本发明属于车载智能巡航系统技术领域，具体涉及一种车载智能巡航系统弯道自适应路径规划控制方法。The invention belongs to the technical field of vehicle-mounted intelligent cruise systems, and in particular relates to a curve adaptive path planning control method of the vehicle-mounted intelligent cruise system.
随着汽车智能化程度的提高，汽车高级驾驶辅助(ADAS)的应用逐步增多，如自适应巡航系统、自动紧急制动系统、车道保持系统等。这些高级驾驶辅助系统的应用一方面减轻了驾驶员的驾驶负担，另一方面还大大提升了车辆行驶的安全性。With the improvement of automobile intelligence, the application of advanced driver assistance (ADAS) is gradually increasing, such as adaptive cruise system, automatic emergency braking system, lane keeping system and so on. The application of these advanced driver assistance systems reduces the driver's driving burden on the one hand, and on the other hand greatly improves the safety of vehicle driving.
在驾驶辅助系统中，巡航辅助系统可为驾驶员在行车期间提供辅助。目前汽车行业内，主流的巡航系统包括：定速巡航系统、自适应巡航系统、智能巡航系统。Among driving assistance systems, cruise assist assists the driver while driving. At present, in the automotive industry, the mainstream cruise systems include: constant speed cruise system, adaptive cruise system, and intelligent cruise system.
定速巡航系统就是在系统激活后巡航系统控制车辆按照驾驶员设定的巡航车速定速行驶。巡航系统不检测本车前方是否有阻挡车辆，即使前方有危险，巡航系统也不会控制车辆自动减速，此时必须要驾驶员主动介入。自适应巡航系统在定速巡航系统的基础上，巡航系统还具备纵向的加减速自动控制。巡航系统需要搭载ADAS传感器对车辆前方路况进行探测，当续航系统前方有阻挡车辆，会自动控制本车减速。自适应巡航系统又分为基本型自适应巡航系统和停走型自适应巡航系统，后者在ADAS传感器探测前方有阻挡车辆时可以自动控制刹停本车，前者不能自动刹停，只能减速到某一车速阈值，而后提请驾驶员接管巡航退出激活。智能巡航系统是在自适应巡航系统的基础上，巡航系统还具备横向的自动控制，可辅助驾驶员横向自动修正转向盘的行驶方向，以使得本 车不偏出当前行驶车道。The cruise control system means that after the system is activated, the cruise system controls the vehicle to drive at a constant speed according to the cruise speed set by the driver. The cruise system does not detect whether there is a blocking vehicle in front of the vehicle. Even if there is danger ahead, the cruise system will not control the vehicle to slow down automatically. At this time, the driver must actively intervene. On the basis of the constant speed cruise system, the adaptive cruise system also has automatic longitudinal acceleration and deceleration control. The cruise system needs to be equipped with ADAS sensors to detect the road conditions in front of the vehicle. When there is a blocking vehicle in front of the battery life system, it will automatically control the vehicle to slow down. The adaptive cruise system is further divided into a basic adaptive cruise system and a stop-and-go adaptive cruise system. The latter can automatically control and stop the vehicle when the ADAS sensor detects a blocking vehicle ahead. The former cannot automatically brake and stop, but can only slow down. To a certain vehicle speed threshold, and then ask the driver to take over the activation of cruise exit. The intelligent cruise system is based on the adaptive cruise system. The cruise system also has lateral automatic control, which can assist the driver to automatically correct the driving direction of the steering wheel laterally so that the vehicle does not deviate from the current driving lane.
在智能巡航系统设计中，提高系统横向控制的稳定性是系统设计的难点。尤其是在弯道路面上，智能巡航系统经常出现转向不足和转向过度的情况，需要控制系统对转向盘横向控制频繁自动介入。横向控制不稳定，不仅会影响车内乘员的驾乘感受，并会严重影响弯道行车的安全性。In the design of the intelligent cruise system, improving the stability of the lateral control of the system is a difficult point in the system design. Especially on curved roads, understeer and oversteer often occur in the intelligent cruise control system, which requires the control system to frequently and automatically intervene in the lateral control of the steering wheel. The unstable lateral control will not only affect the driving experience of the occupants in the car, but also seriously affect the safety of driving on curves.
发明内容Contents of the invention
为了克服上述问题，本发明提供一种车载智能巡航系统弯道自适应路径规划控制方法，针对搭载智能巡航系统的车辆，提高车辆在弯道工况横向保持稳定控制能力；本发明采用多路补充机制策略对弯道工况的车辆横向控制调节实施补偿，从而减少车辆在过弯的过程中的控制系统对转向盘的频繁多次横向控制修正，提升车内乘员在弯道工况的辅助驾驶驾乘感受，并提高车辆在本车道内行驶的安全性。In order to overcome the above problems, the present invention provides a curve adaptive path planning control method for a vehicle-mounted intelligent cruise system, aimed at vehicles equipped with an intelligent cruise system, to improve the ability of the vehicle to maintain stability in the lateral direction of the curve; the present invention uses multi-channel supplementary The mechanism strategy compensates for the vehicle’s lateral control adjustment in curve conditions, thereby reducing the frequent multiple lateral control corrections of the steering wheel by the control system of the vehicle in the process of cornering, and improving the assisted driving of the occupants in the curve conditions Improve the driving experience and improve the safety of vehicles driving in this lane.
