CN114291087A - Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system - Google Patents
Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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Abstract
The invention belongs to the technical field of vehicle-mounted intelligent cruise systems, and particularly relates to a curve self-adaptive path planning control method of a vehicle-mounted intelligent cruise system; the cruise transverse adjustment control module is responsible for acquiring No. 1-5 input information, and after comprehensive decision judgment, outputting No. 1-5 output information, namely cruise transverse adjustment related control information, so that the transverse stable keeping of the vehicle in the current lane is realized, and the transverse stable keeping control capability of the vehicle in the working condition of a curve is improved for the vehicle carrying the intelligent cruise system; the invention adopts a multi-path supplement mechanism strategy to implement compensation on the vehicle transverse control adjustment of the curve working condition, thereby reducing frequent multiple transverse control correction of a control system to a steering wheel in the process of vehicle over-bending, improving the auxiliary driving and riding feeling of passengers in the vehicle under the curve working condition, and improving the driving safety of the vehicle in the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted intelligent cruise systems, and particularly relates to a curve adaptive path planning control method for a vehicle-mounted intelligent cruise system.
Background
With the increasing degree of automobile intelligence, the application of Advanced Driving Assistance (ADAS) of automobiles is gradually increasing, such as an adaptive cruise system, an automatic emergency braking system, a lane keeping system, and the like. The application of the advanced driving assistance systems reduces the driving burden of a driver on one hand and also greatly improves the driving safety of the vehicle on the other hand.
In a driving assistance system, a cruise assistance system may provide assistance to a driver during driving. Currently in the automotive industry, the mainstream cruise systems include: the system comprises a constant-speed cruise system, an adaptive cruise system and an intelligent cruise system.
The constant-speed cruise system controls the vehicle to run at a constant speed according to the cruise speed set by the driver after the system is activated. The cruise system does not detect whether a blocking vehicle exists in front of the vehicle, and even if the front is dangerous, the cruise system does not control the vehicle to automatically decelerate, and the driver needs to actively intervene at the moment. The adaptive cruise system is based on a constant-speed cruise system, and is also provided with longitudinal acceleration and deceleration automatic control. The cruise system needs to be provided with an ADAS sensor to detect the road condition in front of the vehicle, and when a barrier vehicle exists in front of the cruise system, the cruise system can automatically control the speed of the vehicle to be reduced. The adaptive cruise system is divided into a basic adaptive cruise system and a stop-go adaptive cruise system, the latter can automatically control the vehicle to brake and stop when the ADAS sensor detects that a barrier vehicle exists in front, the former cannot automatically brake and stop and only can decelerate to a certain vehicle speed threshold value, and then the driver is prompted to take over the cruise to stop the activation. The intelligent cruise system is based on an adaptive cruise system, and is also provided with transverse automatic control, so that a driver can be assisted to transversely and automatically correct the driving direction of a steering wheel, and the vehicle does not deviate from the current driving lane.
In the design of the intelligent cruise system, the difficulty of improving the stability of the transverse control of the system is the difficulty of the system design. Especially on a curved road, the intelligent cruise system often has the situations of understeer and oversteer, and the control system is required to frequently and automatically intervene in the transverse control of the steering wheel. The transverse control is unstable, which not only affects the driving feeling of passengers in the vehicle, but also seriously affects the safety of the vehicle running in a curve.
Disclosure of Invention
In order to overcome the problems, the invention provides a vehicle-mounted intelligent cruise system curve self-adaptive path planning control method, aiming at a vehicle carrying the intelligent cruise system, and improving the transverse stable control capability of the vehicle under the curve working condition; the invention adopts a multi-path supplement mechanism strategy to implement compensation on the vehicle transverse control adjustment of the curve working condition, thereby reducing frequent multiple transverse control correction of a control system to a steering wheel in the process of vehicle over-bending, improving the auxiliary driving and riding feeling of passengers in the vehicle under the curve working condition, and improving the driving safety of the vehicle in the vehicle.
