CN109955848B - Automatic operation control method and system for vehicle parking - Google Patents
Automatic operation control method and system for vehicle parking Download PDFInfo
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- CN109955848B CN109955848B CN201711420110.3A CN201711420110A CN109955848B CN 109955848 B CN109955848 B CN 109955848B CN 201711420110 A CN201711420110 A CN 201711420110A CN 109955848 B CN109955848 B CN 109955848B
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- 230000008569 process Effects 0.000 abstract description 8
- 230000004888 barrier function Effects 0.000 description 8
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- B60W2554/00—Input parameters relating to objects
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Abstract
The invention relates to a vehicle stop station and an automatic operation control method and a control system, wherein the vehicle stop station and the automatic operation control method comprise the following steps: the method comprises the steps of firstly, detecting the position relation between a vehicle and a front obstacle and between the vehicle and the front stop, setting the front stop as a virtual obstacle if the front obstacle does not affect the safety of the vehicle when the vehicle stops at the front stop, and then controlling the vehicle to stop at the front stop at a speed reduction mode according to the relative distance and the relative speed of the vehicle and the front stop in the advancing direction of the vehicle. Therefore, the speed of the vehicle can be just zero when the vehicle runs to the front stop according to the control process, and the vehicle can be accurately stopped at the stop.
Description
Technical Field
The invention relates to a vehicle stop station, an automatic operation control method and an automatic operation control system.
Background
The general situation of an intelligent vehicle is that advanced sensors, controllers, execution devices and the like are added on the basic structure of a common vehicle, and intelligent information exchange of the vehicle, the road, a driver and the like is realized through a vehicle-mounted sensing system and an information system, so that the vehicle has certain intelligent environment sensing capability, the path is identified, the current road condition is analyzed, the obstacle is detected by combining the position of the vehicle, real-time early warning is realized, or the vehicle is stopped and avoided in time according to the actual situation, the driving safety is improved, and a reasonable driving strategy is configured according to the path and the intention of the driver. However, it is important to determine how to make a decision on the way of passengers getting on or off at a stop and how to decelerate to zero at the stop, and how to realize the starting acceleration after the door is opened or closed.
Disclosure of Invention
The invention aims to provide a vehicle stop station, an automatic operation control method and an automatic operation control system.
In order to achieve the above object, the present invention includes the following technical solutions.
The first scheme is as follows: the scheme provides a vehicle stop station and an automatic operation control method, which comprises the following steps: the method comprises the steps of detecting the position relation between a vehicle, a front obstacle and a front stop, setting the front stop as a virtual obstacle if the front obstacle does not affect the safe stop of the vehicle at the front stop, calculating the deceleration of the vehicle according to the relative distance and the relative speed of the vehicle and the front stop in the forward direction of the vehicle, and controlling the vehicle to decelerate and stop at the front stop according to the obtained deceleration.
The method comprises the steps of firstly detecting the position relation between a vehicle and a front obstacle and between the vehicle and the front stop, setting the front stop as a virtual obstacle if the front obstacle does not influence the safety of the vehicle when the vehicle stops at the front stop, and controlling the vehicle to decelerate and stop at the front stop according to the relative distance and the relative speed of the vehicle and the front stop in the advancing direction of the vehicle, so that the vehicle speed is just zero when the vehicle runs to the front stop according to the control process, and the vehicle can accurately stop at the stop.
Scheme II: on the basis of the first scheme, the relative distance between the vehicle and the front obstacle in the vehicle advancing direction is detected and recorded as a first relative distance, the relative distance between the vehicle and the front stop station in the vehicle advancing direction is detected and recorded as a second relative distance, and if the first relative distance is larger than the second relative distance, the front obstacle does not influence the safety of the vehicle stopping at the front stop station.
The third scheme is as follows: on the basis of the first scheme, the calculation formula of the deceleration is as follows: a = V2/2(S1-S2) Where a is the deceleration, S1Is the relative distance, S2The running distance of the vehicle from the front stop station is S for the set safe distance1-S2And V is the relative velocity.
And the scheme is as follows: and on the basis of the scheme I, the scheme II or the scheme III, after the vehicle stops at the stopping station, detecting the speed of the vehicle and the position relation of the vehicle and the stopping station in real time, and controlling the vehicle door to be opened when the speed of the vehicle is less than or equal to a low speed threshold and the vehicle is positioned at the stopping station.
And a fifth scheme: and on the basis of the fourth scheme, after the door is opened, if no passenger gets on or off the vehicle at the door is detected within a set time period, the door is controlled to be closed.
