CN113511221B - Method, system, vehicle and storage medium for monitoring transverse control capability - Google Patents
Method, system, vehicle and storage medium for monitoring transverse control capability Download PDFInfo
- Publication number
- CN113511221B CN113511221B CN202110554162.XA CN202110554162A CN113511221B CN 113511221 B CN113511221 B CN 113511221B CN 202110554162 A CN202110554162 A CN 202110554162A CN 113511221 B CN113511221 B CN 113511221B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- road
- target
- lane line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method, a system, a vehicle and a storage medium for monitoring transverse control capability, which comprises the following steps: determining the safety of the vehicle to the left lane line according to the lane width of the vehicle, the vehicle speed, the road curvature and the lane where the vehicle isFull distance D leftsafe And the safe distance D from the vehicle to the right lane line rightsafe And planning the deviation boundary allowed by the transverse control; the rationality of the lateral control is judged according to whether the vehicle enters the deviation boundary. The invention can monitor the transverse control capability in automatic driving in real time.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a method and a system for monitoring transverse control capability, a vehicle and a storage medium.
Background
With the rapid development of automobile technology, especially the strong rise of electric automobiles such as Tesla in recent years, the automatic driving technology is one of the core technologies of intelligent automobiles and plays an increasingly key technology. However, due to the limitation of the sensing capability of the current sensor and the limitations of the response time and control precision of the brake and steering actuators, the vehicle deviates from the lane in the automatic driving process, and particularly a traffic accident of rushing out of the lane occurs when the vehicle passes through a curve at a high speed. Therefore, a method for real-time monitoring of the automatic driving lateral control capability is an urgent need to solve such problems.
For example, patent document CN110027547a discloses a method and apparatus for controlling a vehicle in a lateral direction, which is a development idea of iteratively calculating a target steering angle based on a lateral position deviation and a heading angle deviation between an actual position and a target position of a vehicle as feedback. Also, for example, patent document CN107097785a discloses a method for horizontal control of an intelligent vehicle with adaptive preview distance, which is a development idea based on a hierarchical horizontal controller and adopting a method of adaptive preview distance to perform horizontal control under a working condition of continuously changing road curvature. However, the two methods are forward development ideas based on lateral control, and real-time monitoring is not performed on results actually caused by the vehicle in consideration of road environment, control execution deviation and the like.
Therefore, there is a need to develop a new method, system, vehicle and storage medium for monitoring lateral control capability.
Disclosure of Invention
The invention aims to provide a method, a system, a vehicle and a storage medium for monitoring transverse control capability, which can monitor the transverse control capability in automatic driving in real time.
In a first aspect, the present invention provides a method for monitoring lateral control capability, comprising the steps of:
determining the safe distance D from the vehicle to the left lane line according to the width of the vehicle lane, the vehicle speed, the road curvature and the lane where the vehicle is leftsafe And the safe distance D from the vehicle to the right lane line rightsafe And planning the deviation boundary allowed by the transverse control;
the rationality of the lateral control is judged according to whether the vehicle enters the deviation boundary.
Optionally, the safe distance D from the vehicle to the left lane line is determined according to the lane width of the vehicle, the vehicle speed, the road curvature and the lane where the vehicle is located leftsafe And the safe distance D from the vehicle to the right lane line rightsafe The method specifically comprises the following steps:
acquiring information of each lane line in a road;
acquiring information of road edges and guardrails on two sides of a road;
acquiring information of each target around the vehicle, performing area division on each target, and outputting target vehicles of each area around the vehicle;
positioning the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information and the regional target information, and compensating the left and right safe distances of the vehicle according to the lane;
determining preview time t according to vehicle speed 1 And calculates at t 1 Road curvature C of the location of the moment 1 According to the curvature C of the road 1 Compensating the left and right safe distances of the vehicle;
compensating the left and right safe distances of the vehicle according to the vehicle speed;
calculating the width of the lane according to the lane line information, and compensating the left and right safe distances of the vehicle according to the width of the vehicle;
determining the safe distance D from the vehicle to the left lane line leftsafe And the safe distance D from the vehicle to the right lane line rightsafe And planning a left lateral control deviation boundary and a right lateral control deviation boundary.
Optionally, the planning of the deviation boundary allowed by the lateral control includes:
a) Left deviation margin A allowed by lateral control max Planning:
A max =︱Final_A0 – Left_A0︱ -1/2*Lane_Width – D leftsafe ；
b) Lateral control allowed right deviation boundary A min Planning:
A min =︱Final_A0 – Right_A0︱-1/2*Lane_Width – D Rightsafe ；
wherein: final _ A0 represents the Final trajectory equation coefficients specified; left _ A0 represents the Left lane line equation coefficients; lane _ Width represents the Lane Width of the vehicle; right _ A0 represents the Right lane line equation coefficients.