A self-adaptive path planning control method for a vehicle-mounted intelligent cruise system curve comprises the following contents:
the method is characterized in that a cruise transverse adjustment control module is responsible for automatically controlling the transverse direction of a vehicle during the activation period of vehicle-mounted intelligent cruise, the cruise transverse adjustment control module collects No. 1-5 input information, and outputs No. 1-5 output information, namely cruise transverse adjustment related control information, to an EPS electric power steering system after comprehensive decision judgment so as to realize the transverse stable maintenance of the vehicle in a current lane, wherein the No. 1 input information is the current basic state information of the vehicle, the No. 2 input information is the driving state information of the current vehicle, the No. 3 input information is road condition information collected by an ADAS sensor, the No. 4 input information is the hand torque of a driver steering wheel, and the No. 5 input information is the input of navigation map information; the No. 1 output information and the No. 2 output information are a transverse control corner output request and a transverse control torque control request respectively; the No. 3 output information is a transverse control request effective mark; the No. 4 output information is used for prompting the driver to transversely control and request the driver to take over the prompt; and the No. 5 output information is used for prompting the driver to transversely control the driver hands-off warning prompt.
The cruise transverse adjustment control module is used for acquiring No. 1-5 input information and specifically comprises the following steps:
the No. 1 input information is the current basic state information of the vehicle; the current basic state information of the vehicle, which is acquired by the cruise transverse adjustment control module, comprises a four-door two-cover state, a driver side safety belt locking state, a vehicle acceleration control module running state and a vehicle steering control module running state;
the No. 2 input information is the running state information of the current vehicle; the method comprises the following steps: the method comprises the following steps of (1) gear position of a gearbox, current vehicle speed, state of a brake pedal, state of an accelerator pedal, current lateral acceleration state of a vehicle, current longitudinal acceleration state of the vehicle, current yaw angle sensor state of the vehicle and running state of a steering wheel angle sensor;
the No. 3 input information is road condition information acquired by an ADAS sensor; the method comprises the following steps: vehicle information of front and adjacent lanes, lane line information;
the No. 4 input information is the hand torque of a driver for turning a steering wheel;
the No. 5 input information is input of navigation map information.
The cruise transverse adjustment control module outputs No. 1-5 output information:
the cruise transverse adjustment control module carries out real-time curve fitting according to information collected by an ADAS sensor in No. 3 input information, and respectively calculates the curve curvature radius of a lane line of the lane, wherein the curvature radius is not the actual road curvature radius on the actual road, only the road curve curvature radius in a camera view angle picture, and also needs to carry out distance coordinate conversion, estimate the actual curvature radius of the current road and predict the curve curvature radius of the road ahead; based on the estimated road curvature radius, combining the information of the current vehicle yaw angle sensor and the corner information of the current steering wheel corner sensor, implementing curve path planning in real time, and outputting No. 1 output information to an EPS electric power steering system based on a path planning cruise transverse adjustment control module: a transverse control corner output request;
the cruise transverse adjustment control module learns the torque of a current driver for controlling a steering wheel in real time according to the magnitude of a hand torque value in the No. 4 input information, and then obtains whether the current driver hands hold on the steering wheel and whether the current driver transversely takes over steering control through judging decision, if the current driver hands hold on the steering wheel, the driver transversely takes over steering control is triggered, and No. 2 output information is output to an EPS electric power steering system: a lateral control torque control request;
the cruise transverse adjustment control module acquires road map information in front of the current vehicle in the driving direction through No. 5 input information acquisition; if the map information contains curve radius information of the front road, the cruise transverse adjustment control module compares the information with the curvature radius of the front road estimated through the camera image, and the comparison result is used for compensating No. 1 output information;
the No. 3 output information is a transverse control request effective mark, and the control requests of the No. 1 output information and the No. 2 output information are effective only when the transverse control request is in an effective state;
the No. 4 output information is used for taking over the prompt by the driver in the process of the transverse control request;
output No. 5 is used for driver hands-off warning prompt during lateral control.
If the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, for the situation, the path prediction planning of the cruise transverse adjustment control module predicts and estimates the lane curvature radius of the road in front based on the tracks of the vehicle in front of the vehicle lane and the vehicle fleet in the adjacent vehicle lane, which are detected by the ADAS sensor.
The driver steering wheel hand torque is also used to compensate for the lateral control torque request.
The invention has the beneficial effects that:
the invention adopts a multi-path supplement mechanism strategy to implement compensation on the vehicle transverse control adjustment of the curve working condition, thereby reducing frequent multiple transverse control correction of a control system to a steering wheel in the process of vehicle over-bending, improving the auxiliary driving and riding feeling of passengers in the vehicle under the curve working condition, and improving the driving safety of the vehicle in the vehicle.