Scheme six: on the basis of the fifth scheme, after the vehicle door is closed, the setting that the stop station is taken as the virtual obstacle is cancelled, then the relative distance between the vehicle and the front real obstacle is detected, and if the safe starting condition is met, the vehicle is controlled to start.
The scheme is seven: on the basis of the sixth scheme, when the relative distance between the vehicle and the front real obstacle is gradually increased, the safe starting condition is judged to be met.
And the eighth scheme is as follows: this scheme provides a vehicle stops website and automatic operation control system, includes:
the detection module is used for detecting the position relation among the vehicle, the front obstacle and the front stop station;
a control module to execute the following control strategy: if the front obstacle does not affect the safe parking of the vehicle at the front parking station, setting the front parking station as a virtual obstacle, then calculating the deceleration of the vehicle according to the relative distance and the relative speed of the vehicle and the front parking station in the advancing direction of the vehicle, and controlling the vehicle to be decelerated and parked at the front parking station according to the obtained deceleration.
The scheme is nine: on the basis of the eighth scheme, the relative distance between the vehicle and the front obstacle in the vehicle advancing direction is detected and recorded as a first relative distance, the relative distance between the vehicle and the front stop station in the vehicle advancing direction is detected and recorded as a second relative distance, and if the first relative distance is larger than the second relative distance, the front obstacle does not influence the safety of the vehicle stopping at the front stop station.
And a scheme ten: on the basis of the eighth scheme, the calculation formula of the deceleration is as follows: a = V2/2(S1-S2) Where a is the deceleration, S1Is the relative distance, S2The running distance of the vehicle from the front stop station is S for the set safe distance1-S2And V is the relative velocity.
Scheme eleven: on the basis of the eight, nine or ten scheme, after the vehicle stops at the stop station, the speed of the vehicle and the position relation of the vehicle and the stop station are detected in real time, and when the speed of the vehicle is smaller than or equal to a low speed threshold value and the vehicle is located at the stop station, the vehicle door is controlled to be opened.
Scheme twelve: on the basis of the eleventh scheme, the control system further comprises a passenger getting-on and getting-off detection unit for detecting the situation that a passenger gets on or off the vehicle at the vehicle door, and after the vehicle door is opened, if no passenger gets on or off the vehicle at the vehicle door is detected within a set time period, the vehicle door is controlled to be closed.
Scheme thirteen: on the basis of the twelfth scheme, the passenger getting-on and getting-off detection unit is an ultrasonic sensor arranged at a vehicle door.
A fourteen scheme: on the basis of the twelfth or thirteenth scheme, after the vehicle door is closed, the setting that the stop station is taken as a virtual obstacle is cancelled, then the relative distance between the vehicle and the front real obstacle is detected, and if the safe starting condition is met, the vehicle is controlled to start.
A fifteenth scheme: on the basis of the fourteenth scheme, when the fact that the relative distance between the vehicle and the front real obstacle is gradually increased is detected, the condition that the safe starting condition is met is judged.
Drawings
FIG. 1 is a schematic diagram of a travel track of a parking station of an intelligent vehicle;
FIG. 2 is a schematic diagram of vehicle docking stations and the automatic operation control system components;
fig. 3 is a flowchart illustrating a vehicle stop station and an automatic operation control method.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In general, an intelligent vehicle obtains the position coordinates of the current vehicle and the heading information of the vehicle through an inertial navigation sensor (i.e., a GPS), and meanwhile, the coordinates of stop line coordinates of stop points in the driving roads and routes of the intelligent vehicle are stored in an in-vehicle controller. As shown in fig. 1, the intelligent vehicle drives to approach the station according to the collected route, and the distance between the vehicle and the stop line of the stop station ahead is calculated by the coordinate difference.