一种车载智能巡航系统弯道自适应路径规划控制方法，包括如下内容：A curve adaptive path planning control method for a vehicle-mounted intelligent cruise system, comprising the following content:
本方法在车载智能巡航激活期间对车辆横向的自动控制是由巡航横向调节控制模块负责，巡航横向调节控制模块采集1-5号输入信息，经过综合决策判断后，向EPS电动助力转向系统输出1-5号输出信息——巡航横向调节相关控制信息，实现车辆在当前车道内横向稳定保持，其中1号输入信息为车辆当前基本状态信息，2号输入信息为当前车辆的行驶状态信息，3号输入信息为ADAS传感器采集的路况信息，4号输入信息为驾驶员转方向盘手力矩，5号输入信息为导航地图信息输入；1号输出信息和2号输出信息分别为横向控制转角输出请求和横向控制扭矩控制请求；3号输出信息为横向控制请求有效标志；4号输出信息用于提示驾驶员横向控制请求驾驶员接管提示；5号输出信息用于提示驾驶员横向控制驾驶员脱手警告提示。In this method, the automatic control of the vehicle lateral direction during the activation of the vehicle intelligent cruise control module is responsible for the cruise lateral adjustment control module. The cruise lateral adjustment control module collects input information from No. 1 to No. 5, and outputs 1 to the EPS electric power steering system after comprehensive decision-making and judgment. - No. 5 output information—cruise lateral adjustment related control information to achieve lateral stability of the vehicle in the current lane. Among them, No. 1 input information is the current basic state information of the vehicle, No. 2 input information is the current driving state information of the vehicle, and No. 3 input information The input information is the road condition information collected by the ADAS sensor, the No. 4 input information is the driver's steering wheel hand torque, and the No. 5 input information is the navigation map information input; the No. 1 output information and the No. 2 output information are the lateral control angle output request and lateral Control torque control request; No. 3 output information is a valid sign of lateral control request; No. 4 output information is used to prompt the driver to request lateral control to take over; No. 5 output information is used to prompt the driver to warn the driver of lateral control.
所述巡航横向调节控制模块采集1-5号输入信息具体为：The cruising lateral adjustment control module collects No. 1-5 input information specifically as follows:
1号输入信息为车辆当前基本状态信息；巡航横向调节控制模块采集的车辆当前基本状态信息，包括四门两盖状态、司机侧安全带锁扣状态、车辆加速控制模块运行状态、车辆转向控制模块运行状态；No. 1 input information is the current basic status information of the vehicle; the current basic status information of the vehicle collected by the cruise lateral adjustment control module, including the status of four doors and two lids, the buckle status of the driver's side seat belt, the running status of the vehicle acceleration control module, and the vehicle steering control module Operating status;
2号输入信息为当前车辆的行驶状态信息；包括：变速箱档位、当前车速、制动踏板状态、加速踏板状态、车辆当前横向加速度状态、车辆当前纵向加速度状态、车辆当前横摆角传感器状态、方向盘转角传感器运行状态；The No. 2 input information is the driving status information of the current vehicle; including: gearbox gear, current vehicle speed, brake pedal status, accelerator pedal status, current vehicle lateral acceleration status, vehicle current longitudinal acceleration status, vehicle current yaw angle sensor status , the running state of the steering wheel angle sensor;
3号输入信息为ADAS传感器采集的路况信息；包括：前方及邻近车道车辆信息、车道线信息；No. 3 input information is road condition information collected by ADAS sensors; including: vehicle information in front and adjacent lanes, lane line information;
4号输入信息为驾驶员转方向盘手力矩；No. 4 input information is the driver's steering wheel hand torque;
5号输入信息为导航地图信息输入。No. 5 input information is input of navigation map information.
所述巡航横向调节控制模块输出1-5号输出信息为：The cruising lateral adjustment control module outputs No. 1-5 output information as:
巡航横向调节控制模块根据3号输入信息中基于ADAS传感器采集到的信息进行实时的曲线拟合，分别计算出本车道的车道线的曲线曲率半径，此曲率半径并非实际道路上真实的道路弯曲半径，仅是从摄像头视角画面中的道路曲线曲率半径，还需进行距离坐标转化，估算当前道路的实际弯曲半径，预测前方道路的弯道弯曲半径；基于此估算道路弯曲曲率半径，并结合当前车辆横摆角传感器信息，以及当前方向盘转角传感器的转角信息，实时实施弯道路径规划，并基于路径规划巡航横向调节控制模块向EPS电动助力转向系统输出1号输出信息：横向控制转角输出请求；The cruise lateral adjustment control module performs real-time curve fitting based on the information collected by the ADAS sensor in the No. 3 input information, and calculates the curvature radius of the curve of the lane line of this lane respectively. This curvature radius is not the actual road curvature radius on the actual road. , only from the curvature radius of the road curve in the camera's perspective, distance coordinate conversion is required to estimate the actual curvature radius of the current road and predict the curve curvature radius of the road ahead; based on this, estimate the curvature radius of the road and combine the current vehicle The yaw angle sensor information, as well as the current corner information of the steering wheel angle sensor, implements curve path planning in real time, and based on the path planning, the cruise lateral adjustment control module outputs No. 1 output information to the EPS electric power steering system: lateral control corner output request;
巡航横向调节控制模块根据4号输入信息中手力矩数值的大小，实时获知当前驾驶员操控方向盘的转矩，进而通过判断决策得到当前驾驶员双手是否握在方向盘上以及当前是否触发驾驶员横向接管转向控制，若当前驾驶员双手握在方向盘上，则触发驾驶员横向接管转向控制，向EPS电动助力转向系统输出2号输出信息：横向控制扭矩控制请求；The cruise lateral adjustment control module obtains the torque of the current driver's steering wheel in real time according to the value of the hand torque in the No. 4 input information, and then obtains whether the current driver's hands are on the steering wheel and whether the current driver's lateral takeover is triggered through judgment and decision-making. Steering control, if the current driver holds both hands on the steering wheel, it will trigger the driver to take over the steering control laterally, and output No. 2 output information to the EPS electric power steering system: lateral control torque control request;
巡航横向调节控制模块通过5号输入信息采集获知当前车辆行驶方向上前 方的道路地图信息；若地图信息中包含前方道路的弯道半径信息，巡航横向调节控制模块根据此信息与通过摄像头图像估算的前方道路曲率半径进行比对，比对结果用于补偿1号输出信息；The cruise lateral adjustment control module obtains the road map information ahead in the current vehicle driving direction through No. 5 input information collection; if the map information includes the curve radius information of the road ahead, the cruise lateral adjustment control module uses this information and the estimated The curvature radius of the road ahead is compared, and the comparison result is used to compensate the No. 1 output information;
3号输出信息为横向控制请求有效标志，只有横向控制请求为有效状态时，才表示1号输出信息和2号输出信息的控制请求是有效的；The No. 3 output information is the valid flag of the horizontal control request, and only when the horizontal control request is valid, it means that the control requests of the No. 1 output information and the No. 2 output information are valid;
4号输出信息用于在横向控制请求过程中驾驶员接管提示；No. 4 output information is used for the driver to take over the prompt during the lateral control request process;
5号输出信息用于在横向控制过程中驾驶员脱手警告提示。The No. 5 output information is used for the driver's hands-off warning prompt during the lateral control process.
