CN106945668B - Vehicle driving arrow path auxiliary system - Google Patents
Vehicle driving arrow path auxiliary system Download PDFInfo
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- CN106945668B CN106945668B CN201610955047.2A CN201610955047A CN106945668B CN 106945668 B CN106945668 B CN 106945668B CN 201610955047 A CN201610955047 A CN 201610955047A CN 106945668 B CN106945668 B CN 106945668B
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Classifications
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/84—Data processing systems or methods, management, administration
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- Transportation (AREA)
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Abstract
The present invention relates to a kind of vehicle driving arrow path auxiliary systems, including road data acquisition module, arrow path analysis module, head-up display；Road data acquisition module is configured to the road data of acquisition vehicle heading；Arrow path analysis module be configured to using road data acquisition module acquire data and vehicle body parameter carry out the judgement of narrow road state, according to steering wheel for vehicle corner carry out vehicle driving trace prediction, go forward side by side driving whether the judgement and alarm of collision obstacle；Heads-up display configuration be show arrow path analysis module output prediction locus and vehicle whether collision obstacle judgement and warning message, and adjust display image be bonded with reality scene.The present invention realizes the functions such as effective arrow path identification, driving trace prediction, anti-collision warning and collision point prediction, and it is shown by display device, the intuitive predictive information of comparison effectively is provided by arrow path to driver, improves the current safety of vehicle arrow path.
Description
Technical field
The present invention relates to vehicle driving ancillary technique fields, and in particular to a kind of vehicle driving arrow path auxiliary system.
Background technique
With the increase of car ownership, unskilled new hand is manipulated in the crowd of drivers of rapid growth and is also increased year by year
More, this is but also current vehicle travels ancillary technique and is used widely.
Current vehicle driving ancillary technique mainly has early radar warning and travelling image auxiliary.Early radar warning belongs to passivity
Collision distance early warning, be mainly used in anti-collision early warning when reversing or follow the bus, be mainly used in short distance forecasting-obstacle；Row
Vehicle Image-aided polygamy closes the prediction of vehicle driving trace, and only simply vehicle driving trace is added to row collected
In vehicle image, it is mainly used in the prediction of reversing auxiliary or direction of traffic.
Arrow path passage is a kind of road conditions that current new hand driver most has a headache, however there is presently no for arrow path design
Driving auxiliary system.Analysis is found by inquiry, a set of vehicle driving arrow path auxiliary system, should have the arrow path of active to identify,
Functions, the directly transplantings of above two technology such as driving trace prediction, anti-collision warning and collision point prediction are also unable to reach good
Good arrow path auxiliaring effect.
Summary of the invention
In order to solve the above problem in the prior art, the invention proposes a kind of vehicle driving arrow path auxiliary systems, have
Effect realizes the current identification of vehicle arrow path and active forewarning.
A kind of vehicle driving arrow path auxiliary system proposed by the present invention, including road data acquisition module, arrow path analyze mould
Block；
Road data acquisition module is configured to the road data of acquisition vehicle heading；
The data and vehicle body parameter that arrow path analysis module is configured to acquire using road data acquisition module carry out narrow road shape
State judgement, according to steering wheel for vehicle corner carry out vehicle driving trace prediction, go forward side by side driving whether the judgement of collision obstacle
And alarm.
Preferably, the arrow path analysis module includes vehicle driving trace predicting unit, arrow path judging unit, collision barrier
Hinder object judging unit；
Vehicle driving trace predicting unit is configured to carry out vehicle driving trace according to steering wheel for vehicle corner, Che Zi
Prediction；
Arrow path judging unit is configured to the data according to the acquisition of road data acquisition module, vehicle body parameter, the vehicle predicted
Driving trace, and the arrow path judgment threshold of setting is combined, judge whether the road of vehicle heading is arrow path, and export and sentence
Disconnected result；
Collision obstacle judging unit is configured to when it is arrow path that arrow path judging unit, which exports judging result, according to road number
The judgement of collision obstacle is made whether according to the data and vehicle driving trace of acquisition module acquisition, and exports judging result.
Preferably, the arrow path judgment threshold is w_、w+, wherein w_For lower limit width threshold value, w+For upper limit width threshold
Value, by w_And w+The range intervals of composition are that arrow path judges predetermined width section [w_,w+]。
Preferably, the vehicle driving trace includes the boundary line of two predicted vehicle driving traces, described to be predicted
It is drawn according to vehicle driving trace and width of the carbody, the length information predicted the boundary line of vehicle driving trace.
Preferably, the road data acquisition module includes laser radar sensor, three-dimensional environment map constructing unit；
Laser radar sensor is configured to set angle immediately ahead of acquisition vehicle heading, three-dimensional environment in set distance
Data；
Three-dimensional environment map constructing unit is configured to construct three-dimensional environment map according to the three-dimensional environment data.