In the vehicle stop station and the automatic operation control method provided by the invention, when the vehicle stop station is controlled, the position relation among the vehicle, the front barrier and the front stop station is detected, and whether the front barrier influences the safe stop of the vehicle at the front stop station is judged. Because the distance between the vehicle and the front obstacle is correspondingly adjusted according to the position of the vehicle and the front obstacle so as to achieve the purpose of safe avoidance, which belongs to the conventional technology in the field of automatic driving, a specific implementation mode of a judgment process is provided as follows, specifically: for convenience of explanation, it is assumed that the vehicle, the obstacle ahead and the stop ahead are on the same straight line, and the straight line is the straight line where the vehicle forward direction is located, the relative distance between the vehicle and the obstacle ahead in the vehicle forward direction is detected and recorded as a first relative distance, which is expressed as a relative distance S, the relative distance between the vehicle and the stop ahead in the vehicle forward direction is detected, a second relative distance is obtained, and the relative distance S is obtained1A representation is made in which the relative distance S of the vehicle to the preceding obstacle can be detected by the radar device, obtained by fusing data detected by the radar device, and the relative distance S of the vehicle to the preceding stop1It can be obtained by calculating the difference between the coordinates of both, wherein both the above-mentioned relative distances are straight distances in the vehicle advancing direction for the sake of calculation convenience. If S> S1That is, there is no other obstacle between the vehicle and the front stop, and the vehicle is the first vehicle to arrive at the stop, which means that the front obstacle does not affect the safety of the vehicle at the front stop; accordingly, if S< S1I.e. there are other obstacles between the vehicle and the preceding stop, the vehicle is controlled to decelerate correspondingly to avoid the obstacles. In addition, the relative distance S and the relative distance S are obtained1Simultaneously, the following can be obtained: the relative speed of the vehicle and the obstacle ahead in the vehicle advancing direction, and the relative speed of the vehicle and the stop station ahead in the vehicle advancing direction.
If the place ahead barrier does not influence the safe stop of the vehicle at the place ahead stop, then set up the place ahead stop as virtual barrier, because the place ahead at the stop is the stop line, the vehicle can not cross this stop line, so, in this embodiment, regard stop line as the stop, regard the position at stop line place as the position of stop. Then, the stop line is set as a virtual obstacle, and then the vehicle is stopped at the preceding stop station in the vehicle advancing direction according to the relative distance S between the vehicle and the preceding stop station1And calculating the deceleration a of the vehicle according to the relative speed, controlling the vehicle to be decelerated and parked at the front parking station according to the vehicle deceleration a, and reducing the speed of the vehicle to be just 0 when reaching the parking stop line so as to realize accurate parking.
The present embodiment gives a way of calculating the vehicle deceleration a as: a = V2/2(S1-S2) Wherein S is1The coordinates of the vehicle positioning coordinate information and the recorded stopping line can be calculated in real time; sometimes it is not required that the vehicle has to stop at the stop line, and it is then required that there is a distance between the stopping position of the vehicle and the stop line, which is the set safety distance S2The safety distance can be set according to actual requirements, and of course, if the vehicle is required to be stopped at the stopping line, S2It is set to 0 and thus the vehicle travels a distance S from the forward stop, i.e., from the stop line1-S2(ii) a V is the vehicle speed, and since the stop ahead is stationary, the vehicle speed V is the relative speed of the vehicle to the stop ahead.
In order to implement the control method, the embodiment further provides a hardware control system, which includes two major parts, a data acquisition part and a data processing part, wherein the data acquisition part is used for acquiring various data information related to the whole vehicle stop station and the automatic operation control method. As shown in fig. 2, the data acquisition part corresponds to an information fusion module, and this embodiment provides a specific composition of the information fusion module, including a ZigBee module, a line laser radar, an ultrasonic radar, a traffic light signal radio frequency receiver, an inertial navigation GPS, a lane line identification camera, a millimeter wave radar, and the like, and certainly, other detection devices related to the above control method are also included. The data processing part comprises three modules which are respectively a decision module, a longitudinal control module and a transverse control module, the decision module is a control core of the whole system, receives various data information detected by the information fusion module, can obtain the relative distance and the relative speed between the vehicle and the front obstacle according to the received related radar information, and also receives the related information such as lane line information, vehicle coordinates and course information, and processes and analyzes the received various information. And the decision module executes a software program corresponding to the control process and sends the generated related control instruction to the longitudinal control module and the transverse control module, and the longitudinal control module realizes the accurate parking control process. And the decision-making module judges whether the vehicle runs according to the global path or avoids the front obstacle to switch the road to run after information fusion, such as: if lane changing driving is needed, a corresponding control instruction is output to the transverse control module, the transverse control module controls the vehicle to transversely move, and lane changing driving is achieved. Therefore, the invention point of the system is the function of the decision module and the longitudinal control module.
Thus, it can be said that the vehicle can thus achieve a precise stopping of the stations, on the one hand the control of the longitudinal speed by the longitudinal control module and on the other hand the relative distance and relative speed of the stopping stations in line with the virtual obstacle.
