing distance between the self-vehicle and the interfering vehicle. Select the steering mode and start the early warning system at the same time. When the self-vehicle turns to avoid collision, it warns the vehicle in front and the interfering vehicle to pay attention to the emergency situation. At this time, the self-vehicle warning light flashes and the voice broadcasts. ways to reduce accidents;
(5)若S1＜St1,自车很难避免与前车发生追尾碰撞，此时选择制动模式同时启动预警系统，也通过自车避撞和车车合作相结合的方式减少事故；(5) If S1 < St1 , it is difficult for the self-vehicle to avoid a rear-end collision with the vehicle in front. At this time, select the braking mode and activate the early warning system at the same time, and reduce accidents by combining the self-vehicle collision avoidance and vehicle-vehicle cooperation;
步骤三、ECU通过模糊PID方法控制制动执行器和转向执行器进行相应的避撞操作；Step 3, the ECU controls the brake actuator and the steering actuator to perform corresponding collision avoidance operations through the fuzzy PID method;
步骤四、ECU实时监测车辆碰撞时距TTC-1和横摆角速度值是否为安全值，若自车处于危险状态，延时2秒，再次监测TTC-1和横摆角速度值，若自车仍然处于危险状态，ECU适当减小控制量或者调节分段控制时长，定义制动时长和转向时长之和为总时长，制动时长占总时长的比例用K表示，若横摆角速度较大，增大K值，若TTC-1值大于阈值时，适当减小控制量值。Step 4. The ECU monitors in real time whether the TTC-1 and yaw rate values of the vehicle are safe values. If the vehicle is in a dangerous state, delay for 2 seconds and monitor the TTC-1 and yaw rate values again. In a dangerous state, the ECU appropriately reduces the control amount or adjusts the segmented control duration. The sum of the braking duration and the steering duration is defined as the total duration. The ratio of the braking duration to the total duration is represented by K. If the yaw rate is large, increase Large K value, if the TTC-1 value is greater than the threshold, appropriately reduce the control value.
进一步的，步骤4中所述车辆碰撞时距TTC-1阈值为0.8。Further, the vehicle time to collision TTC-1 threshold in step 4 is 0.8.
有益效果：本发明克服了单一制动避撞和单一转向避撞的局限性，采用制动、转向、制动和转向分段控制三种切换模式，更好地满足不同紧急情况下的避撞要求；在保证车辆稳定性的条件下，有效防止车辆发生碰撞事故，提高无人驾驶汽车的行车安全性。Beneficial effects: the present invention overcomes the limitations of single braking collision avoidance and single steering collision avoidance, adopts three switching modes of braking, steering, braking and steering segmental control, and better meets collision avoidance in different emergency situations Requirements: Under the condition of ensuring the stability of the vehicle, it can effectively prevent the collision accident of the vehicle and improve the driving safety of the unmanned vehicle.
附图说明Description of drawings
图1是道路车辆信息图；Figure 1 is a road vehicle information map;
图2是无人驾驶汽车避撞策略图。Figure 2 is a map of collision avoidance strategies for driverless cars.
具体实施方式detailed description
下面结合附图对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
本发明一种无人驾驶汽车避撞策略，具体过程如下：A kind of unmanned vehicle collision avoidance strategy of the present invention, concrete process is as follows:
步骤1、如图1所示，汽车上毫米雷达测量自车F与前方车辆D1的距离S1、自车与相邻车道干扰车D2的距离S2、自车与干扰车的相对车速，轮速传感器测量自车的车速U1，通过自车车速和自车与干扰车相对车速得到干扰车车速U2。横摆角速度传感器检测横摆角速度信号，将这些信号通过串口通讯传输到Freescale系列MC9S12DP512单片机中。Step 1. As shown in Figure 1, the millimeter radar on the car measures the distance S1 between the own vehicle F and the vehicle D1 in front, the distance S2 between the own vehicle and the interfering vehicle D2 in the adjacent lane, and the relative speed of the own vehicle and the interfering vehicle , the wheel speed sensor measures the vehicle speed U1 of the self-vehicle, and the vehicle speed U2 of the interfering vehicle is obtained through the vehicle speed of the self-vehicle and the relative speed of the self-vehicle and the interfering vehicle. The yaw rate sensor detects the yaw rate signals, and transmits these signals to the Freescale series MC9S12DP512 MCU through serial port communication.
