CN109050530B - A cruise acceleration control system and method - Google Patents

Abstract

The invention discloses a cruise acceleration control system, which comprises: the detection module is used for continuously detecting to judge whether a cruise target vehicle exists in front of the vehicle; the scene judging module is used for judging whether the current vehicle position is a curve inlet or a curve outlet; the over-bending acceleration acquisition module is used for acquiring the over-bending acceleration of the vehicle according to the current vehicle position when the current vehicle position is a curve inlet or a curve outlet and the cruise target vehicle is lost; and the acceleration control module is used for controlling the vehicle to accelerate to the constant-speed cruising speed according to the over-bending acceleration. Meanwhile, the invention also discloses a cruise acceleration control method. The invention can control the acceleration in real time according to the current vehicle position, and is beneficial to driving safety and driving experience.

Description

A cruise acceleration control system and method

technical field

The invention relates to the technical field of intelligent driving, in particular to a cruise acceleration control system and method.

Background technique

Active cruise control (Adaptive Cruise Control, ACC for short) is an important part of active safety functions developed and launched by major international and domestic auto companies, also known as adaptive cruise control. Adaptive cruise systems rely primarily on millimeter-wave radar sensors or cameras, or a combination of the two, to detect information about the surrounding road conditions, allowing the vehicle's cruise control system to adjust the speed to suit the traffic conditions. That is, if there is a slower vehicle on the road ahead of the vehicle, adaptive cruise control will reduce the speed and control the gap or time gap with the vehicle ahead; if the system detects that the vehicle ahead is not on the road of the vehicle The speed of the vehicle will be increased to return to the previously set speed.

In some special scenarios, such as the entrance/exit of a curve, due to the limitation of the radar detection range or the limited field of view of the camera, the detection ability of the front target will be lost, which will cause the vehicle to switch to cruise control, and the vehicle will suddenly accelerate, affecting the vehicle. drivability can be life-threatening.

At present, each OEM has no solution for this scenario, mainly due to limited sensor capabilities or insufficient auxiliary sensors, so this scenario cannot be improved.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, an object of the present invention is to propose a cruise acceleration control system, and the specific technical solution is as follows:

A cruise acceleration control system, comprising the following modules:

The detection module is used for continuous detection to determine whether there is a cruise target vehicle in front of the vehicle;

The scene judgment module is used to judge whether the current vehicle position is the entrance of the curve or the exit of the curve;

A cornering acceleration acquisition module, configured to acquire the cornering acceleration of the vehicle according to the current vehicle position when the current vehicle position is the entrance or exit of the curve and the cruise target vehicle is lost;

The acceleration control module is used for controlling the vehicle to accelerate to the constant speed cruise vehicle speed according to the cornering acceleration.

Further, the scene judgment module includes:

an image sensor for acquiring an image of the road ahead of the vehicle;

The image recognition module is used for recognizing the road information in the front road image, and judging whether the current vehicle position is the entrance of the curve or the exit of the curve according to the recognition result.

Further, the scene judgment module also includes:

The filtering module is used for filtering the road information according to the identification result to obtain road geometric parameters.

Further, the scene judgment module includes:

a high-precision positioning module for obtaining the current vehicle position;

The high-precision map is used to send road geometric parameters to the cornering acceleration acquisition module when the current vehicle position is the curve entrance or the curve exit.

Further, it also includes:

The curve scene data storage module is used to pre-store the vehicle status information and the road conditions ahead when the vehicle enters or exits the curve during the real vehicle verification process;

A curve modeling module, configured to establish a curve data model based on the vehicle state information and the forward road conditions.

Further, the vehicle state information includes speed, acceleration and time-to-vehicle distance, the road conditions ahead include road geometry parameters and traffic flow state, and the road geometry parameters include curve radius of curvature and the number of lanes.

Further, the cornering acceleration acquisition module includes a first acceleration acquisition unit, a second acceleration acquisition unit and a comparison unit;

The first acceleration obtaining unit is configured to obtain a first acceleration; the first acceleration is a historical acceleration corresponding to the current vehicle position retrieved from the curve scene data storage module, or the first acceleration The acceleration is the current acceleration corresponding to the current vehicle position calculated by using the curve data model;

The second acceleration obtaining unit is configured to calculate the second acceleration according to normal driving conditions;

The comparison unit is configured to compare the first acceleration and the second acceleration, and select a smaller value as the cornering acceleration.

Further, it also includes:

The feedback module is configured to send one or more types of information in the current vehicle position and the road condition ahead to the display module for display according to the driver's intention, so that the driver can know the current condition.