若当本车前方道路的车道线由于车辆拥堵而被部分遮挡，针对此情况，巡航横向调节控制模块的路径预测规划会基于ADAS传感器探测到的本车道及邻近车道内的前方车队的轨迹，预测估算前方道路的车道弯曲半径。If the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, the path prediction planning of the cruise lateral adjustment control module will predict the vehicle based on the trajectories of the vehicle ahead in the lane and adjacent lanes detected by the ADAS sensor. Estimates the lane bend radius of the road ahead.
所述驾驶员转方向盘手力矩还用于对横向控制扭矩请求的补偿。The driver's steering wheel torque is also used to compensate for the lateral control torque request.
本发明的有益效果：Beneficial effects of the present invention:
本发明采用多路补充机制策略对弯道工况的车辆横向控制调节实施补偿，从而减少车辆在过弯的过程中的控制系统对转向盘的频繁多次横向控制修正，提升车内乘员在弯道工况的辅助驾驶驾乘感受，并提高车辆在本车道内行驶的安全性。The present invention adopts the strategy of multi-channel supplementary mechanism to compensate the lateral control adjustment of the vehicle in the curve condition, thereby reducing the frequent multiple lateral control corrections of the steering wheel by the control system of the vehicle in the process of cornering, and improving the occupants in the vehicle. Assisted driving and driving experience in road conditions, and improve the safety of vehicles driving in this lane.
本发明输出的横向控制请求信息还带有车速自适应补偿机制，以适应不同车速情况下横向控制调节的稳定性和一致性。The lateral control request information output by the present invention also has a vehicle speed self-adaptive compensation mechanism to adapt to the stability and consistency of the lateral control adjustment under different vehicle speeds.
本发明带有“驾驶员手力矩”自适应调整补偿机制，可在存在驾驶员手力干扰的情况下，仍可将本车控制在当前车道内，实现横向调节稳定控制。The invention has a "driver's hand torque" self-adaptive adjustment and compensation mechanism, which can control the vehicle in the current lane in the presence of driver's hand force interference, and realize lateral adjustment and stability control.
本发明可以利用导航地图中提供的前方道路的弯道半径信息，巡航横向调节控制模块此信息与控制模块通过摄像头图像估算的前方道路曲率半径进行比对，比对结果用于补偿横向控制请求，以提高横向控制稳定性。The present invention can use the curve radius information of the road ahead provided in the navigation map, and the cruise lateral adjustment control module compares this information with the curvature radius of the road ahead estimated by the control module through the camera image, and the comparison result is used to compensate the lateral control request, To improve lateral control stability.
下面结合实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。The present invention will be described in further detail below in conjunction with embodiment. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
在本发明的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.
在本实施例的描述中，术语“上”、“下”、“左”、“右”等方位或位置关系仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。In the description of this embodiment, the terms "upper", "lower", "left", "right" and other orientation or positional relationships are only for the convenience of description and simplification of operation, rather than indicating or implying that the referred device or element must Having a particular orientation, being constructed and operating in a particular orientation, and therefore not to be construed as limiting the invention. In addition, the terms "first" and "second" are only used to distinguish in description, and have no special meaning.
本发明基于传感器采集到的车道线信息，巡航横向调节控制模块进行实时的曲线拟合，分别计算出本车道的车道线的曲线曲率半径，此曲率半径并非实际道路上真是的道路弯曲半径，仅是从摄像头视角画面中的道路曲线曲率半径，还需控制器内部进行距离坐标转化，估算当前道路的实际弯曲半径，预测前方道路的弯道弯曲半径。基于此估算道路弯曲曲率半径，并结合当前车辆横摆角 传感器信息，以及当前方向盘转角传感器的转角信息，实时实施弯道路径规划，并基于路径规划巡航横向调节控制模块输出当前所需的横向控制请求信息。In the present invention, based on the lane line information collected by the sensor, the cruise lateral adjustment control module performs real-time curve fitting to calculate the curvature radius of the lane line of the lane respectively. This curvature radius is not the real road bending radius on the actual road, only It is the radius of curvature of the road curve from the perspective of the camera. It is also necessary to convert the distance coordinates inside the controller to estimate the actual curvature radius of the current road and predict the curvature radius of the road ahead. Estimate the radius of curvature of the road based on this, and combine the current vehicle yaw angle sensor information and the current steering wheel angle sensor information to implement curve path planning in real time, and output the current required lateral control based on the path planning cruise lateral adjustment control module request information.