Preferably, judge in arrow path judging unit vehicle heading road whether be arrow path method are as follows:
Step A1, selected distance ground level are greater than h and are less than the three-dimensional environment data of d with headstock front end horizontal distance；
H is according to vehicle chassis height H setting height value, h < H；
Three-dimensional environment data in step A1 are mapped in two-dimensional rasterizing coordinate system by step A2, are formed a series of
Barrier point；
Step A3 chooses two points that each row distance longitudinal direction of car central axes are nearest in grid, and will be in longitudinal direction of car
The point of axis two sides is separately connected the path boundary to form both sides；
Step A4 calculates the coordinate points distance D that the path boundary on both sides intersects with every a line gridlinei, by DiWith arrow path
Judge predetermined width section [w_,w+] compare, if Di∈[w_,w+] then vehicle driving road ahead be passable arrow path,
If Di<w_Then judge the intransitable arrow path of vehicle.
Preferably, the method for the judgement of collision obstacle is made whether in collision obstacle judging unit are as follows:
Judge that the boundary line of predicted vehicle driving trace intersects with whether path boundary has, is judged as collision if having simultaneously
Crosspoint is labeled as the point of impingement, if being judged as that vehicle can pass through without selecting.
Preferably, which further includes head-up display, and the heads-up display configuration is that display arrow path analysis module is defeated
Prediction locus and vehicle out whether collision obstacle judgement and warning message, and adjust display image and reality scene
Fitting.
Preferably, which further includes display device, the display device configurations be show vehicle heading image,
Arrow path analysis module output prediction locus and vehicle whether collision obstacle judgement and warning message.
Preferably, which further includes starting trigger unit, which is configured to receive input signal and starts number
Start to carry out arrow path identification and collision judgment according to acquisition module, arrow path analysis module；The input signal is human-computer interaction side
The control instruction or speed of formula input are lower than the judgement signal of given threshold.
The present invention realizes effective arrow path by road data acquisition module and identifies, is realized by arrow path analysis module
The functions such as effective driving trace prediction, anti-collision warning and collision point prediction, and shown by display device, effectively
The intuitive predictive information of comparison is provided by arrow path to driver, improve the current safety of vehicle arrow path.
Detailed description of the invention
Fig. 1 is vehicle driving arrow path auxiliary system block schematic illustration of the invention；
Fig. 2 is arrow path judgment method flow diagram of the invention.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
A kind of vehicle driving arrow path auxiliary system proposed by the present invention, as shown in Figure 1, include road data acquisition module,
Arrow path analysis module, display module, starting trigger unit.
1, road data acquisition module
Road data acquisition module is configured to the road data of acquisition vehicle heading；
Road data acquisition module includes laser radar sensor, three-dimensional environment map constructing unit；Laser radar sensing
Device is configured to set angle immediately ahead of acquisition vehicle heading, three-dimensional environment data in set distance；Three-dimensional environment map structure
Unit is built to be configured to construct three-dimensional environment map according to the three-dimensional environment data.Road data acquisition module can also pass through it
His sensor or video collector carry out data acquisition, and construct three-dimensional environment map according to the data of acquisition.
The present invention using laser radar sensor is more gathered compared with sound wave due to laser beam, can be accurate
The relative distance at contour of object edge and equipment room in visual field is measured, these profile informations form so-called cloud and draw out 3D
Environmental map, precision can reach a centimetre rank, be more suitable for the required precision of vehicle arrow path traveling anti-collision warning.
The 3D environmental map within the vision that can be drawn out based on laser radar technique.Laser radar can detect vehicle body
3D environmental map within the scope of front set angle alpha+beta and set distance d.Wherein β is steering angle, and α is set angle
Value, preferably setting angle value α is 150 degree.
2, arrow path analysis module
The data and vehicle body parameter that arrow path analysis module is configured to acquire using road data acquisition module carry out narrow road shape
State judgement, according to steering wheel for vehicle corner carry out vehicle driving trace prediction, go forward side by side driving whether the judgement of collision obstacle
And alarm.
Arrow path analysis module includes vehicle driving trace predicting unit, arrow path judging unit, collision obstacle judging unit；
Vehicle driving trace predicting unit is configured to carry out the prediction of vehicle driving trace according to steering wheel for vehicle corner, Che Zi；Arrow path
Judging unit is configured to the data according to the acquisition of road data acquisition module, vehicle body parameter, the vehicle driving trace predicted, and
In conjunction with the arrow path judgment threshold of setting, judge whether the road of vehicle heading is arrow path, and export judging result；Collision barrier
Object judging unit is hindered to be configured to acquire when it is arrow path that arrow path judging unit, which exports judging result, according to road data acquisition module
Data and vehicle driving trace be made whether the judgement of collision obstacle, and export judging result.