Another object of the present invention is to propose a cruise acceleration control method, and the specific technical solution is as follows:

A cruise acceleration control method, comprising the following steps:

Continuously detect the front of the vehicle to determine whether there is a cruising target vehicle;

Determine whether the current vehicle position is the entrance or exit of the curve;

When the current vehicle position is the curve entrance or the curve exit, and the cruise target vehicle is lost, obtain the cornering acceleration of the vehicle according to the current vehicle position;

The vehicle is controlled to accelerate to the cruise speed according to the cornering acceleration.

Further, before obtaining the road image ahead of the vehicle, the method includes:

Store vehicle status information and road conditions ahead when the vehicle enters or exits the curve during the real-vehicle verification process;

Based on the vehicle state information and the forward road conditions, a curve data model is established.

Implementing the present invention has the following beneficial effects:

1. The present invention can control the acceleration in real time according to the current vehicle position of the own vehicle, avoid the loss of the target vehicle at the entrance and exit of the curve and the sudden acceleration of the own vehicle to the preset cruising speed, which is beneficial to driving safety and driving experience.

2. The present invention adopts the image recognition module to recognize the road information in the road image ahead, and judges whether the current vehicle position is the entrance of the curve or the exit of the curve according to the identification result.

3. The present invention adopts high-precision map + GPS positioning, and can obtain a more accurate current vehicle position of the vehicle.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic diagram of a curve provided by the prior art;

2 is a schematic diagram of a cruise target vehicle being lost at a curve provided by the prior art;

3 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention;

4 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention;

5 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention;

6 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention;

FIG. 7 is a flowchart of a cruise acceleration control method provided by an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Examples of such embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.

The road alignment includes straight lines and curves, and the curves can be further divided into circular curves and gentle curves. Fig. 1 is a schematic diagram of a curve provided by the prior art. Please refer to Fig. 1. Fig. 1 shows three curves with different radii of curvature. In the case of large headway), the vehicle in the following cruising state cannot detect the cruising target vehicle ahead due to the limitation of the road alignment and the detection range of the detector.

Figure 2 is a schematic diagram of a cruise target vehicle being lost at a curve provided by the prior art. Please refer to Figure 2. Car A and car C are in the same lane, car C is located in front of car A, and car A continues to detect the road conditions in front of its own vehicle. Car C, which is in the same lane and is closest to it, is used as the cruise target vehicle to follow the cruise. When the cruise target vehicle C enters the blind spot, car A will not be able to detect the cruise target vehicle, that is, the own vehicle cannot continue after the cruise target vehicle is lost. Follow the cruise.

At this time, the vehicle will be adjusted from the following cruise to constant speed cruise, and from the current vehicle speed to the set cruise speed, there will be a sudden acceleration process. The sudden acceleration at the corner will affect the driving performance of the vehicle. The set cruise speed Driving faster than the safe speed at the bend may cause a rollover, which can seriously endanger life. Therefore, it is necessary to select an appropriate acceleration value for this process.

Example 1

3 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention. Please refer to FIG. 3. The cruise acceleration control system disclosed in this embodiment includes the following modules:

The detection module 101 can be a lidar or millimeter-wave radar installed in front of the vehicle, and is used for continuous detection to determine whether there is a slower vehicle in front of the vehicle. If there is a slower vehicle, the adaptive cruise system will reduce the vehicle speed and Control the gap or time gap to the vehicle ahead. If the system detects that the vehicle ahead is not on the road of the vehicle, it will increase the speed of the vehicle to return to the previously set speed.

The scene judgment module 102 includes an image sensor 1021 and an image recognition module 1022, and is used for judging whether the current vehicle position is the entrance of the curve or the exit of the curve. Wherein, the image sensor 1021 is used to acquire the image of the road ahead of the vehicle, and the image sensor 1021 may be a camera. The image recognition module 1022 is used to recognize the road information in the road image ahead, such as lane lines, traffic signs, etc., and determine whether the current vehicle position is the entrance of the curve or the exit of the curve according to the recognition result.

Due to the low security level of the camera, the identification of road information is not very accurate, so the information of the camera needs to be filtered. Preferably, the scene judging module 102 further includes a filtering module 1023, which is used for filtering the road information according to the identification result to obtain road geometric parameters. When the curve radius R sent by the camera is used to determine the R value within a certain period of time, the R value is determined according to the different curve radius R, and then the entry/exit curve deceleration is performed according to the different curve radius R.