步骤2、如图2所示，电控单元ECU(MC9S12DP512)解析各传感器的信号，计算自车与前车、自车与目标车道干扰车的制动安全距离Br1和自车与前车转向安全距离St1、自车与干扰车转向安全距离St2。Step 2, as shown in Figure 2, the electronic control unit ECU (MC9S12DP512) analyzes the signals of each sensor, and calculates the braking safety distance Br1 between the self-vehicle and the vehicle in front, between the self-vehicle and the target lane interfering vehicle, and the steering between the self-vehicle and the vehicle in front Safety distance St1 , steering safety distance St2 between the ego vehicle and the interfering vehicle.
(1)若S1≥Br1，自车与前车的实际距离大于或等于制动安全距离，自车有制动避撞的条件，因此选择制动模式。(1) If S1 ≥ Br1 , the actual distance between the ego vehicle and the vehicle in front is greater than or equal to the braking safety distance, and the ego vehicle has conditions for braking to avoid collisions, so the braking mode is selected.
(2)若St1≤S1＜Br1，S2≥St2，U1≤U2，自车与前车的实际距离大于或等于自车与前车转向安全距离St1，但小于制动安全距离Br1，自车通过制动无法有效避免与前车发生追尾等碰撞事故，但自车可以通过换道的方式避免与前车发生碰撞事故。但转向换道避撞时需要考虑相邻换道车道干扰车的信息。当自车与干扰车的实际距离大于自车与干扰车转向安全距离St2时且自车车速小于干扰车的车速，自车换道后不会与干扰车发生碰撞危险，因此选择转向模式。(2) If St1 ≤ S1 < Br1 , S2 ≥ St2 , U1 ≤ U2 , the actual distance between the ego vehicle and the vehicle in front is greater than or equal to the steering safety distance St1 between the ego vehicle and the vehicle in front, but less than the specified distance The moving safety distance Br1 , the ego vehicle cannot effectively avoid collisions with the vehicle in front such as rear-end collisions through braking, but the ego vehicle can avoid collisions with the vehicle in front by changing lanes. However, when turning to avoid collisions with lane changes, information about interfering vehicles in adjacent lanes needs to be considered. When the actual distance between the ego vehicle and the interfering vehicle is greater than the steering safety distance St2 between the ego vehicle and the interfering vehicle and the speed of the ego vehicle is lower than the speed of the interfering vehicle, the ego vehicle will not collide with the interfering vehicle after changing lanes, so the steering mode is selected.
(3)若St1≤S1＜Br1，S2≥St2，U1＞U2，自车避免与前车发生碰撞，可以转向避撞，但是此时自车车速大于相邻换道车道干扰车的车速，自车进入低速车道需要减速，否则自车换道进入相邻车道后容易与干扰车发生追尾事故。自车需要减速进入相邻车道，因此选择制动转向分段控制模式。(3) If St1 ≤ S1 < Br1 , S2 ≥ St2 , U1 > U2 , the ego vehicle can avoid collision with the vehicle in front and can turn to avoid collision, but at this time the ego vehicle speed is greater than the adjacent lane change The speed of the lane interfering vehicle, the self-vehicle needs to slow down when entering the low-speed lane, otherwise the self-vehicle will easily collide with the interfering vehicle after changing lanes and entering the adjacent lane. The ego vehicle needs to slow down and enter the adjacent lane, so the braking and steering segmented control mode is selected.
(4)若St1≤S1＜Br1，S2＜St2，自车可以通过转向避免与前车发生碰撞，但自车实际距离小于自车与干扰车的换道安全距离，自车很难避免与干扰车发生斜碰、侧碰等事故。为了尽量减小事故发生的概率，此时选择转向模式同时启动预警系统。自车在转向避撞的同时预警前车及干扰车注意紧急情况，此时自车预警灯闪烁，并且语音播报：“注意车距，防止碰撞！”，通过警示让干扰车加速以加大自车与干扰车的纵向距离，减少事故。(4) If St1 ≤ S1 < Br1 , S2 < St2 , the ego vehicle can avoid collision with the vehicle in front by turning, but the actual distance between the ego vehicle and the interfering vehicle is less than the safe lane-changing distance between the ego vehicle and the interfering vehicle. It is difficult to avoid accidents such as oblique collisions and side collisions with the interfering vehicle. In order to minimize the probability of accidents, select the steering mode and activate the early warning system at this time. When the self-vehicle is turning to avoid collision, it warns the vehicle in front and the interfering vehicle to pay attention to the emergency situation. At this time, the warning light of the self-vehicle flashes, and the voice broadcasts: "Pay attention to the distance between vehicles, and prevent collision!". The longitudinal distance between the vehicle and the interfering vehicle can be reduced to reduce accidents.