当本车前方道路的车道线由于车辆拥堵而被部分遮挡，针对此情况，巡航横向调节控制模块的路径预测规划，会基于传感器探测到的本车道及邻近车道内的前方车队的轨迹，预测估算前方道路的车道弯曲半径。When the lane line of the road ahead of the vehicle is partially blocked due to vehicle congestion, the path prediction and planning of the cruise lateral adjustment control module will predict and estimate based on the trajectories of the vehicle in front of the vehicle and the adjacent lanes detected by the sensor. Lane bend radius of the road ahead.
实施例1Example 1
一种车载智能巡航系统弯道自适应路径规划控制方法，包括如下内容：A curve adaptive path planning control method for a vehicle-mounted intelligent cruise system, comprising the following content:
本方法在车载智能巡航激活期间对车辆横向的自动控制的是由巡航横向调节控制模块负责，巡航横向调节控制模块采集1-5号输入信息，经过综合决策判断后，输出1-5号输出信息——巡航横向调节相关控制信息，实现车辆在当前车道内横向稳定保持，其中1号输入信息为车辆当前基本状态信息，2号输入信息为当前车辆的行驶状态信息，3号输入信息为ADAS传感器采集的路况信息，4号输入信息为驾驶员转方向盘手力矩，5号输入信息为导航地图信息输入；1号输出信息和2号输出信息分别为横向控制转角输出请求和横向控制扭矩控制请求；3号输出信息为横向控制请求有效标志；4号输出信息用于提示驾驶员横向控制请求驾驶员接管提示；5号输出信息用于提示驾驶员横向控制驾驶员脱手警告提示。In this method, the automatic control of the vehicle lateral direction during the activation of the vehicle-mounted intelligent cruise control module is responsible for the cruise lateral adjustment control module. The cruise lateral adjustment control module collects the input information of No. 1-5, and outputs the output information of No. 1-5 after comprehensive decision-making and judgment. ——Cruise lateral adjustment related control information to achieve lateral stability of the vehicle in the current lane, where No. 1 input information is the current basic state information of the vehicle, No. 2 input information is the current driving state information of the vehicle, and No. 3 input information is the ADAS sensor For the collected road condition information, the No. 4 input information is the driver's steering wheel hand torque, and the No. 5 input information is the navigation map information input; the No. 1 output information and No. 2 output information are the lateral control angle output request and the lateral control torque control request respectively; The No. 3 output information is the effective sign of the lateral control request; the No. 4 output information is used to prompt the driver to request the driver to take over the lateral control prompt; the No. 5 output information is used to prompt the driver to warn the driver of the lateral control.
所述巡航横向调节控制模块采集1-5号输入信息具体为：The cruising lateral adjustment control module collects No. 1-5 input information specifically as follows:
1号输入信息为车辆当前基本状态信息；巡航横向调节控制模块通过CAN总线采集车辆当前基本状态信息，包括四门两盖状态、司机侧安全带锁扣状态、车辆加速控制模块运行状态、车辆加速控制模块运行状态、车辆转型控制模块运行状态；这类信息是巡航系统开启的必要条件，是保障巡航系统可以安全激活使用的前提。No. 1 input information is the current basic status information of the vehicle; the cruise lateral adjustment control module collects the current basic status information of the vehicle through the CAN bus, including the status of the four doors and two covers, the buckle status of the driver's side seat belt, the running status of the vehicle acceleration control module, and the vehicle acceleration The operating status of the control module and the operating status of the vehicle transformation control module; this type of information is a necessary condition for the cruise system to be turned on, and a prerequisite for ensuring that the cruise system can be activated and used safely.
2号输入信息为当前车辆的行驶状态信息；包括：变速箱档位、当前车速、制动踏板状态、加速踏板状态、车辆当前横向加速度状态、车辆当前纵向加速 度状态、车辆当前横摆角传感器状态、方向盘转角传感器运行状态；巡航横向调节控制模块通过采集这些输入，可获知当前车辆运行情况及运行姿态等。The No. 2 input information is the driving status information of the current vehicle; including: gearbox gear, current vehicle speed, brake pedal status, accelerator pedal status, current vehicle lateral acceleration status, vehicle current longitudinal acceleration status, vehicle current yaw angle sensor status , the operating status of the steering wheel angle sensor; the cruise lateral adjustment control module can obtain the current vehicle operating status and operating attitude by collecting these inputs.