Vehicle driving trace includes the boundary line of two predicted vehicle driving traces, described the pre- measuring car in the present embodiment
It is drawn according to vehicle driving trace and width of the carbody, the length information predicted the boundary line of driving trace.
Arrow path judgment threshold in arrow path judging unit is w_、w+, wherein w_For lower limit width threshold value, w+For upper limit width
Threshold value, by w_And w+The range intervals of composition are that arrow path judges predetermined width section [w_,w+]。
The road that vehicle heading is judged in arrow path judging unit whether be the method for arrow path as shown in Fig. 2, include with
Lower step:
Step A1, selected distance ground level are greater than h and are less than the three-dimensional environment data of d with headstock front end horizontal distance；
H is according to vehicle chassis height H setting height value, h < H；
In order to further decrease calculation amount, the present embodiment is when choosing three environmental datas, it is also necessary to screen out vehicle driving
Data except the extension cord of track boundary line, vehicle driving trace boundary line extension cord and corresponding vehicle driving trace boundary line
Horizontal distance be C.
The step is exactly the range in order to determine the arrow path prejudged in fact, can set vehicle in the present embodiment
Central axes are y-axis, and driving direction is positive direction, and x-axis is the horizontal direction of the corresponding y value coordinate points in headstock front end perpendicular to y
The range (range i.e. for the selected three-dimensional environment data of subsequent judgement) of the straight line of axis, the then arrow path prejudged passes through
Three conditions limit: (1) being greater than h apart from ground level；(2) headstock front end horizontal distance is less than d；(3) it is in vehicle driving
Within the extension cord of track boundary line.
Three-dimensional data in step A1 is mapped in two-dimensional rasterizing coordinate system, forms a series of obstacles by step A2
Point；
Step A3, chooses two points that each row distance longitudinal direction of car central axes (i.e. y-axis) are nearest in grid, and by vehicle
The point of longitudinal central axis line two sides is separately connected the path boundary to form both sides；
Step A4 calculates the coordinate points distance D that the path boundary on both sides intersects with every a line gridlinei, by DiWith arrow path
Judge predetermined width section [w_,w+] compare, if Di∈[w_,w+] then vehicle driving road ahead be passable arrow path,
If Di<w_Then judge the intransitable arrow path of vehicle.
Since vehicle chassis height H determines that the object that then need to only choose higher than h is considered as barrier, and h need to only be slightly less than
H is both able to satisfy design requirement, takes h=H-0.05m in the present embodiment；Since body width W is determined, arrow path can be set according to W
Judge predetermined width section [w_,w+] setting, choose w in the present embodiment+=w+0.5m, w_=w+0.05m；Length of wagon is set
For L, it is l=L+0.2m that the present embodiment, which summarizes the length of wagon for selecting to be used for trajectory calculation, and wherein m is the expression of length unit rice
Symbol.
The method of the judgement of collision obstacle is made whether in collision obstacle judging unit are as follows: the predicted vehicle row of judgement
The boundary line for sailing track intersects with whether path boundary has, and is judged as collision if having and by crosspoint labeled as the point of impingement, if
It is judged as that vehicle can pass through without selecting.
3, display module
Display module is head-up display or other display devices.
The present embodiment use head-up display, the display be configured to display arrow path analysis module output prediction locus,
And vehicle whether collision obstacle judgement and warning message, and adjust display image be bonded with reality scene.
When using other display devices, display device is configurable to the image of display vehicle heading, arrow path point
Analyse module output prediction locus and vehicle whether collision obstacle judgement and warning message.
4, start trigger unit
Start trigger unit, which is configured to receive input signal and starts road data acquisition module, arrow path analysis
Module starts to carry out arrow path identification and collision judgment；The input signal is the control instruction or vehicle of man-machine interaction mode input
Speed is lower than the judgement signal of given threshold.