The cornering acceleration acquiring module 103 is used to acquire the cornering acceleration of the vehicle when the current vehicle position is the curve entrance or the curve exit and the cruise target vehicle is lost;

Optionally, the cornering acceleration acquisition module 103 includes a first acceleration acquisition unit, a second acceleration acquisition unit, and a comparison unit. The first acceleration obtaining unit is used for obtaining the first acceleration; the first acceleration is the historical acceleration corresponding to the current vehicle position retrieved from the curve scene data storage module. The second acceleration obtaining unit is configured to calculate the second acceleration according to the normal driving situation. The comparison unit is used to compare the first acceleration and the second acceleration, and select the smaller value as the cornering acceleration.

Optionally, the cornering acceleration acquisition module 103 includes a first acceleration acquisition unit, a second acceleration acquisition unit, and a comparison unit. The first acceleration obtaining unit is configured to obtain the first acceleration, where the first acceleration is the current acceleration corresponding to the current vehicle position calculated by using the curve data model. The second acceleration obtaining unit is configured to calculate the second acceleration according to the normal driving situation. The comparison unit is used to compare the first acceleration and the second acceleration, and select the smaller value as the cornering acceleration.

The acceleration control module 104 is configured to control the vehicle to accelerate to the constant speed cruise vehicle speed according to the cornering acceleration.

FIG. 4 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention. Please refer to FIG. 4 . Preferably, the cruise acceleration control system further includes a curve scene data storage module 205 and a curve modeling module 206 .

The curve scene data storage module 205 is used to pre-store the vehicle state information and the road conditions ahead of the vehicle entering or exiting the curve during the real vehicle verification process. Among them, the vehicle state information includes speed, acceleration and time-to-vehicle distance, the road conditions ahead include road geometric parameters and traffic flow state, and the road geometric parameters include curve radius of curvature and the number of lanes.

The curve modeling module 206 is used to establish a curve data model based on the vehicle state information and the road conditions ahead. For example, the relationship between acceleration, curve radius of curvature, set cruise speed, and inter-vehicle time distance can be established and stored.

FIG. 5 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention. Please refer to FIG. 5 . Preferably, the cruise acceleration control system further includes a feedback module 307 for adjusting the current vehicle position and the road conditions ahead according to the driver's intention. One or more types of information are sent to the display module for display, so that the driver can know the current situation.

The cruise acceleration control system disclosed in this embodiment can adjust the acceleration in real time according to the current vehicle position, avoid sudden acceleration caused by the loss of the target vehicle at the entrance and exit of the curve, and is beneficial to driving safety and driving experience.

The cruise acceleration control system disclosed in this embodiment senses the road conditions in front of the vehicle and the current position by means of a visual sensor/image sensor, and then controls the acceleration change of the vehicle according to the current vehicle position.

Example 2

In special weather or environments, such as rain or snow, roads are covered, etc., vehicle-mounted visual sensing equipment/image sensors such as cameras cannot accurately collect information, and the processing of a large amount of sensor information will also increase the cost of the vehicle computer and increase its cost. The size and carrying weight greatly weaken its practicality and reliability. In addition, the sensing range of the sensor in certain scenarios (such as curves) also limits its application in the field of vehicle autonomous driving.

FIG. 6 is a structural block diagram of a cruise acceleration control system provided by an embodiment of the present invention. Please refer to FIG. 6 . In order to reduce the burden and cost of the vehicle sensor, the vehicle can predict the environment in advance, and assist the vehicle to perform behavior beyond the sensing range of the sensor. The cruise acceleration control system disclosed in this embodiment includes the following modules:

The detection module 401 is used for continuous detection to determine whether there is a cruise target vehicle in front of the vehicle;

The scene judgment module 402 includes a high-precision positioning module 4021 and a high-precision map 4022, and uses the high-precision map + GPS positioning system to detect the current vehicle position and send it to the cruise system.

Specifically, the high-precision positioning module 4021 is used to obtain the current vehicle position.

Specifically, the high-precision positioning module 4021 uses a single positioning method to obtain the preliminary positioning parameters of the vehicle in real time. Those skilled in the art can select any positioning methods such as GPS positioning, inertial navigation positioning, SLAM and base station positioning according to actual needs.

Specifically, at least two positioning methods are used to obtain the preliminary positioning parameters of the vehicle in real time, and the positioning parameters obtained by the first positioning method and the positioning parameters obtained by the second positioning method are fused to obtain positioning parameters with higher accuracy; similarly, GPS positioning, inertial navigation positioning, SLAM and base station positioning can be used.

The high-precision map 4022 is used to send the road geometry parameters to the cornering acceleration acquisition module when the current vehicle position is the curve entrance or the curve exit.