3号输入信息为ADAS传感器采集的路况信息；包括：前方及邻近车道车辆信息、车道线信息(车道线类型、车道线颜色、车道宽度)；No. 3 input information is the road condition information collected by the ADAS sensor; including: vehicle information in the front and adjacent lanes, lane line information (lane line type, lane line color, lane width);
4号输入信息为驾驶员转方向盘手力矩；通过手力矩数值的大小，巡航横向调节控制模块实时获知当前驾驶员操控方向盘的转矩，进而通过判断决策得到当前驾驶员双手是否握在方向盘上以及当前是否触发驾驶员横向接管转向控制；所述巡航横向调节控制模块输出1-5号输出信息为：The No. 4 input information is the hand torque of the driver turning the steering wheel; through the magnitude of the hand torque value, the cruise lateral adjustment control module can know the torque of the current driver's steering wheel in real time, and then determine whether the current driver is holding both hands on the steering wheel and Whether to trigger the driver to take over the steering control laterally at present; the output information of No. 1-5 output information of the cruise lateral adjustment control module is:
1号输出信息和2号输出信息分别为横向控制转角输出请求和横向控制扭矩控制请求；通过这两个输出接口，巡航横向调节控制模块同时适应两种模式的横向控制接口；The No. 1 output information and No. 2 output information are the lateral control angle output request and the lateral control torque control request respectively; through these two output interfaces, the cruise lateral adjustment control module adapts to the lateral control interface of the two modes at the same time;
其中3号输入信息中基于ADAS传感器采集到的信息，巡航横向调节控制模块进行实时的曲线拟合，分别计算出本车道的车道线的曲线曲率半径，此曲率半径并非实际道路上真实的道路弯曲半径，仅是从摄像头视角画面中的道路曲线曲率半径，还需控制器内部进行距离坐标转化，估算当前道路的实际弯曲半径，预测前方道路的弯道弯曲半径；基于此估算道路弯曲曲率半径，并结合当前车辆横摆角传感器信息，以及当前方向盘转角传感器的转角信息，实时实施弯道路径规划，并基于路径规划巡航横向调节控制模块向EPS电动助力转向系统输出当前所需的横向控制请求信息；Among them, No. 3 input information is based on the information collected by the ADAS sensor, and the cruise lateral adjustment control module performs real-time curve fitting to calculate the curvature radius of the lane line of the current lane, which is not the real road curvature on the actual road. The radius is only the radius of curvature of the road curve in the camera's perspective. It also needs to convert the distance coordinates inside the controller to estimate the actual curvature radius of the current road and predict the curvature radius of the road ahead; based on this estimation of the curvature radius of the road, Combined with the current vehicle yaw angle sensor information and the current steering wheel angle sensor information, implement curve path planning in real time, and output the current required lateral control request information to the EPS electric power steering system based on the path planning cruise lateral adjustment control module ;
若当本车前方道路的车道线由于车辆拥堵而被部分遮挡，针对此情况，巡航横向调节控制模块的路径预测规划会基于ADAS传感器探测到的本车道及邻近车道内的前方车队的轨迹，预测估算前方道路的车道弯曲半径；此外，巡航横向调节控制模块输出的横向控制请求信息还带有车速自适应补偿机制，以适应不同车速情况下横向控制调节的稳定性和一致性。If the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, the path prediction planning of the cruise lateral adjustment control module will predict the vehicle based on the trajectories of the vehicle ahead in the lane and adjacent lanes detected by the ADAS sensor. Estimate the lane bending radius of the road ahead; in addition, the lateral control request information output by the cruise lateral adjustment control module also has a vehicle speed adaptive compensation mechanism to adapt to the stability and consistency of the lateral control adjustment under different vehicle speeds.
巡航横向调节控制模块输出的横向控制请求值及请求值变化率需在规定门 限范围内，不允许出现超出限值的控制器请求输出，从而保障横向控制的稳定性和安全性。The lateral control request value and request value change rate output by the cruise lateral adjustment control module must be within the specified threshold range, and no controller request output exceeding the limit value is allowed, so as to ensure the stability and safety of lateral control.
需要根据计算出的半径在实车上进行匹配标定后才能确定应发出的横向控制请求值。It is necessary to carry out matching and calibration on the real vehicle according to the calculated radius before determining the value of the lateral control request that should be issued.
同时驾驶员转方向盘手力矩还用于对横向控制扭矩请求的补偿，控制系统自动施加的横向转矩请求，需要综合驾驶员手力矩共同起作用，因而需求在驾驶员在实际使用智能巡航系统时，手轻扶到方向盘即可，尽量避免施加较大的手力，否则影响驾乘体验；At the same time, the driver's hand torque when turning the steering wheel is also used to compensate for the lateral control torque request. The lateral torque request automatically imposed by the control system requires the comprehensive driver's hand torque to work together. Therefore, it is required when the driver actually uses the intelligent cruise system. , you can lightly hold the steering wheel with your hands, and try to avoid applying large hand force, otherwise it will affect the driving experience;
巡航横向调节控制模块通过5号输入信息采集获知当前车辆行驶方向上前方的道路地图信息；若地图信息中包含前方道路的弯道半径信息，巡航横向调节控制模块此信息与控制模块通过摄像头图像估算的前方道路曲率半径进行比对，比对结果用于补偿横向控制请求，以进一步提高横向控制稳定性；The cruise lateral adjustment control module obtains the road map information ahead in the current vehicle driving direction through No. 5 input information collection; if the map information includes the curve radius information of the road ahead, the cruise lateral adjustment control module uses this information and the control module to estimate through the camera image The curvature radius of the road ahead is compared, and the comparison result is used to compensate the lateral control request to further improve the lateral control stability;
3号输出信息为横向控制请求有效标志，只有为有效状态时，才表示1号输出信息和2号输出信息的控制请求是有效的，从而提高系统的可靠性；The No. 3 output information is the valid flag of the horizontal control request. Only when it is in a valid state, it indicates that the control requests of the No. 1 output information and the No. 2 output information are valid, thereby improving the reliability of the system;
4号输出信息用于提示驾驶员横向控制请求驾驶员接管提示；No. 4 output information is used to prompt the driver to request the driver to take over the prompt for lateral control;
5号输出信息用于提示驾驶员横向控制驾驶员脱手警告提示。No. 5 output information is used to prompt the driver to laterally control the driver's hands-off warning prompt.