Optionally, the rationality of the lateral control is judged according to whether the vehicle enters the deviation boundary, specifically:
if (A) min <Final_A0 && Final_A0 < A max ) =1, indicating that lateral control is reasonable;
otherwise, it indicates that lateral control is not reasonable.
Optionally, establishing a finished automobile coordinate system by taking the front bumper center of the automobile as a coordinate origin O, the forward driving direction of the automobile as an X axis and the vertical forward driving direction as a Y axis;
the lane line is identified through the front camera, the lane line information is fitted through a cubic polynomial, and the fitted lane line equation is as follows: y is 1 =A 0 +A 1 *X 1 +A 2 *X 1 2 +A 3 *X 1 3 ；
Wherein，Y 1 The transverse distance from the lane line to the front bumper center of the vehicle; x 1 The longitudinal distance from a point on a lane line to the front bumper center of the vehicle; a. The 0 The transverse distance from the current position of the vehicle to the lane line; a. The 1 Is the lane line course angle coefficient; a. The 2 Is the lane line curvature coefficient; a. The 3 Is the coefficient of rate of change of the lane line curvature;
the road edges and guardrails on the two sides of the lane are identified through the angle radar, the information of the road edges and the guardrails is fitted through a cubic polynomial, and the equation of the road edge guardrail line is fitted: y is 2 =B 0 +B 1 *X 2 +B 2 *X 2 2 +B 3 *X 2 3 ；
Wherein, Y 2 The transverse distance from the road edge guardrail line to the front bumper center of the vehicle; x 2 The longitudinal distance from a point on a road edge guardrail line to the front bumper center of the vehicle; b 0 The transverse distance from the current position of the vehicle to the road edge guardrail line; b is 1 Is the course angle coefficient of the road edge guardrail line; b is 2 Is the road edge guardrail line curvature coefficient; b 3 Is the coefficient of the rate of change of the curvature of the curbs along the guardrail lines.
Optionally, the target vehicle comprises target vehicle number 1-target vehicle number 6, wherein:
the No. 1 target vehicle is a vehicle which is closest to the vehicle in the longitudinal distance in the lane;
the No. 2 target vehicle is a vehicle which is next closest to the vehicle in the longitudinal direction in the lane;
the No. 3 target vehicle is a vehicle which is closest to the left adjacent lane of the vehicle in longitudinal distance;
the No. 4 target vehicle is a vehicle which is closest to the vehicle in the longitudinal distance in the adjacent lane on the right side of the vehicle;
the No. 5 target vehicle is a vehicle which is positioned in front of the No. 3 target vehicle and is closest to the No. 3 target vehicle in the left adjacent lane of the vehicle;
the No. 6 target vehicle is a vehicle which is positioned in front of the No. 4 target vehicle and is closest to the No. 4 target vehicle in the right adjacent lane of the vehicle.
Optionally, the positioning of the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information, and the area target information specifically includes:
left lane presence determination logic: (a 1 or b1 or c 1) = =1;
a1 is left lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a plurality of periods;
b1, the type of the No. 3 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 3 target vehicle is smaller than a set distance threshold;
c1 is the equation coefficient B of the guardrail line on the left front side road edge 0 Greater than a second set coefficient threshold value and continuously presetting a period;
judging logic that a lane line exists on the right side: (a 2 or b2 or c 2) = =1;
a2 is the right lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a plurality of periods;
b2, the type of the No. 4 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 4 target vehicle is smaller than a set distance threshold value;
c2 is the right front side road edge guardrail line equation coefficient B 0 Greater than a second set coefficient threshold value and continuously presetting a period;
the logic for judging that the vehicle is in the leftmost lane Left _ lane:
(a 1 or b1 or c 1) = =0;
the Right _ lane judgment logic that the vehicle is in the rightmost lane:
(a 2 or b2 or c 2) = =0;
the Middle _ lane judgment logic that the vehicle is in the Middle lane:
(a 1 or b1 or c 1) = =1 & & (a 2 or b2 or c 2) = =1.
In a second aspect, the present invention provides a system for monitoring lateral control capability, comprising:
the acquisition module is used for identifying information of each lane in a road, information of guardrails on two sides of the road and information of each target around the vehicle;
a memory having a computer readable program stored therein;
and a controller;
the controller invokes a computer readable program to perform the steps of the method of monitoring lateral control capability of any of claims 1 to 7.