After the vehicle is accurately parked at the stopping line of the parking station, the decision module monitors the speed V of the vehicle and the position relation between the vehicle and the stopping line of the parking station in real time, and when the speed V of the vehicle is smaller than or equal to a low speed threshold value and the vehicle is located at the stopping line of the parking station, the fact that the vehicle is stably parked at the parking station is indicated, and the opening of a vehicle door can be controlled. Therein, to maximizeThe degree ensures the safety of passengers, and the low speed threshold is 0, namely the corresponding judgment condition is V = 0; whether the vehicle is located at the stop line of the stop station can be achieved by detecting and comparing the distance of the vehicle from the stop line of the stop station, such as: by coordinate positioning or by radar detection, when the vehicle is at a distance S from the stop line of the stop station3When the distance is less than a distance threshold, it indicates that the vehicle is located at the stop line of the stop station, and further, the distance threshold is set to 5 m. Thus, if V =0, and S3<5m, the vehicle is stopped stably at a stopping station, and the decision module sends a vehicle door opening instruction through the CAN network to control the front vehicle door and the rear vehicle door to be opened simultaneously.
After the vehicle door is opened, passengers need to get on or get off the vehicle as required, in the process, the situation that the passengers get on or off the vehicle at the vehicle door is detected in real time, and if no passenger gets on or off the vehicle at the vehicle door is detected within a set time period, the passenger getting on or off the vehicle is indicated to be finished, and the vehicle door is controlled to be closed. In this embodiment, the passenger getting on/off state is detected by a passenger getting on/off detection unit, and further, the passenger getting on/off detection unit is an ultrasonic sensor mounted at an inner side position of a door. If a passenger gets on or off the vehicle, the distance information detected by the ultrasonic waves CAN be irregularly changed, on the contrary, if no passenger gets on or off the vehicle, the distance information detected by the ultrasonic waves is unchanged, if the ultrasonic sensors detect that the front vehicle door and the rear vehicle door do not have any signal change within a set time period (such as 3 s), the passenger is considered to be finished getting on or off the vehicle, and the decision module sends a door closing instruction through the CAN network to control the front vehicle door and the rear vehicle door to be closed simultaneously.
In the passenger getting on and off the bus process, decision module considers the stop line of stop station as the virtual barrier all the time, then, when the door changes by opening to closing, if continue to consider the stop line of stop station as the virtual barrier again, then the vehicle is in the brake state all the time, can't go, then, after the door is closed, decision module cancels the settlement of regarding stop line of stop station as the virtual barrier, then, detect the relative distance and the relative speed of a vehicle and the real barrier in the place ahead, if satisfy safe starting condition, for example: when the longitudinal control ACC logic detects that the relative distance is changed from small to large, the obstacle is gradually far away, then the vehicle is controlled to start, and the vehicle runs according to the stored route.
The entire flow of the vehicle stop station and the automatic operation control method is shown in fig. 3.
The specific embodiments are given above, but the present invention is not limited to the described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Embodiments of a vehicle stop and automatic operation control system
The embodiment provides a vehicle stop station and automatic operation control system, which comprises the following two modules:
and the detection module is used for detecting the position relation between the vehicle and the front obstacle and between the vehicle and the front stop station.
A control module to execute the following control strategy: if the front obstacle does not affect the safe parking of the vehicle at the front parking station, the front parking station is set as a virtual obstacle, then the deceleration of the vehicle is calculated according to the relative distance and the relative speed of the vehicle and the front parking station in the advancing direction of the vehicle, and the vehicle is controlled to be decelerated and parked at the front parking station according to the obtained deceleration.
Therefore, the vehicle stop station and the automatic operation control system provided in the embodiment are substantially the same as the invention points of the vehicle stop station and the automatic operation control method, and since the functional functions of the two modules have been described in detail in the embodiment of the control method, the embodiment is not described in detail.
Claims (15)
1. A vehicle parking automatic operation control method is characterized by comprising the following steps: the method comprises the steps of detecting the position relation between a vehicle, a front obstacle and a front stop, setting the front stop as a virtual obstacle if the front obstacle does not affect the safe stop of the vehicle at the front stop, calculating the deceleration of the vehicle according to the relative distance and the relative speed of the vehicle and the front stop in the forward direction of the vehicle, and controlling the vehicle to decelerate and stop at the front stop according to the obtained deceleration.
2. The vehicle stop automatic operation control method according to claim 1, wherein a relative distance between the vehicle and a preceding obstacle in a vehicle advancing direction is detected and recorded as a first relative distance, a relative distance between the vehicle and a preceding stop in the vehicle advancing direction is detected and recorded as a second relative distance, and if the first relative distance is greater than the second relative distance, it indicates that the preceding obstacle does not affect safe stopping of the vehicle at the preceding stop.