It should be pointed out that the high-precision map 4022 is different from the ordinary map in the prior art. The ordinary map information data in the prior art has low accuracy, is only suitable for speed limit information prompts or active speed limit, and cannot meet the scene that needs to switch lanes. . The high-precision map 4022 (Map for Highly Automated Driving, referred to as HAD Map) has the characteristics of high accuracy, dynamics, and multi-dimensionality. It is a map that serves artificial intelligence, machine vision and machine understanding. The accuracy of the high-precision map 4022 It is variable and can adapt to the accuracy requirements of different vehicles in different application scenarios for the map, and realizes the identification of the own vehicle lane through high-precision positioning at the lane level.

Specifically, the high-precision map 4022 includes at least static data such as road basic data and other facility basic data.

In detail, road basic data includes road traffic signs, road traffic markings, and traffic facility data; traffic markings that may be involved include instruction markings, prohibition markings, warning markings, protruding road markings and outline markings; road markings that may be involved Traffic signs include warning signs, prohibition signs, directional signs, guide signs, tourist area signs, auxiliary signs and notice signs.

In detail, other facilities include restaurants, lodgings, businesses, parks, tourist attractions, residences, schools, hospitals, and the like.

The cornering acceleration acquiring module 403 is used to acquire the cornering acceleration of the vehicle when the current vehicle position is the curve entrance or the curve exit and the cruise target vehicle is lost;

The acceleration control module 404 is configured to control the vehicle to accelerate to the cruise speed according to the cornering acceleration.

Please continue to refer to FIG. 6 , preferably, the cruise acceleration control system further includes: a curve scene data storage module for pre-storing the vehicle state information and the road conditions ahead of the vehicle entering or exiting the curve during the real-vehicle verification process; Among them, the vehicle state information includes speed, acceleration and time-to-vehicle distance, the road conditions ahead include road geometric parameters and traffic flow state, and the road geometric parameters include curve radius of curvature and the number of lanes.

In an implementation of this embodiment, the curve scene data storage module is used for data storage of the relationship curve between the acceleration and the gradient, the set vehicle speed and the inter-vehicle time distance.

The curve modeling module is used to build a curve data model based on vehicle state information and road conditions ahead.

Specifically, the cornering acceleration acquisition module includes a first acceleration acquisition unit, a second acceleration acquisition unit, and a comparison unit;

The first acceleration obtaining unit is used to obtain the first acceleration; the first acceleration is the historical acceleration corresponding to the current vehicle position retrieved from the curve scene data storage module, or the first acceleration is calculated by using the curve data model the current acceleration corresponding to the current vehicle position;

The second acceleration obtaining unit is configured to calculate the second acceleration according to the normal driving situation;

The comparison unit is used to compare the first acceleration and the second acceleration, and select the smaller value as the cornering acceleration.

Preferably, the cruise acceleration control system further includes a feedback module for sending one or more types of information in the current vehicle position and the road conditions ahead to the display module for display according to the driver's intention, so that the driver can know the current situation.

Preferably, the display module is a meter or an external device with a display function, such as a smart phone, an LCD screen, a tablet computer, a personal digital assistant, a notebook computer, and the like.

In an implementation of this embodiment, the cruise acceleration control system can retrieve data to store or calculate the current acceleration a1 through the first acceleration acquisition unit according to the current position of the vehicle and the road conditions ahead, and the second acceleration acquisition unit is based on the normal driving The corresponding acceleration a2 is also calculated according to the situation, and the smaller value a of the two accelerations is compared and output to the electronic control unit, and the electronic control unit ESC further executes the acceleration requirements of the cruise system; The road conditions ahead will send relevant information to the instrument to display the current road condition information, so that the driver can know the current situation.

The cruise acceleration control system disclosed in this embodiment has a high-precision map and a high-precision positioning module, which can obtain a more accurate current vehicle position, adjust the acceleration in real time according to the current vehicle position, and avoid sudden acceleration of the vehicle.

Example 3

FIG. 7 is a flowchart of a cruise acceleration control method provided by an embodiment of the present invention. Please refer to FIG. 7 . The cruise acceleration control method disclosed in this embodiment includes the following steps:

S1: The curve scene data storage module stores the vehicle status information and the road conditions ahead of the vehicle entering or exiting the curve during the real vehicle verification process;

S2: The curve modeling module establishes a curve data model based on the vehicle state information and the road conditions ahead;

S3: The detection module continuously detects the front of the vehicle to determine whether there is a cruise target vehicle;

S4: The scene judgment module judges whether the current vehicle position is the entrance of the curve or the exit of the curve;

S5: When the current vehicle position is the curve entrance or the curve exit, and the cruise target vehicle is lost, the cornering acceleration acquisition module obtains the vehicle's cornering acceleration;

S6: The acceleration control module controls the vehicle to accelerate to the cruise speed according to the cornering acceleration.