In a third aspect, the invention provides a vehicle employing a system for monitoring lateral control capability according to the invention.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, the computer readable program when invoked being capable of performing the steps of the method of monitoring lateral control capability according to the present invention.
The invention has the following advantages: the invention can monitor the transverse control capability in the automatic driving in real time by calculating whether the transverse distance between the vehicle and the obstacles (such as guardrails, road edges, vehicles and the like) on two sides meets the requirement of safe distance in the driving process of the vehicle.
Drawings
FIG. 1 is a flow chart of lateral control monitoring logic.
FIG. 2 is a diagram of the electrical apparatus of the entire vehicle;
FIG. 3 is a schematic diagram of a vehicle coordinate system and lane information;
FIG. 4 is a schematic of the lateral control allowed control deviation boundary;
fig. 5 is a schematic diagram of the definition of the vehicle and the target vehicles in the other areas:
in the figure: 1. an autopilot system controller, 2, an autopilot system front radar, 3, an autopilot system front camera, 4, an autopilot system corner radar, 5, an autopilot parking system, 6, a gateway, 7, an Adas map, 8, an intelligent body controller, 9, a meter, 10, a vehicle display, 11, an electric power steering system, 12, an electronic gear shift system, 13, an engine management system, 14, a body stabilization system, 15, a transmission system, 16, a corner sensor, 17, an autopilot system switch, 18, the vehicle, 19, a vehicle left lane line, 20, a left lateral control deviation boundary, 21, a target trajectory, 22, a right lateral control deviation boundary, 23, a vehicle right lane line, 24, a vehicle safety distance to right lane line, 25, a vehicle safety distance to left lane line, 26, a lateral control reasonable interval, 27, a No. 3 target, 28, no. 4 target, 29, a No. 1 target, a No. 30, no. 6 target, a 31, no. 2 target, 32, a 5 target.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and fig. 2, in the present embodiment, a method for monitoring lateral control capability includes the following steps:
determining the safe distance D from the vehicle to the left lane line according to the width of the vehicle lane, the vehicle speed, the road curvature and the lane where the vehicle is leftsafe And the safe distance D from the vehicle to the right lane line rightsafe Planning out a deviation boundary allowed by transverse control; the rationality of the lateral control is judged according to whether the vehicle enters the deviation boundary.
In the embodiment, the safe distance D from the vehicle to the left lane line is determined according to the lane width of the vehicle, the vehicle speed, the road curvature and the lane where the vehicle is located leftsafe And the safe distance D from the vehicle to the right lane line rightsafe The method specifically comprises the following steps:
acquiring information of each lane line in a road;
acquiring information of road edges and guardrails on two sides of a road;
acquiring information of each target around the vehicle, performing area division on each target, and outputting target vehicles of each area around the vehicle;
positioning the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information and the regional target information, and compensating the left and right safe distances of the vehicle according to the lane;
determining preview time t according to vehicle speed 1 And is calculated at t 1 Road curvature C of the location of the moment 1 According to the curvature C of the road 1 Compensating the left and right safe distances of the vehicle;
compensating the safety distance between the left side and the right side of the vehicle according to the vehicle speed;
calculating the width of the lane according to the lane line information, and compensating the left and right safe distances of the vehicle according to the width of the vehicle;
determining the safe distance D from the vehicle to the left lane line leftsafe And the safe distance D from the vehicle to the right lane line rightsafe 。
As shown in FIG. 3, the safe distance D from the vehicle to the left lane line is determined according to the lane width of the vehicle, the vehicle speed, the road curvature and the lane where the vehicle is located leftsafe And the safe distance D from the vehicle to the right lane line rightsafe The detailed steps are as follows:
(1) Establishing a finished automobile coordinate system by taking the front protection center of the automobile 18 as a coordinate origin O, the forward driving direction of the automobile as an X axis and the vertical forward driving direction as a Y axis;
(2) The lane line is identified through the front camera, the lane line information is fitted through a cubic polynomial, and the fitted lane line equation is as follows: y is 1 =A 0 +A 1 *X 1 +A 2 *X 1 2 +A 3 *X 1 3 ；
Wherein, Y 1 The transverse distance from the lane line to the front protection center of the vehicle; x 1 The longitudinal distance from a point on a lane line to the front bumper center of the vehicle; a. The 0 The transverse distance from the current position of the vehicle to the lane line; a. The 1 Is the lane line course angle coefficient; a. The 2 Is the lane line curvature coefficient; a. The 3 Is the coefficient of rate of change of the curvature of the lane line.