Those skilled in the art should be able to recognize that, mould described in conjunction with the examples disclosed in the embodiments of the present disclosure
Block, unit and method and step, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly say
The interchangeability of bright electronic hardware and software generally describes each exemplary composition according to function in the above description
And step.These functions are executed actually with electronic hardware or software mode, depending on technical solution specific application and set
Count constraint condition.Those skilled in the art can realize described function using distinct methods to each specific application
Can, but such implementation should not be considered as beyond the scope of the present invention.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (8)
1. a kind of vehicle driving arrow path auxiliary system, which is characterized in that including road data acquisition module, arrow path analysis module；
Road data acquisition module is configured to the road data of acquisition vehicle heading；
Arrow path analysis module is configured to the data acquired using road data acquisition module and sentenced with vehicle body parameter progress narrow road state
It is disconnected, carry out vehicle driving trace prediction according to steering wheel for vehicle corner, driving of going forward side by side whether collision obstacle judgement and report
It is alert；
The arrow path analysis module includes arrow path judging unit, and arrow path judging unit is configured to adopt according to road data acquisition module
The data of collection, vehicle body parameter, the vehicle driving trace predicted, and the arrow path judgment threshold of setting is combined, judge vehicle driving
Whether the road in direction is arrow path, and exports judging result；
The arrow path judgment threshold is w-、w+, wherein w-For lower limit width threshold value, w+For upper limit width threshold value, by w-And w+Structure
At range intervals be arrow path judge predetermined width section [w-,w+]；
Judge in arrow path judging unit vehicle heading road whether be arrow path method are as follows:
Step A1, selected distance ground level are greater than h and are less than the three-dimensional environment data of d with headstock front end horizontal distance；H is
According to vehicle chassis height H setting height value, h < H；
Three-dimensional environment data in step A1 are mapped in two-dimensional rasterizing coordinate system, form a series of obstacles by step A2
Point；
Step A3, chooses two points that each row distance longitudinal direction of car central axes are nearest in grid, and by longitudinal direction of car central axes
The point of two sides is separately connected the path boundary to form both sides；
Step A4 calculates the coordinate points distance D that the path boundary on both sides intersects with every a line gridlinei, by DiJudge with arrow path
Predetermined width section [w-,w+] compare, if Di∈[w-,w+] then vehicle driving road ahead be passable arrow path, if Di
< w-Then judge the intransitable arrow path of vehicle.
2. system according to claim 1, which is characterized in that the arrow path analysis module further includes vehicle driving trace
Predicting unit, collision obstacle judging unit；
Vehicle driving trace predicting unit is configured to carry out the prediction of vehicle driving trace according to steering wheel for vehicle corner, Che Zi；
Collision obstacle judging unit is configured to adopt when it is arrow path that arrow path judging unit, which exports judging result, according to road data
The data and vehicle driving trace of collection module acquisition are made whether the judgement of collision obstacle, and export judging result.
3. system according to claim 2, which is characterized in that the vehicle driving trace includes two predicted vehicle rows
The boundary line of track is sailed, the boundary line of the predicted vehicle driving trace is according to vehicle driving trace, the Yi Jiche predicted
Body width, length information are drawn.
4. system according to claim 3, which is characterized in that the road data acquisition module includes laser radar sensing
Device, three-dimensional environment map constructing unit；
Laser radar sensor is configured to set angle immediately ahead of acquisition vehicle heading, three-dimensional environment number in set distance
According to；
Three-dimensional environment map constructing unit is configured to construct three-dimensional environment map according to the three-dimensional environment data.
5. system according to claim 4, which is characterized in that be made whether to knock down in collision obstacle judging unit
The method of the judgement of object are as follows:
Judge that the boundary line of predicted vehicle driving trace intersects with whether path boundary has, be judged as collision if having and will hand over
Crunode is labeled as the point of impingement, if being judged as that vehicle can pass through without selecting.
6. system according to any one of claims 1 to 5, which is characterized in that the system further includes head-up display, institute
State heads-up display configuration be show arrow path analysis module output prediction locus and vehicle whether the judgement of collision obstacle
And warning message, and adjust display image and be bonded with reality scene.
7. system according to any one of claims 1 to 5, which is characterized in that the system further includes display device, described
Display device configurations be show vehicle heading image, arrow path analysis module output prediction locus and vehicle whether
The judgement of collision obstacle and warning message.
8. system according to any one of claims 1 to 5, which is characterized in that the system further includes starting trigger unit,
The unit be configured to receive input signal and start road data acquisition module, arrow path analysis module start carry out arrow path identification with
Collision judgment；The input signal is that the judgement of control instruction or speed lower than given threshold of man-machine interaction mode input is believed
Number.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955047.2A CN106945668B (en) | 2016-10-27 | 2016-10-27 | Vehicle driving arrow path auxiliary system |
| PCT/CN2017/095067 WO2018076855A1 (en) | 2016-10-27 | 2017-07-28 | Assisting system for vehicle driving on narrow road |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955047.2A CN106945668B (en) | 2016-10-27 | 2016-10-27 | Vehicle driving arrow path auxiliary system |
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| CN106945668A CN106945668A (en) | 2017-07-14 |
| CN106945668B true CN106945668B (en) | 2019-08-16 |
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| CN106945668B (en) * | 2016-10-27 | 2019-08-16 | 蔚来汽车有限公司 | Vehicle driving arrow path auxiliary system |
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