The transverse control request information output by the invention is also provided with a vehicle speed self-adaptive compensation mechanism so as to adapt to the stability and consistency of transverse control adjustment under different vehicle speeds.
The invention is provided with a self-adaptive adjustment and compensation mechanism of 'driver hand moment', and can still control the vehicle in the current lane under the condition of the interference of the driver hand force, thereby realizing the stable control of transverse adjustment.
The invention can utilize the curve radius information of the front road provided in the navigation map, the information of the cruise transverse adjustment control module is compared with the curvature radius of the front road estimated by the control module through the camera image, and the comparison result is used for compensating the transverse control request so as to improve the transverse control stability.
Detailed Description
The present invention will be described in further detail with reference to examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used for convenience of description and simplicity of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
According to the invention, based on the lane line information acquired by the sensor, the cruise transverse adjustment control module carries out real-time curve fitting, and respectively calculates the curve curvature radius of the lane line of the lane, wherein the curvature radius is not the actual road curvature radius on the actual road, only the road curve curvature radius in a camera view angle picture, and the distance coordinate conversion is carried out in the controller, so that the actual curvature radius of the current road is estimated, and the curve curvature radius of the road ahead is predicted. And based on the estimated road curvature radius, combining the information of the current vehicle yaw angle sensor and the information of the current steering wheel angle sensor to carry out curve path planning in real time, and outputting the currently required transverse control request information based on the path planning cruise transverse adjustment control module.
When the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, aiming at the situation, the path prediction planning of the cruise transverse adjustment control module predicts and estimates the lane bending radius of the road in front based on the tracks of the vehicle lane and the front fleet in the adjacent lane, which are detected by the sensor.
Example 1
A self-adaptive path planning control method for a vehicle-mounted intelligent cruise system curve comprises the following contents:
the method is characterized in that a cruise transverse adjustment control module is responsible for automatically controlling the transverse direction of a vehicle during the activation period of vehicle-mounted intelligent cruise, the cruise transverse adjustment control module collects No. 1-5 input information, and outputs No. 1-5 output information, namely cruise transverse adjustment related control information after comprehensive decision judgment, so that the transverse stable maintenance of the vehicle in a current lane is realized, wherein the No. 1 input information is the current basic state information of the vehicle, the No. 2 input information is the driving state information of the current vehicle, the No. 3 input information is road condition information collected by an ADAS sensor, the No. 4 input information is the hand torque of a driver for steering wheel, and the No. 5 input information is the information input of a navigation map; the No. 1 output information and the No. 2 output information are a transverse control corner output request and a transverse control torque control request respectively; the No. 3 output information is a transverse control request effective mark; the No. 4 output information is used for prompting the driver to transversely control and request the driver to take over the prompt; and the No. 5 output information is used for prompting the driver to transversely control the driver hands-off warning prompt.
The cruise transverse adjustment control module is used for acquiring No. 1-5 input information and specifically comprises the following steps:
the No. 1 input information is the current basic state information of the vehicle; the cruise transverse regulation control module acquires the current basic state information of the vehicle through a CAN bus, wherein the current basic state information comprises a four-door two-cover state, a driver side safety belt locking state, a vehicle acceleration control module running state and a vehicle transition control module running state; the information is a necessary condition for starting the cruise system and is a precondition for ensuring that the cruise system can be safely activated and used.
The No. 2 input information is the running state information of the current vehicle; the method comprises the following steps: the method comprises the following steps of (1) gear position of a gearbox, current vehicle speed, state of a brake pedal, state of an accelerator pedal, current lateral acceleration state of a vehicle, current longitudinal acceleration state of the vehicle, current yaw angle sensor state of the vehicle and running state of a steering wheel angle sensor; the cruise transverse adjustment control module can acquire the current vehicle running condition, running attitude and the like by acquiring the inputs.