(3) The road edges and guardrails on the two sides of the lane are identified through the angle radar, the information of the road edges and the guardrails is fitted through a cubic polynomial, and the equation of the road edge guardrail line is fitted: y is 2 =B 0 +B 1 *X 2 +B 2 *X 2 2 +B 3 *X 2 3 。
Wherein, Y 2 The transverse distance from the road edge guardrail line to the front protection center of the vehicle; x 2 The longitudinal distance from a point on a road edge guardrail line to the front bumper center of the vehicle; b is 0 The transverse distance from the current position of the vehicle to the road edge guardrail line; b 1 Is the course angle coefficient of the road edge guardrail line; b is 2 Is the road edge guardrail line curvature coefficient; b is 3 Is the coefficient of the rate of change of the curvature of the curbs along the guardrail lines.
(4) Acquiring information of each target around the vehicle, performing area division on each target, and outputting target vehicles of each area around the vehicle, wherein the target vehicles include a target vehicle No. 1 to a target vehicle No. 6, and the method is shown in FIG. 5:
the No. 1 target vehicle 29 is a vehicle in the lane closest to the longitudinal distance of the vehicle;
the No. 2 target vehicle 31 is a vehicle which is next closest to the vehicle in the longitudinal direction in the lane;
the No. 3 target vehicle 27 is a vehicle which is closest to the left adjacent lane of the vehicle in the longitudinal distance with the vehicle;
the No. 4 target vehicle 28 is the vehicle which is closest to the vehicle in the longitudinal distance in the adjacent lane on the right side of the vehicle;
the No. 5 target vehicle 32 is a vehicle which is positioned in front of the No. 3 target vehicle and is closest to the No. 3 target vehicle in the left adjacent lane of the vehicle;
the target vehicle 6 30 is a vehicle located in front of the target vehicle 4 and closest to the target vehicle 4 in the right adjacent lane of the host vehicle.
(5) Positioning the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information and the regional target information, which specifically comprises the following steps:
left lane presence determination logic: (a 1 or b1 or c 1) = =1;
a1 is left lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a plurality of periods;
b1, the type of the No. 3 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 3 target vehicle is smaller than a set distance threshold value;
c1 is the equation coefficient B of the guardrail line on the left front side road edge 0 Greater than a second set coefficient threshold value and continuously presetting a plurality of periods;
judging logic that a lane line exists on the right side: (a 2 or b2 or c 2) = =1;
a2 is the right lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a plurality of periods;
b2, the type of the No. 4 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 4 target vehicle is smaller than a set distance threshold;
c2 is the right front side road edge guardrail line equation coefficient B 0 Greater than a second set coefficient threshold value and continuously presetting a plurality of periods;
the logic for judging that the vehicle is in the leftmost lane Left _ lane:
(a 1 or b1 or c 1) = =0;
the Right _ lane judgment logic that the vehicle is in the rightmost lane:
(a 2 or b2 or c 2) = =0;
the Middle _ lane judgment logic that the vehicle is in the Middle lane:
(a 1 or b1 or c 1) = =1 & & (a 2 or b2 or c 2) = =1.
(6) And determining the compensation f (Lane) of the Lane to the safe distance according to the Lane where the vehicle is located.
(7) And (3) compensation planning of road curvature to safe distance:
(a) The system predicts the aiming time t according to the current vehicle speed 1 At the position of the vehicle, i.e. X t1 =V*t 1 。
(b) Obtained at t from the theoretical formula 1 Curvature C of the road at the moment 1 Comprises the following steps:
C 1 =（2*A 2 +6*A 3 *X t1 ）/（1+A 1 +2*A 2 *X t1 +3*A 3 *X t1 2 ） 3/2 。
(c) According to t 1 The curvature at the moment determines the road curvature compensation f (curre) for the safe distance.
(8) And (3) compensation planning of the lane width to the safety distance:
(a) Calculating the Width _ Lane of the Lane according to the equation of the left Lane line and the right Lane line;
(b) Determining the compensation f (Width _ Lane) for the safety distance according to the Width of the Lane;
(9) Planning of vehicle speed versus safety distance compensation:
the Vehicle speed is obtained through the ESP system of the Vehicle, and the safety distance is compensated according to different Vehicle speeds (Vehicle _ Spd).