Those skilled in the art may also understand that various illustrative logical blocks (illustrative logical blocks), units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units and steps described above have generally described their functions. Whether such functionality is implemented in hardware or software depends on the specific application and overall system design requirements. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the protection scope of the embodiments of the present invention.

Various illustrative logic blocks, or units, described in the embodiments of the present invention may be implemented by general-purpose processors, digital signal processors, application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic. Devices, discrete gate or transistor logic, discrete hardware components, or any combination of the above are designed to implement or operate the described functions. A general-purpose processor may be a microprocessor, or alternatively, the general-purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a digital signal processor core, or any other similar configuration. accomplish.

The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1. A cruise acceleration control system, characterized in that, comprising: The detection module is used to continuously detect the front of the own vehicle to determine whether there is a cruising target vehicle; The scene judgment module is used to judge whether the current position of the vehicle is the entrance or exit of the curve; a cornering acceleration acquisition module, configured to acquire the cornering acceleration of the vehicle according to the current vehicle position when the current vehicle position is the entrance or exit of a curve and the cruise target vehicle is lost; the cornering acceleration acquisition module including a first acceleration acquisition unit, a second acceleration acquisition unit and a comparison unit; The first acceleration obtaining unit is used to obtain a first acceleration; the first acceleration is a historical acceleration corresponding to the current vehicle position, or the first acceleration is calculated by using a curve data model and the The current acceleration corresponding to the current vehicle position; The second acceleration obtaining unit is configured to calculate the second acceleration according to normal driving conditions; The comparison unit is configured to compare the first acceleration and the second acceleration, and select a smaller value as the cornering acceleration; The acceleration control module is used for controlling the vehicle to accelerate to the constant speed cruise vehicle speed according to the cornering acceleration. 2. The system according to claim 1, wherein the scene judgment module comprises: an image sensor for acquiring an image of the road ahead of the vehicle; The image recognition module is used for recognizing the road information in the road image ahead, and judging whether the current vehicle position is the entrance of the curve or the exit of the curve according to the recognition result. 3. The system according to claim 2, wherein the scene judgment module further comprises: The filtering module is used for filtering the road information according to the identification result to obtain road geometric parameters. 4. The system according to claim 1, wherein the scene judgment module comprises: a high-precision positioning module for obtaining the current vehicle position; The high-precision map is used to send road geometric parameters to the cornering acceleration acquisition module when the current vehicle position is the curve entrance or the curve exit. 5. The system of claim 1, further comprising: The curve scene data storage module is used to pre-store the vehicle state information of the vehicle entering or exiting the curve and the road conditions ahead during the real vehicle verification process; the vehicle state information includes the historical acceleration corresponding to the current vehicle position; A curve modeling module, configured to establish the curve data model based on the vehicle state information and the forward road conditions. 6 . The system according to claim 5 , wherein the vehicle state information includes speed, acceleration and time-to-vehicle distance, the road conditions ahead include road geometry parameters and traffic flow states, and the road geometry parameters include curves 6 . Radius of curvature and number of lanes. 7. The system of claim 1, further comprising: The feedback module is configured to send one or more types of information in the current vehicle position and the road conditions ahead to the display module for display according to the driver's intention, so that the driver can know the current situation. 8. A cruise acceleration control method, comprising: Continuously detect the front of the ego vehicle to determine whether there is a cruise target vehicle; Determine whether the current position of the vehicle is the entrance or exit of the curve; When the current vehicle position is the curve entrance or the curve exit, and the cruise target vehicle is lost, the cornering acceleration of the vehicle is obtained according to the current vehicle position; the cornering acceleration of the vehicle is obtained according to the current vehicle position, include: Acquiring a first acceleration; the first acceleration is a historical acceleration corresponding to the current vehicle position, or the first acceleration is a current acceleration corresponding to the current vehicle position calculated by using a curve data model; Calculate the second acceleration according to the normal driving situation; comparing the first acceleration and the second acceleration, and selecting the smaller value as the cornering acceleration; The vehicle is controlled to accelerate to the cruise speed according to the cornering acceleration. 9 . The method according to claim 8 , wherein, before acquiring the image of the road ahead of the vehicle, the method comprises: 10 . Store vehicle status information and road conditions ahead when the vehicle enters or exits the curve during the real-vehicle verification process; Based on the vehicle state information and the forward road conditions, a curve data model is established.

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