实施例2Example 2
本技术方案中车辆在智能巡航激活期间的车辆横向自动控制由巡航横向调节控制模块负责，巡航横向调节控制模块采集多路输入信息，经过综合决策判断后，输出巡航横向调节相关控制信息，实现车辆在当前车道内横向稳定保持。In this technical solution, the vehicle lateral automatic control of the vehicle during the intelligent cruise activation period is the responsibility of the cruise lateral adjustment control module. The cruise lateral adjustment control module collects multi-channel input information. After comprehensive decision-making and judgment, it outputs cruise lateral adjustment related control information to realize vehicle Maintain lateral stability within the current lane.
输入1为“车辆当前基本状态信息”。巡航横向调节控制模块通过采集该输入获知当前车辆基本状态信息，例如：四门两盖状态、司机侧安全带锁扣状态、车辆加速控制模块运行状态、车辆加速控制模块运行状态、车辆转型控制模块运行状态等信息。这类信息是巡航系统开启的必要条件，是保障巡航系统可以安全激活使用的前提。Input 1 is "the current basic status information of the vehicle". The cruise lateral adjustment control module obtains the basic state information of the current vehicle by collecting this input, such as: four doors and two covers state, driver's side seat belt buckle state, vehicle acceleration control module running state, vehicle acceleration control module running state, vehicle transformation control module Information such as operating status. This type of information is a necessary condition for the cruise system to be turned on, and a prerequisite for ensuring that the cruise system can be activated and used safely.
输入2为“当前车辆的行驶状态信息”。包括：变速箱档位、当前车速、制动踏板状态、加速踏板状态、车辆当前横向加速度状态、车辆当前纵向加速度状态、车辆当前横摆角传感器状态、方向盘转角传感器运行状态。巡航横向调节控制模块通过采集这些输入，可获知当前车辆运行情况及运行姿态等。Input 2 is "current vehicle driving status information". Including: gearbox gear position, current vehicle speed, brake pedal status, accelerator pedal status, current vehicle lateral acceleration status, vehicle current longitudinal acceleration status, vehicle current yaw angle sensor status, and steering wheel angle sensor operating status. By collecting these inputs, the cruise lateral adjustment control module can know the current vehicle operating conditions and operating attitude.
输入3为“ADAS传感器采集的路况信息”。包括：前方及邻近车道车辆信息、车道线信息(车道线类型、车道线颜色、车道宽度)。基于传感器采集到的信息，巡航横向调节控制模块进行控制决策路径规划。基于传感器采集到的车道线信息，巡航横向调节控制模块进行实时的曲线拟合，分别计算出本车道的车道线的曲线曲率半径，此曲率半径并非实际道路上真实的道路弯曲半径，仅是从摄像头视角画面中的道路曲线曲率半径，还需控制器内部进行距离坐标转化，估算当前道路的实际弯曲半径，预测前方道路的弯道弯曲半径。基于此估算道路弯曲曲率半径，并结合当前车辆横摆角传感器信息，以及当前方向盘转角传感器的转角信息，实时实施弯道路径规划，并基于路径规划巡航横向调节控制模块输出当前所需的横向控制请求信息。特殊的情况，当本车前方道路的车道线由于车辆拥堵而被部分遮挡，针对此情况，巡航横向调节控制模块的路径预测规划，会基于传感器探测到的本车道及邻近车道内的前方车队的轨迹，预测估算前方道路的车道弯曲半径。此外，巡航横向调节控制模块输出的横向控制请求信息还带有车速自适应补偿机制，以适应不同车速情况下横向控制调节的稳定性和一致性。Input 3 is "road condition information collected by ADAS sensors". Including: front and adjacent lane vehicle information, lane line information (lane line type, lane line color, lane width). Based on the information collected by the sensor, the cruise lateral adjustment control module performs control decision-making path planning. Based on the lane line information collected by the sensor, the cruise lateral adjustment control module performs real-time curve fitting to calculate the curvature radius of the lane line of the current lane. The radius of curvature of the road curve in the camera's perspective screen also needs to be transformed into distance coordinates inside the controller to estimate the actual curvature radius of the current road and predict the curvature radius of the road ahead. Estimate the curvature radius of the road based on this, and combine the current vehicle yaw angle sensor information and the current steering wheel angle sensor information to implement curve path planning in real time, and output the current required lateral control based on the path planning cruise lateral adjustment control module request information. In a special case, when the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, the path prediction and planning of the cruise lateral adjustment control module will be based on the detection of the vehicle in the vehicle's own lane and adjacent lanes. Trajectory, predicted to estimate the lane bending radius of the road ahead. In addition, the lateral control request information output by the cruise lateral adjustment control module also has a vehicle speed adaptive compensation mechanism to adapt to the stability and consistency of the lateral control adjustment under different vehicle speeds.
巡航横向调节控制模块输出的横向控制请求值及请求值变化率需在规定门限范围内，不允许出现超出限值的控制器请求输出，从而保障横向控制的稳定性和安全性。The lateral control request value and request value change rate output by the cruise lateral adjustment control module must be within the specified threshold range, and no controller request output exceeding the limit value is allowed, so as to ensure the stability and safety of lateral control.
需要根据计算出的半径在实车上进行匹配标定后才能确定应发出的横向控制请求值。It is necessary to carry out matching and calibration on the real vehicle according to the calculated radius before determining the value of the lateral control request that should be issued.