(10) To sum up, the vehicle arrives at the left vehicleSafety distance D of road line leftsafe And the safe distance D from the vehicle to the right lane line rightsafe 。
In this embodiment, the step of planning the deviation boundary allowed by the lateral control includes:
(a) Left deviation margin A allowed by lateral control max Planning:
A max =︱Final_A0 – Left_A0︱ -1/2*Lane_Width – D leftsafe ；
(b) Lateral control allowed right deviation boundary A min Planning:
A min =︱Final_A0 – Right_A0︱-1/2*Lane_Width – D Rightsafe ；
wherein: final _ A0 represents the Final trajectory equation coefficients specified; left _ A0 represents the Left lane line equation coefficients; lane _ Width represents the Lane Width of the vehicle; right _ A0 represents the Right lane line equation coefficients.
In this embodiment, the rationality of the lateral control is determined according to whether the vehicle enters the deviation boundary, specifically:
if (A) min <Final_A0 && Final_A0 < A max ) =1, indicating that lateral control is reasonable;
otherwise, it indicates that lateral control is not reasonable.
In this embodiment, a system for monitoring lateral control capability includes:
the acquisition module is used for identifying information of each lane in a road, information of guardrails on two sides of the road and information of each target around the vehicle;
a memory having a computer readable program stored therein;
and a controller;
the controller invokes a computer readable program to perform the steps of the method of monitoring lateral control capability according to the invention.
In this embodiment, the controller adopts an automatic driving system controller 1, and the acquisition module includes a front radar 2, a front camera 3, and an angle radar 4.
As shown in fig. 2, the related hardware further includes an automatic parking system 5, a gateway 6, an Adas map 7, an intelligent vehicle body controller 8, a meter 9, an on-board display 10, an electric power steering system 11, an electronic gear shifting system 12, an engine management system 13, a vehicle body stabilization system 14, a transmission system 15, a rotation angle sensor 16 and an automatic driving system switch 17.
The working principle of the system is as follows:
1) And starting the whole vehicle, and activating the system by pressing the automatic driving system switch 17 after the system self-checking is normal.
2) The front camera 3 recognizes the information of each lane in the road and respectively fits the lane line information on two sides by a third-order polynomial.
3) The angle radar 4 identifies guardrail information on two sides of the road and respectively fits the guardrail information on two road edges of the road by a third-order polynomial.
4) The information of each target around the vehicle is identified through the front camera 3, the front radar 2 and the angle radar 4, after the information is processed through a built-in algorithm of the automatic driving system controller 1, each target is divided into areas, and finally, no. 1-6 area targets around the vehicle are output.
5) The automatic driving system controller 1 positions the lane of the vehicle in the current road according to the lane information, the guardrail information and the regional target information, and compensates the left and right safety distances of the vehicle according to the different lanes.
6) The system determines the preview time t according to the speed of the vehicle sent by the vehicle body stabilizing system 14 1 And is calculated at t 1 Road curvature C of the location of the moment 1 。
7) The autopilot system controller 1 depends on the curvature of the road C 1 And compensating the left and right safe distances of the vehicle.
8) The autopilot system controller 1 compensates for the left and right side safety distances based on the different vehicle speeds from the vehicle body stabilizing system 14.
9) The automatic driving system controller 1 calculates the width of the vehicle according to the lane line information input by the front camera 3, and compensates the left and right side safety distances according to different vehicle widths.
10 In summary, the autopilot system controller 1 determines the safe distance 25 from the host vehicle to the left lane line and the safe distance 24 from the host vehicle to the right lane line, and plans a left lateral control deviation boundary 20 and a right lateral control deviation boundary 22, see fig. 3.
11 Automated driving system controller 1 determines whether the vehicle is beyond a lateral control reasonable interval 26 (fig. 4) to monitor lateral control capability based on the vehicle's real-time position.
In this embodiment, if the vehicle is within the lateral control reasonable interval 26, it indicates that the lateral control capability is reasonable, otherwise, it indicates that the lateral control capability is not reasonable.
In this embodiment, as shown in fig. 4, fig. 4 further includes a lane line 19 on the left side of the own lane, a lane line 23 on the right side of the own lane, and a target trajectory 21.
In the present embodiment, a vehicle employs the system for monitoring lateral control capability as described in the present embodiment.
In this embodiment, a storage medium has a computer readable program stored therein, and the computer readable program, when being called, can execute the steps of the method for monitoring lateral control capability described in this embodiment.