The No. 3 input information is road condition information acquired by an ADAS sensor; the method comprises the following steps: vehicle information of the front and adjacent lanes, lane line information (lane line type, lane line color, lane width);
the No. 4 input information is the hand torque of a driver for turning a steering wheel; through the magnitude of the hand moment value, the cruise transverse adjustment control module obtains the torque of the current steering wheel controlled by the driver in real time, and then obtains whether the current steering wheel is held by the hands of the driver and whether the current steering control is triggered by the driver to take over the steering wheel transversely through judgment decision; the cruise transverse adjustment control module outputs No. 1-5 output information:
the No. 1 output information and the No. 2 output information are a transverse control corner output request and a transverse control torque control request respectively; through the two output interfaces, the cruise transverse adjustment control module is simultaneously suitable for the transverse control interfaces in two modes;
the cruise transverse adjustment control module performs real-time curve fitting based on information acquired by the ADAS sensor in the No. 3 input information, and respectively calculates the curve curvature radius of a lane line of the lane, wherein the curvature radius is not the actual road curvature radius on the actual road, only the road curve curvature radius in a camera view angle picture, and distance coordinate conversion is performed in the controller to estimate the actual curvature radius of the current road and predict the curve curvature radius of the road ahead; based on the estimated road curvature radius, combining the current vehicle yaw angle sensor information and the current steering wheel corner sensor corner information, implementing curve path planning in real time, and outputting the currently required transverse control request information to the EPS electric power steering system based on a path planning cruise transverse adjustment control module;
if the lane line of the road in front of the vehicle is partially blocked due to vehicle congestion, aiming at the situation, the path prediction planning of the cruise transverse adjustment control module predicts and estimates the lane bending radius of the road in front based on the tracks of the vehicle in front of the lane and the adjacent lanes detected by the ADAS sensor; in addition, the transverse control request information output by the cruise transverse adjustment control module is also provided with a vehicle speed self-adaptive compensation mechanism so as to adapt to the stability and consistency of transverse control adjustment under different vehicle speeds.
The lateral control request value and the request value change rate output by the cruise lateral regulation control module are required to be within a specified threshold range, and the controller request output exceeding the limit value is not allowed to occur, so that the stability and the safety of lateral control are guaranteed.
The lateral control request value to be sent can be determined only after matching and calibration are carried out on the actual vehicle according to the calculated radius.
Meanwhile, the hand torque of a driver steering wheel is also used for compensating the transverse control torque request, and the transverse torque request automatically applied by the control system needs to be acted by the comprehensive hand torque of the driver, so that the driver needs to hold the steering wheel lightly when actually using the intelligent cruise system, and the situation that large hand force is applied to the steering wheel is avoided as much as possible, or the driving experience is influenced is avoided;
the cruise transverse adjustment control module acquires road map information in front of the current vehicle in the driving direction through No. 5 input information acquisition; if the map information contains curve radius information of the front road, the cruise transverse adjustment control module compares the information with the curvature radius of the front road estimated by the control module through a camera image, and the comparison result is used for compensating a transverse control request so as to further improve the transverse control stability;
the No. 3 output information is a transverse control request effective mark, and only in an effective state, the control requests of the No. 1 output information and the No. 2 output information are effective, so that the reliability of the system is improved;
the No. 4 output information is used for prompting the driver to transversely control and request the driver to take over the prompt;
and the No. 5 output information is used for prompting the driver to transversely control the driver hands-off warning prompt.
Example 2
According to the technical scheme, the transverse automatic control of the vehicle during the intelligent cruise activation period is carried out by the cruise transverse adjustment control module, the cruise transverse adjustment control module collects multiple paths of input information, and after comprehensive decision judgment, the cruise transverse adjustment related control information is output, so that the transverse stable keeping of the vehicle in the current lane is realized.
Input 1 is "vehicle current basic state information". The cruise transverse adjustment control module acquires current vehicle basic state information by collecting the input, such as: four-door two-cover state, driver-side safety belt locking state, vehicle acceleration control module running state, vehicle transition control module running state and the like. The information is a necessary condition for starting the cruise system and is a precondition for ensuring that the cruise system can be safely activated and used.
Input 2 is "running state information of the current vehicle". The method comprises the following steps: the system comprises a gearbox gear, the current vehicle speed, the state of a brake pedal, the state of an accelerator pedal, the current lateral acceleration state of a vehicle, the current longitudinal acceleration state of the vehicle, the current yaw angle sensor state of the vehicle and the running state of a steering wheel angle sensor. The cruise transverse adjustment control module can acquire the current vehicle running condition, running attitude and the like by acquiring the inputs.