(5)若S1＜St1,自车很难避免与前车发生追尾碰撞，此时选择制动模式同时启动预警系统，也通过自车避撞和车车合作相结合的方式减少事故。(5) If S1 < St1 , it is difficult for the self-vehicle to avoid a rear-end collision with the vehicle in front. At this time, select the braking mode and activate the early warning system at the same time, and also reduce accidents through the combination of self-vehicle collision avoidance and vehicle-vehicle cooperation.
步骤3、如图2所示，ECU通过相关控制算法(如PID、模型预测控制等)PID算法控制制动执行电机和转向执行电机进行相应的避撞操作。PID制动控制算法的输入参数为自车实际纵向加速度和理想纵向加速度的差值，仿真调节PID的比例系数KP值、积分系数KI值和微分系数KD值使PID输出值快速平稳的逼近理想纵向加速度的值。PID转向控制算法的输入参数为自车实际方向盘转角和理想的方向盘转角的差值，仿真调节PID的比例系数KP值、积分系数KI值和微分系数KD值使PID输出值快速平稳的逼近理想的方向盘转角的值。Step 3. As shown in FIG. 2 , the ECU controls the brake actuator motor and the steering actuator motor to perform corresponding collision avoidance operations through a related control algorithm (such as PID, model predictive control, etc.) and a PID algorithm. The input parameter of the PID braking control algorithm is the difference between the actual longitudinal acceleration and the ideal longitudinal acceleration of the vehicle, and the simulation adjusts the PID proportional coefficient KP value, integral coefficient KI value and differential coefficient KD value to make the PID output value fast and stable. A value that approximates the ideal longitudinal acceleration. The input parameter of the PID steering control algorithm is the difference between the actual steering wheel angle of the vehicle and the ideal steering wheel angle, and the simulation adjusts the proportional coefficient KP value, the integral coefficient KI value and the differential coefficient KD value of the PID to make the PID output value fast and stable. A value close to the ideal steering wheel angle.
步骤4、如图2所示，本避撞策略中设置安全性评价指标，监测自车安全状态，本发明根据实际需要引入TTC-1和横摆角速度作为评价指标，评价汽车的安全性。Step 4, as shown in Figure 2, set safety evaluation index in this collision avoidance strategy, monitor self-vehicle safety status, the present invention introduces TTC-1 and yaw rate as evaluation index according to actual needs, evaluates the safety of automobile.
车辆碰撞时距定义为：The vehicle collision time distance is defined as:
其中，S为自车与前车实际间距，vrel为自车与前车相对速度。Among them, S is the actual distance between the self-vehicle and the preceding vehicle, vrel is the relative speed of the self-vehicle and the preceding vehicle.
由定义可知，当车辆达到安全状态时，两车相对速度趋于0，TTC-1此时趋近于零。当车辆越安全时，TTC-1值越小；当车辆碰撞危险等级越高，TTC-1的值越大。It can be seen from the definition that when the vehicle reaches a safe state, the relative speed of the two vehicles tends to 0, and TTC-1 tends to zero at this time. When the vehicle is safer, the TTC-1 value is smaller; when the vehicle collision risk level is higher, the TTC-1 value is larger.
ECU实时监测TTC-1和横摆角速度值，若自车处于危险状态，延时2秒，再次监测TTC-1和横摆角速度值，延时的目的是防止TTC-1和横摆角速度值瞬时数值抖动造成误判。若自车仍然处于危险状态，ECU适当减小控制量或者调节分段控制时长。定义制动时长和转向时长之和为总时长，制动时长占总时长的比例用K表示，若横摆角速度较大，增大K值，若TTC-1值较大(大于0.8)，适当减小控制量值。The ECU monitors the TTC-1 and yaw rate values in real time. If the vehicle is in a dangerous state, it will delay for 2 seconds to monitor the TTC-1 and yaw rate values again. The purpose of the delay is to prevent the TTC-1 and yaw rate values from being instantaneous Numerical jitter causes misjudgment. If the self-vehicle is still in a dangerous state, the ECU appropriately reduces the control amount or adjusts the segmented control duration. Define the sum of the braking duration and the steering duration as the total duration, and the ratio of the braking duration to the total duration is represented by K. If the yaw rate is large, increase the K value. If the TTC-1 value is large (greater than 0.8), it is appropriate Decrease the control value.
本发明的应用途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进，这些改进也应视为本发明的保护范围。There are many application approaches of the present invention, and the above description is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can also be made without departing from the principles of the present invention. These improvements should also be regarded as the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710243742.0ACN107226089B (en) | 2017-04-14 | 2017-04-14 | A collision avoidance method for driverless cars |
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| CN201710243742.0ACN107226089B (en) | 2017-04-14 | 2017-04-14 | A collision avoidance method for driverless cars |
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