Claims (9)
1. A method of monitoring lateral control capability, comprising the steps of:
determining the safe distance D from the vehicle to the left lane line according to the width of the vehicle lane, the vehicle speed of the vehicle, the road curvature and the lane where the vehicle is located leftsafe And the safe distance D from the vehicle to the right lane line rightsafe And planning the deviation boundary allowed by the transverse control;
judging the reasonability of transverse control according to whether the vehicle enters a deviation boundary;
determining the safe distance D from the vehicle to the left lane line according to the width of the vehicle lane, the vehicle speed, the road curvature and the lane where the vehicle is leftsafe And the safe distance D from the vehicle to the right lane line rightsafe The method specifically comprises the following steps:
acquiring information of each lane line in a road;
acquiring information of road edges and guardrails on two sides of a road;
acquiring information of each target around the vehicle, performing area division on each target, and outputting target vehicles of each area around the vehicle;
positioning the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information and the regional target information, and compensating the left and right safe distances of the vehicle according to the lane;
determining preview time t according to vehicle speed 1 And is calculated at t 1 Road curvature C of the location of the moment 1 According to the curvature C of the road 1 Compensating the left and right safe distances of the vehicle;
compensating the left and right safe distances of the vehicle according to the vehicle speed;
calculating the width of the lane according to the lane line information, and compensating the left and right safe distances of the vehicle according to the width of the vehicle;
determining the safe distance D from the vehicle to the left lane line leftsafe And the safe distance D from the vehicle to the right lane line rightsafe And planning a left lateral control deviation boundary and a right lateral control deviation boundary.
2. The method of monitoring lateral control capability of claim 1, wherein: the planning of the deviation boundary allowed by the lateral control comprises the following steps:
a) Left deviation margin A allowed by lateral control max Planning:
A max =︱Final_A0 – Left_A0︱ -1/2*Lane_Width – D leftsafe ；
b) Lateral control allowed right deviation boundary A min Planning:
A min =︱Final_A0 – Right_A0︱-1/2*Lane_Width – D Rightsafe ；
wherein: final _ A0 represents the Final trajectory equation coefficients specified; left _ A0 represents the Left lane line equation coefficients; lane _ Width represents the Lane Width of the vehicle; right _ A0 represents the Right lane line equation coefficients.
3. The method of monitoring lateral control capability of claim 2, wherein: judging the reasonability of transverse control according to whether the vehicle enters a deviation boundary, specifically:
if (A) min <Final_A0 && Final_A0 < A max ) =1, indicating that lateral control is reasonable;
otherwise, it indicates that lateral control is not reasonable.
4. A method of monitoring lateral control capability according to any of claims 1 to 3, wherein: establishing a finished automobile coordinate system by taking the front protection center of the automobile as a coordinate origin O, the forward driving direction of the automobile as an X axis and the vertical forward driving direction as a Y axis;
the lane line is identified through the front camera, the lane line information is fitted through a cubic polynomial, and the fitted lane line equation is as follows: y is 1 =A 0 +A 1 *X 1 +A 2 *X 1 2 +A 3 *X 1 3 ；
Wherein, Y 1 The transverse distance from the lane line to the front protection center of the vehicle; x 1 The longitudinal distance from a point on a lane line to the front bumper center of the vehicle; a. The 0 The transverse distance from the current position of the vehicle to the lane line; a. The 1 Is the lane line course angle coefficient; a. The 2 Is the lane line curvature coefficient; a. The 3 Is the coefficient of rate of change of the lane line curvature;
the road edges and guardrails on the two sides of the lane are identified through the angle radar, the information of the road edges and the guardrails is fitted through a cubic polynomial, and the equation of the road edge guardrail line is fitted: y is 2 =B 0 +B 1 *X 2 +B 2 *X 2 2 +B 3 *X 2 3 ；
Wherein, Y 2 The transverse distance from the road edge guardrail line to the front protection center of the vehicle; x 2 The longitudinal distance from a point on a road edge guardrail line to the front bumper center of the vehicle; b is 0 The transverse distance from the current position of the vehicle to the road edge guardrail line; b is 1 For the course angle system of the road edge guardrail lineCounting; b is 2 Is the road edge guardrail line curvature coefficient; b is 3 Is the coefficient of the rate of change of the curvature of the curbs along the guardrail lines.