输入4为“驾驶员转方向盘手力矩”。通过手力矩数值的大小，巡航横向调 节控制模块可以实时获知当前驾驶员操控方向盘的转矩，进而通过判断决策得到“当前驾驶员双手是否握在方向盘上”以及“当前是否触发驾驶员横向接管转向控制”。同时驾驶员当前转向力矩情况还用于对横向调节控制扭矩请求值的补偿。控制系统自动施加的横向转矩请求，需要综合驾驶员手力矩共同起作用。因而需求在驾驶员在实际使用智能巡航系统时，手轻扶到方向盘即可，尽量避免施加较大的手力，否则影响驾乘体验。Input 4 is "driver's steering wheel hand torque". Through the magnitude of the hand torque value, the cruise lateral adjustment control module can know the torque of the current driver's steering wheel in real time, and then obtain "whether the current driver's hands are on the steering wheel" and "whether the driver is currently triggered to take over the steering wheel" through judgment and decision-making. control". At the same time, the driver's current steering torque situation is also used to compensate for the lateral adjustment control torque request value. The lateral torque request automatically applied by the control system needs to work together with the integrated driver's hand torque. Therefore, it is required that when the driver is actually using the intelligent cruise system, he or she can lightly touch the steering wheel, and try to avoid applying large hand force, otherwise it will affect the driving experience.
输入5为“导航地图信息输入”。巡航横向调节控制模块通过采集该输入获知当前车辆行驶方向上前方的道路地图信息。若地图信息中包含前方道路的弯道半径信息，巡航横向调节控制模块此信息与控制模块通过摄像头图像估算的前方道路曲率半径进行比对，比对结果用于补偿横向控制请求，以进一步提高横向控制稳定性。Input 5 is "navigation map information input". The cruise lateral adjustment control module acquires the road map information ahead in the current vehicle driving direction by collecting the input. If the map information includes the curve radius information of the road ahead, the cruise lateral adjustment control module compares this information with the curvature radius of the road ahead estimated by the control module through the camera image, and the comparison result is used to compensate the lateral control request to further improve the lateral direction. Control stability.
输出1和输出2，分别为“横向控制转角输出请求”和“横向控制扭矩控制请求”。通过这两个输出接口，巡航横向调节控制模块可以同时适应两种模式的横向控制接口。输出3为“横向控制请求有效标志”，只有当此有效标志为“有效”状态时，才表示输出1和2的控制请求是有效的，从而提高系统的可靠性。Output 1 and output 2 are respectively "lateral control rotation angle output request" and "lateral control torque control request". Through these two output interfaces, the cruise lateral adjustment control module can adapt to the lateral control interface of two modes at the same time. Output 3 is the "Valid Flag of Horizontal Control Request". Only when the valid flag is in the "Valid" state, it means that the control requests of Output 1 and 2 are valid, thereby improving the reliability of the system.
输出4和输出5，用于“向驾驶员发出提示”。输出4用于提示驾驶员“横向控制请求驾驶员接管提示”。输出5用于提示驾驶员“横向控制驾驶员脱手警告提示”。Outputs 4 and 5 are used to "prompt the driver". Output 4 is used to prompt the driver "Lateral control requests the driver to take over the prompt". Output 5 is used to prompt the driver to "warn the driver's release of lateral control".
以上描述了本发明的优选实施方式，但是，本发明的保护范围并不局限于上述实施方式中的具体细节，在本发明的技术构思范围内，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，这些简单变型均属于本发明的保护范围。The preferred embodiments of the present invention have been described above, but the protection scope of the present invention is not limited to the specific details in the above-mentioned embodiments. Within the technical scope of the present invention, equivalent replacements or changes are made according to the technical solutions and inventive concepts of the present invention, and these simple modifications all belong to the protection scope of the present invention.
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way if there is no contradiction. The combination method will not be described separately.
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。In addition, various combinations of different embodiments of the present invention can also be combined arbitrarily, as long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111564816.3ACN114291087A (en) | 2021-12-20 | 2021-12-20 | Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system |
| CN202111564816.3 | 2021-12-20 |
| Publication Number | Publication Date |
|---|---|
| WO2023115954A1true WO2023115954A1 (en) | 2023-06-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2022/109326CeasedWO2023115954A1 (en) | 2021-12-20 | 2022-07-31 | Bend adaptive path planning control method for vehicle-mounted intelligent cruise system |
| Country | Link |
|---|---|
| CN (1) | CN114291087A (en) |
| WO (1) | WO2023115954A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834729A (en)* | 2023-08-28 | 2023-10-03 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
| CN117360519A (en)* | 2023-12-04 | 2024-01-09 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114291087A (en)* | 2021-12-20 | 2022-04-08 | 一汽奔腾轿车有限公司 | Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945092A (en)* | 2018-08-02 | 2018-12-07 | 安徽江淮汽车集团股份有限公司 | The man-machine steering exchange method of automatic driving vehicle and system based on highway |
| CN109552327A (en)* | 2018-12-18 | 2019-04-02 | 重庆长安汽车股份有限公司 | Promote the system and method for self-adaption cruise system bend performance |
| CN109720349A (en)* | 2017-10-26 | 2019-05-07 | 福特全球技术公司 | Turning velocity control |
| CN110293969A (en)* | 2019-06-14 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of adaptive cruise control loop, method and automobile |
| WO2020001941A1 (en)* | 2018-06-28 | 2020-01-02 | Zf Friedrichshafen Ag | Device and method for adapting a driving property of an ego-vehicle for driving around a curve |
| CN111016893A (en)* | 2019-12-13 | 2020-04-17 | 江苏大学 | Intelligent vehicle extensible game lane keeping self-adaptive cruise control system and control method under congestion environment |
| CN111391856A (en)* | 2020-03-31 | 2020-07-10 | 东风汽车集团有限公司 | System and method for detecting front curve of automobile adaptive cruise |