3. The vehicle stop automatic operation control method according to claim 1, characterized in that the calculation formula of the deceleration is: a = V2/2(S1-S2) Where a is the deceleration, S1Is the relative distance, S2The running distance of the vehicle from the front stop station is S for the set safe distance1-S2And V is the relative velocity.
4. The vehicle stop automatic operation control method according to claim 1, 2 or 3, wherein after the vehicle stops at the front stop, the speed of the vehicle and the positional relationship of the vehicle with the front stop are detected in real time, and when the speed of the vehicle is less than or equal to a low speed threshold and the vehicle is at the front stop, the door is controlled to be opened.
5. The vehicle stop automatic operation control method according to claim 4, wherein after the door is opened, if it is detected that no passenger gets on or off the vehicle at the door within a set period of time, the door is controlled to be closed.
6. The vehicle stop automatic operation control method according to claim 5, wherein after the vehicle door is closed, the setting of the front stop station as a virtual obstacle is cancelled, then the relative distance between the vehicle and the front obstacle is detected, and if a safe start condition is satisfied, the vehicle is controlled to start.
7. The vehicle stop automatic operation control method according to claim 6, characterized in that it is determined that the safe start condition is satisfied when it is detected that a relative distance between the vehicle and the obstacle ahead is gradually increased.
8. A vehicle parking automatic operation control system, comprising:
the detection module is used for detecting the position relation among the vehicle, the front obstacle and the front stop station;
a control module to execute the following control strategy: if the front obstacle does not affect the safe parking of the vehicle at the front parking station, setting the front parking station as a virtual obstacle, then calculating the deceleration of the vehicle according to the relative distance and the relative speed of the vehicle and the front parking station in the advancing direction of the vehicle, and controlling the vehicle to be decelerated and parked at the front parking station according to the obtained deceleration.
9. The vehicle stop automatic operation control system according to claim 8, wherein a relative distance between the vehicle and a preceding obstacle in a vehicle advancing direction is detected as a first relative distance, a relative distance between the vehicle and a preceding stop in the vehicle advancing direction is detected as a second relative distance, and if the first relative distance is greater than the second relative distance, it indicates that the preceding obstacle does not affect safe stopping of the vehicle at the preceding stop.
10. The vehicle stop automatic operation control system according to claim 8, characterized in that the calculation formula of the deceleration is: a = V2/2(S1-S2) Where a is the deceleration, S1Is the relative distance, S2The running distance of the vehicle from the front stop station is S for the set safe distance1-S2And V is the relative velocity.
11. The vehicle stop automatic operation control system according to claim 8, 9 or 10, wherein after the vehicle stops at the front stop, the speed of the vehicle and the positional relationship of the vehicle with the front stop are detected in real time, and when the speed of the vehicle is less than or equal to a low speed threshold and the vehicle is at the front stop, the door is controlled to be opened.
12. The vehicle stop automatic operation control system according to claim 11, wherein the control system further comprises a passenger getting-on/off detecting unit for detecting a situation where a passenger gets on or off the vehicle at the door, and controls the door to be closed if it is detected that no passenger gets on or off the vehicle at the door within a set period of time after the door is opened.
13. The vehicle stop automatic operation control system according to claim 12, wherein the passenger getting-on/off detection unit is an ultrasonic sensor provided at a door of the vehicle.
14. The vehicle stop automatic operation control system according to claim 12 or 13, wherein after the vehicle door is closed, the setting of the front stop station as a virtual obstacle is cancelled, then a relative distance between the vehicle and the front obstacle is detected, and if a safe start condition is satisfied, the vehicle is controlled to start.
15. The vehicle stop automatic operation control system according to claim 14, characterized in that it is determined that the safe start condition is satisfied when it is detected that a relative distance of the vehicle from the preceding obstacle gradually increases.
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| JP6224029B2 (en) * | 2015-05-21 | 2017-11-01 | 富士通テン株式会社 | Image processing apparatus and image processing method |
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| CN204526984U (en) * | 2015-04-17 | 2015-08-05 | 张丽彪 | A kind of city motor bus prompt system |
| CN104894932A (en) * | 2015-05-29 | 2015-09-09 | 哈尔滨工业大学 | Urban road integrated design method based on parking demand |
| CN104859688A (en) * | 2015-06-11 | 2015-08-26 | 刘国宝 | Metro automatic management system based on Beidou positioning |
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