5. The method of monitoring lateral control capability of claim 4, wherein: the target vehicle comprises a No. 1 target vehicle and a No. 6 target vehicle, wherein:
the No. 1 target vehicle (29) is a vehicle which is in the lane and is closest to the vehicle in longitudinal distance;
the No. 2 target vehicle (31) is a vehicle which is next closest to the vehicle in the longitudinal direction in the lane;
the No. 3 target vehicle (27) is a vehicle which is closest to the vehicle in the longitudinal distance in the left adjacent lane of the vehicle;
the No. 4 target vehicle (28) is a vehicle which is closest to the vehicle in the longitudinal distance in the right adjacent lane of the vehicle;
the No. 5 target vehicle (32) is a vehicle which is positioned in front of the No. 3 target vehicle in the left adjacent lane of the vehicle and is closest to the No. 3 target vehicle;
the No. 6 target vehicle (30) is a vehicle which is positioned in front of the No. 4 target vehicle and is closest to the No. 4 target vehicle in the right adjacent lane of the vehicle.
6. The method of monitoring lateral control capability of claim 5, wherein: positioning the lane of the vehicle in the current road according to the lane line information, the road edge information, the guardrail information and the regional target information, which specifically comprises the following steps:
left lane presence determination logic: (a 1 or b1 or c 1) = =1;
a1 is left lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a plurality of periods;
b1, the type of the No. 3 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 3 target vehicle is smaller than a set distance threshold;
c1 is the equation coefficient B of the guardrail line on the left front side road edge 0 Greater than a second set coefficient threshold value and continuously presetting a plurality of periods;
judging logic that a lane line exists on the right side: (a 2 or b2 or c 2) = =1;
a2 is the right lane line equation coefficient A 0 Greater than a first set coefficient threshold value and continuously presetting a period;
b2, the type of the No. 4 target vehicle is an automobile or a truck, and the longitudinal distance of the No. 4 target vehicle is smaller than a set distance threshold;
c2 is the right front side road edge guardrail line equation coefficient B 0 Greater than a second set coefficient threshold value and continuously presetting a plurality of periods;
the logic for judging that the vehicle is in the leftmost lane Left _ lane:
(a 1 or b1 or c 1) = =0;
the Right _ lane judgment logic that the vehicle is in the rightmost lane:
(a 2 or b2 or c 2) = =0;
the Middle _ lane judgment logic that the vehicle is in the Middle lane:
(a 1 or b1 or c 1) = =1 & & (a 2 or b2 or c 2) = =1.
7. A system for monitoring lateral control capability, comprising:
the acquisition module is used for identifying information of each lane in a road, information of guardrails on two sides of the road and information of each target around the vehicle;
a memory having a computer readable program stored therein;
and a controller; the method is characterized in that:
the controller invokes a computer readable program to perform the steps of the method of monitoring lateral control capability of any of claims 1 to 6.
8. A vehicle, characterized in that: a system for monitoring lateral control capability as claimed in claim 7 is employed.
9. A storage medium having a computer-readable program stored therein, characterized in that: the computer readable program when invoked is capable of performing the steps of a method of monitoring lateral control capability according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110554162.XA CN113511221B (en) | 2021-05-20 | 2021-05-20 | Method, system, vehicle and storage medium for monitoring transverse control capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110554162.XA CN113511221B (en) | 2021-05-20 | 2021-05-20 | Method, system, vehicle and storage medium for monitoring transverse control capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113511221A CN113511221A (en) | 2021-10-19 |
| CN113511221B true CN113511221B (en) | 2022-10-11 |
Family
ID=78064927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110554162.XA Active CN113511221B (en) | 2021-05-20 | 2021-05-20 | Method, system, vehicle and storage medium for monitoring transverse control capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113511221B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115179946B (en) * | 2022-06-27 | 2024-06-25 | 重庆长安汽车股份有限公司 | Method and device for over-bending of vehicle, vehicle and storage medium |
| CN115503697B (en) * | 2022-09-14 | 2024-09-24 | 重庆长安汽车股份有限公司 | Vehicle lateral control method and device, vehicle and storage medium |
| CN116721400B (en) * | 2023-08-07 | 2023-10-27 | 博世汽车部件(苏州)有限公司 | Method and device for controlling vehicle transverse direction, controller, vehicle and storage medium |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9280901B2 (en) * | 2013-03-25 | 2016-03-08 | E-Lead Electronic Co., Ltd. | Method for displaying the vehicle safety distance |