| US20200231164A1 (en)* | 2019-01-17 | 2020-07-23 | Toyota Motor Engineering & Manufacturing North America, Inc | System and method for providing lane curvature estimates |
| CN111516752A (en)* | 2020-04-22 | 2020-08-11 | 东风汽车集团有限公司 | Man-machine driving-sharing steering control method for automatic driving vehicle |
| CN114291087A (en)* | 2021-12-20 | 2022-04-08 | 一汽奔腾轿车有限公司 | Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5747482B2 (en)* | 2010-03-26 | 2015-07-15 | 日産自動車株式会社 | Vehicle environment recognition device |
| WO2021049108A1 (en)* | 2019-09-11 | 2021-03-18 | 日立Astemo株式会社 | Vehicle control device, vehicle control method, vehicle motion control system, and lane estimation device |
| CN113643552B (en)* | 2021-07-29 | 2022-12-16 | 一汽奔腾轿车有限公司 | Whole vehicle testing method of intelligent speed limit reminding system |
| CN113682303B (en)* | 2021-09-27 | 2023-07-07 | 岚图汽车科技有限公司 | Method and system for steering vehicle |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720349A (en)* | 2017-10-26 | 2019-05-07 | 福特全球技术公司 | Turning velocity control |
| WO2020001941A1 (en)* | 2018-06-28 | 2020-01-02 | Zf Friedrichshafen Ag | Device and method for adapting a driving property of an ego-vehicle for driving around a curve |
| CN108945092A (en)* | 2018-08-02 | 2018-12-07 | 安徽江淮汽车集团股份有限公司 | The man-machine steering exchange method of automatic driving vehicle and system based on highway |
| CN109552327A (en)* | 2018-12-18 | 2019-04-02 | 重庆长安汽车股份有限公司 | Promote the system and method for self-adaption cruise system bend performance |
| US20200231164A1 (en)* | 2019-01-17 | 2020-07-23 | Toyota Motor Engineering & Manufacturing North America, Inc | System and method for providing lane curvature estimates |
| CN110293969A (en)* | 2019-06-14 | 2019-10-01 | 重庆长安汽车股份有限公司 | A kind of adaptive cruise control loop, method and automobile |
| CN111016893A (en)* | 2019-12-13 | 2020-04-17 | 江苏大学 | Intelligent vehicle extensible game lane keeping self-adaptive cruise control system and control method under congestion environment |
| CN111391856A (en)* | 2020-03-31 | 2020-07-10 | 东风汽车集团有限公司 | System and method for detecting front curve of automobile adaptive cruise |
| CN111516752A (en)* | 2020-04-22 | 2020-08-11 | 东风汽车集团有限公司 | Man-machine driving-sharing steering control method for automatic driving vehicle |
| CN114291087A (en)* | 2021-12-20 | 2022-04-08 | 一汽奔腾轿车有限公司 | Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116834729A (en)* | 2023-08-28 | 2023-10-03 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
| CN116834729B (en)* | 2023-08-28 | 2023-11-17 | 常州星宇车灯股份有限公司 | Transverse and longitudinal combined control system and control method for vehicle auxiliary driving |
| CN117360519A (en)* | 2023-12-04 | 2024-01-09 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
| CN117360519B (en)* | 2023-12-04 | 2024-03-05 | 安徽中科星驰自动驾驶技术有限公司 | Decision making and control method and system for automatic driving vehicle |
| Publication number | Publication date |
|---|---|
| CN114291087A (en) | 2022-04-08 |
| Publication | Publication Date | Title |
|---|---|---|
| WO2023115954A1 (en) | Bend adaptive path planning control method for vehicle-mounted intelligent cruise system | |
| CN112373477B (en) | Redundancy control method for automatic driving system, automobile, controller, and computer-readable storage medium | |
| CN109131312B (en) | An intelligent electric vehicle ACC/ESC integrated control system and method thereof | |
| JP6222475B2 (en) | Vehicle acceleration / deceleration control device | |
| CN104260725B (en) | An Intelligent Driving System Containing a Driver Model | |
| EP1908660B1 (en) | Obstacle avoidance control apparatus | |
| CN104442814B (en) | Track based on deflection forecast algorithm keeps and automatic centering system and method | |
| CN102712318B (en) | Vehicle control device | |
| US9852633B2 (en) | Travel assist apparatus and travel assist method | |
| CN101674965B (en) | Vehicle Behavior Control Device | |
| JP7307571B2 (en) | vehicle controller | |
| US20140316668A1 (en) | Vehicular driving support system | |
| JP4781707B2 (en) | Vehicle driving support device | |
| JP3689065B2 (en) | Vehicle travel control device | |
| US20230294672A1 (en) | Control device, method for operating control device, and non-transitory computer-readable storage medium | |
| CN113085903A (en) | Man-vehicle cooperative driving method and system based on hybrid control instruction | |
| JP7637253B2 (en) | Vehicle control device, vehicle control method, and vehicle control system | |
| CN104085362A (en) | Wheel track adjusting system and wheel track adjusting method based on wheel track adjusting system | |
| WO2025102985A1 (en) | Exit judgement method for lane keeping assist function based on curvature of curve | |
| JP2017056765A (en) | Drive assisting device of vehicle | |
| CN209921295U (en) | Transverse and longitudinal lane center keeping system | |
| CN111976726A (en) | Steering auxiliary system of intelligent rail vehicle and control method thereof | |
| JP6198010B2 (en) | Vehicle acceleration / deceleration control device | |
| CN116533994A (en) | Combined control emergency collision avoidance method and device for ghost probe scene | |
| CN114863698A (en) | Active collision accident prevention and control system and method based on vehicle-road cooperation |
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application | Ref document number:22909284 Country of ref document:EP Kind code of ref document:A1 | |
| NENP | Non-entry into the national phase | Ref country code:DE | |
| 122 | Ep: pct application non-entry in european phase | Ref document number:22909284 Country of ref document:EP Kind code of ref document:A1 |