Input 3 is "road condition information collected by the ADAS sensor". The method comprises the following steps: vehicle information of the front and adjacent lanes, lane line information (lane line type, lane line color, lane width). And based on the information acquired by the sensor, the cruise transverse adjustment control module plans a control decision path. Based on the lane line information acquired by the sensor, the cruise transverse adjustment control module performs real-time curve fitting, and respectively calculates the curve curvature radius of the lane line of the lane, wherein the curvature radius is not the real road curvature radius on the actual road, but only the road curve curvature radius in the camera view angle picture, and the distance coordinate conversion is performed in the controller to estimate the actual curvature radius of the current road and predict the curve curvature radius of the road ahead. And based on the estimated road curvature radius, combining the information of the current vehicle yaw angle sensor and the information of the current steering wheel angle sensor to carry out curve path planning in real time, and outputting the currently required transverse control request information based on the path planning cruise transverse adjustment control module. 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 planning of the cruise transverse adjustment control module predicts and estimates the lane bending radius of the road in front based on the tracks of the front fleet in the vehicle lane and the adjacent vehicle lane detected by the sensor. In addition, the transverse control request information output by the cruise transverse adjustment control module is also provided with a vehicle speed self-adaptive compensation mechanism so as to adapt to the stability and consistency of transverse control adjustment under different vehicle speeds.
The lateral control request value and the request value change rate output by the cruise lateral regulation control module are required to be within a specified threshold range, and the controller request output exceeding the limit value is not allowed to occur, so that the stability and the safety of lateral control are guaranteed.
The lateral control request value to be sent can be determined only after matching and calibration are carried out on the actual vehicle according to the calculated radius.
Input 4 is "driver steering wheel hand torque". Through the magnitude of the hand moment value, the cruise transverse adjustment control module can acquire the torque of the current steering wheel controlled by the driver in real time, and then the judgment decision is made to obtain whether the current driver holds both hands on the steering wheel or not and whether the current driver transversely takes over the steering control or not. While the driver's current steering torque condition 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 be acted upon by the integrated driver hand torque. Therefore, the driver needs to hold the steering wheel lightly when actually using the intelligent cruise system, so that great hand force is avoided to the greatest extent, and the driving experience is influenced.
Input 5 is "navigation map information input". The cruise transverse adjustment control module acquires road map information in front of the current vehicle in the driving direction by acquiring the input. If the map information contains curve radius information of the front road, the cruise transverse adjustment control module compares the information with the curvature radius of the front road estimated by the control module through a camera image, and the comparison result is used for compensating a transverse control request so as to further improve the transverse control stability.
Output 1 and output 2 are a "lateral control steering angle output request" and a "lateral control torque control request", respectively. Through the two output interfaces, the cruise lateral adjustment control module can simultaneously adapt to the lateral control interfaces of two modes. Output 3 is a "lateral control request valid flag" indicating that the control requests of outputs 1 and 2 are valid only when this valid flag is in the "valid" state, thereby improving the reliability of the system.
Output 4 and output 5 for "presenting a prompt to the driver". The output 4 is used to prompt the driver "lateral control request driver take over prompt". The output 5 is used to prompt the driver "lateral control driver hands off warning prompt".
Although the preferred embodiments of the present invention have been described, the scope of the present invention is not limited to the details of the above embodiments, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention, and these simple modifications are within the scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (5)
1. A curve self-adaptive path planning control method of a vehicle-mounted intelligent cruise system is characterized by comprising the following contents:
the method is characterized in that a cruise transverse adjustment control module is responsible for automatically controlling the transverse direction of a vehicle during the activation period of vehicle-mounted intelligent cruise, the cruise transverse adjustment control module collects No. 1-5 input information, and outputs No. 1-5 output information, namely cruise transverse adjustment related control information, to an EPS electric power steering system after comprehensive decision judgment so as to realize the transverse stable maintenance of the vehicle in a current lane, wherein the No. 1 input information is the current basic state information of the vehicle, the No. 2 input information is the driving state information of the current vehicle, the No. 3 input information is road condition information collected by an ADAS sensor, the No. 4 input information is the hand torque of a driver steering wheel, and the No. 5 input information is the input of navigation map information; the No. 1 output information and the No. 2 output information are a transverse control corner output request and a transverse control torque control request respectively; the No. 3 output information is a transverse control request effective mark; the No. 4 output information is used for prompting the driver to transversely control and request the driver to take over the prompt; and the No. 5 output information is used for prompting the driver to transversely control the driver hands-off warning prompt.
2. The curve adaptive path planning control method of the vehicle-mounted intelligent cruise system according to claim 1, wherein the cruise transverse adjustment control module collects No. 1-5 input information, specifically:
the No. 1 input information is the current basic state information of the vehicle; the current basic state information of the vehicle, which is acquired by the cruise transverse adjustment control module, comprises a four-door two-cover state, a driver side safety belt locking state, a vehicle acceleration control module running state and a vehicle steering control module running state;
the No. 2 input information is the running state information of the current vehicle; the method comprises the following steps: the method comprises the following steps of (1) gear position of a gearbox, current vehicle speed, state of a brake pedal, state of an accelerator pedal, current lateral acceleration state of a vehicle, current longitudinal acceleration state of the vehicle, current yaw angle sensor state of the vehicle and running state of a steering wheel angle sensor;
the No. 3 input information is road condition information acquired by an ADAS sensor; the method comprises the following steps: vehicle information of front and adjacent lanes, lane line information;
the No. 4 input information is the hand torque of a driver for turning a steering wheel;
the No. 5 input information is input of navigation map information.
3. The vehicle-mounted intelligent cruise system curve adaptive path planning control method as claimed in claim 1, wherein the cruise transverse adjustment control module outputs No. 1-5 output information:
the cruise transverse adjustment control module carries out real-time curve fitting according to information collected by an ADAS sensor in No. 3 input information, and respectively calculates the curve curvature radius of a lane line of the lane, wherein the curvature radius is not the actual road curvature radius on the actual road, only the road curve curvature radius in a camera view angle picture, and also needs to carry out distance coordinate conversion, estimate the actual curvature radius of the current road and predict the curve curvature radius of the road ahead; based on the estimated road curvature radius, combining the information of the current vehicle yaw angle sensor and the corner information of the current steering wheel corner sensor, implementing curve path planning in real time, and outputting No. 1 output information to an EPS electric power steering system based on a path planning cruise transverse adjustment control module: a transverse control corner output request;
the cruise transverse adjustment control module learns the torque of a current driver for controlling a steering wheel in real time according to the magnitude of a hand torque value in the No. 4 input information, and then obtains whether the current driver hands hold on the steering wheel and whether the current driver transversely takes over steering control through judging decision, if the current driver hands hold on the steering wheel, the driver transversely takes over steering control is triggered, and No. 2 output information is output to an EPS electric power steering system: a lateral control torque control request;
the cruise transverse adjustment control module acquires road map information in front of the current vehicle in the driving direction through No. 5 input information acquisition; if the map information contains curve radius information of the front road, the cruise transverse adjustment control module compares the information with the curvature radius of the front road estimated through the camera image, and the comparison result is used for compensating No. 1 output information;
the No. 3 output information is a transverse control request effective mark, and the control requests of the No. 1 output information and the No. 2 output information are effective only when the transverse control request is in an effective state;
the No. 4 output information is used for taking over the prompt by the driver in the process of the transverse control request;
output No. 5 is used for driver hands-off warning prompt during lateral control.
4. A method as claimed in claim 3, wherein if the lane line of the road ahead of the vehicle is partially blocked due to vehicle congestion, the predicted path plan of the cruise traverse control module predicts and estimates the curve radius of the lane of the road ahead based on the ADAS sensor's trajectory of the front fleet in the current lane and the adjacent lane.
5. The on-board intelligent cruise system curve adaptive path planning control method as claimed in claim 4, wherein said driver steering wheel hand torque is also used to compensate for lateral control torque requests.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111564816.3A CN114291087A (en) | 2021-12-20 | 2021-12-20 | Curve self-adaptive path planning control method of vehicle-mounted intelligent cruise system |
| PCT/CN2022/109326 WO2023115954A1 (en) | 2021-12-20 | 2022-07-31 | Bend adaptive path planning control method for vehicle-mounted intelligent cruise system |
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| WO2023115954A1 (en) * | 2021-12-20 | 2023-06-29 | 一汽奔腾轿车有限公司 | Bend adaptive path planning control method for vehicle-mounted intelligent cruise system |
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| 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 |
| 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 |
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