| JP5936281B2 (en) * | 2014-03-31 | 2016-06-22 | 富士重工業株式会社 | Vehicle lane departure prevention control device |
| JP2016007894A (en) * | 2014-06-23 | 2016-01-18 | トヨタ自動車株式会社 | Attention-seeking device and travel control unit |
| CN105109491B (en) * | 2015-08-05 | 2017-08-04 | 江苏大学 | A kind of vehicle traveling course prediction device and Forecasting Methodology based on bend longitudinal curvature |
| CN105711588B (en) * | 2016-01-20 | 2018-05-11 | 奇瑞汽车股份有限公司 | A kind of track keeps auxiliary system and track to keep householder method |
| US10081357B2 (en) * | 2016-06-23 | 2018-09-25 | Honda Motor Co., Ltd. | Vehicular communications network and methods of use and manufacture thereof |
| CN108776767B (en) * | 2018-04-18 | 2019-12-17 | 福州大学 | System for effectively judging vehicle line pressing and prompting in advance |
| CN109795508B (en) * | 2018-12-29 | 2021-04-06 | 百度在线网络技术（北京）有限公司 | Safe driving control method and device |
| WO2020135772A1 (en) * | 2018-12-29 | 2020-07-02 | 长城汽车股份有限公司 | Generation method and generation system for dynamic target line during automatic driving of vehicle, and vehicle |
| CN109765902B (en) * | 2019-02-22 | 2022-10-11 | 阿波罗智能技术(北京)有限公司 | Unmanned vehicle driving reference line processing method and device and vehicle |
| CN109849908B (en) * | 2019-02-27 | 2020-06-26 | 江苏大学 | Lane keeping auxiliary system based on adjacent lane risk prediction and control method |
| CN110155049A (en) * | 2019-06-03 | 2019-08-23 | 吉林大学 | A kind of transverse and longitudinal lane center keeping method and its keep system |
| KR20210043225A (en) * | 2019-10-11 | 2021-04-21 | 현대자동차주식회사 | Apparatus and method for controlling lane-following |
| CN111016902B (en) * | 2019-12-30 | 2021-07-06 | 重庆长安汽车股份有限公司 | Vehicle speed auxiliary control method and system during lane changing of vehicle and vehicle |
| CN111539303B (en) * | 2020-04-20 | 2023-04-18 | 长安大学 | Monocular vision-based vehicle driving deviation early warning method |
| CN112373477B (en) * | 2020-11-23 | 2023-03-28 | 重庆长安汽车股份有限公司 | Redundancy control method for automatic driving system, automobile, controller, and computer-readable storage medium |
-
2021
- 2021-05-20 CN CN202110554162.XA patent/CN113511221B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113511221A (en) | 2021-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113511221B (en) | Method, system, vehicle and storage medium for monitoring transverse control capability | |
| CN109649393B (en) | Path planning method and device for automatically driving lane change | |
| CN110356394B (en) | Method and device for vehicle to actively avoid obstacle and automobile | |
| US9229453B1 (en) | Unified motion planner for autonomous driving vehicle in avoiding the moving obstacle | |
| US9227632B1 (en) | Method of path planning for evasive steering maneuver | |
| US8190330B2 (en) | Model based predictive control for automated lane centering/changing control systems | |
| US8170739B2 (en) | Path generation algorithm for automated lane centering and lane changing control system | |
| US8428843B2 (en) | Method to adaptively control vehicle operation using an autonomic vehicle control system | |
| KR102192959B1 (en) | Driving control method and driving control device of a driving support vehicle | |
| EP1887539B1 (en) | Vehicle deviation preventing control device | |
| JP7193656B2 (en) | Control unit and method for recognizing intruding or exiting vehicles | |
| CN104648402A (en) | Method and driver assistance device for supporting lane changes or passing maneuvers of a motor vehicle | |
| CN113276840B (en) | Steering wheel reverse control method, automatic parking system and vehicle | |
| CN111038507A (en) | Sensor-limited lane change | |
| JP6291737B2 (en) | Vehicle travel control device and platoon travel control method | |
| CN111103882A (en) | Autonomous following control method for unmanned electric vehicle | |
| CN116443049A (en) | Anti-collision method and device for automatic driving vehicle | |
| CN115071695B (en) | Automatic emergency braking control method and system for vehicle | |
| CN113034971B (en) | Offset control method and device in automatic lane changing of vehicle and automobile | |
| CN111231954B (en) | Control method for automatic driving | |
| CN111176285B (en) | Method and device for planning travel path, vehicle and readable storage medium | |
| CN115158445A (en) | Vehicle steering redundancy control method and system, electronic equipment and storage medium | |
| CN114115234A (en) | Unmanned vehicle road change path planning method based on monitoring strategy | |
| CN115107762A (en) | Car following lane changing control method and related device of traffic congestion auxiliary system | |
| CN114132317B (en) | Intelligent curve side driving control method, system, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |