CN115503697B - Vehicle lateral control method and device, vehicle and storage medium - Google Patents
Vehicle lateral control method and device, vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The application relates to the technical field of vehicles, in particular to a transverse control method and device of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: identifying a lateral control request of the vehicle; acquiring track data, scene data and corner data of the vehicle according to the transverse control request; judging whether the vehicle meets the preset transverse control condition according to the track data, the scene data and the corner data, wherein if so, the vehicle is controlled to execute the preset transverse control action meeting the transverse control request, otherwise, the vehicle exits the transverse control function of the driving auxiliary system, generates an alarm prompt and simultaneously controls the vehicle to execute the preset safety action. Therefore, the problems that in the related art, when the vehicle runs outside the safety area for monitoring, the monitoring risk coverage of other scenes and faults is insufficient, the safety running of the vehicle cannot be ensured and the like are solved.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle lateral control method and apparatus, a vehicle, and a storage medium.
Background
With the advent of advanced autopilot, code volume increased, and system complexity increased, the risk of failure or malfunction faced by system functions also increased. Therefore, in order to accommodate the development requirements of the autopilot system, the application of functional safety is becoming increasingly widespread and necessary. The intelligent driving auxiliary system is used as an important part of the intelligent driving auxiliary system, is responsible for timely and accurately detecting system failure or system faults, timely sends out alarm instructions to remind a driver to take over, and enables the whole vehicle to enter a safe controllable mode.
In the related art, a left and right anti-deviation safety distance is set to a vehicle driving range, and is fixed in a safety area, and when the safety area is exceeded, the safety risk of the vehicle is determined and related measures are taken. However, this approach is not fully covered by security risks in the fault monitoring of the control interface itself and in other application scenarios.
Disclosure of Invention
The application provides a transverse control method and device of a vehicle, the vehicle and a storage medium, and aims to solve the problems that in the related art, when the vehicle runs outside a safety area, monitoring risks of other scenes and faults are not covered enough, the safe running of the vehicle cannot be ensured, and the like.
An embodiment of a first aspect of the present application provides a lateral control method of a vehicle, the method being applied to the vehicle, including the steps of: identifying a lateral control request of the vehicle; acquiring track data, scene data and corner data of the vehicle according to the transverse control request; judging whether the vehicle meets the preset transverse control condition according to the track data, the scene data and the corner data, wherein if so, the vehicle is controlled to execute the preset transverse control action meeting the transverse control request, otherwise, the vehicle exits the transverse control function of the driving assistance system, generates an alarm prompt and simultaneously controls the vehicle to execute the preset safety action.
According to the technical means, the embodiment of the application can cover the failure of the transverse function by combining the track, the scene and the corner with the transverse function of the vehicle, so that the vehicle can run under the condition of safety, and the safety and the reliability of the driving auxiliary function are ensured.
Further, the determining whether the vehicle meets the preset lateral control condition according to the track data, the scene data and the corner data includes: respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to the track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when the random track parameter changes between preset positive and negative values is smaller than an oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass; respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to the scene data, wherein a lane line input by a camera of the vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by the angular radar of the vehicle, matching the collision risk level of the vehicle and the road edge based on the guardrail road edge information and the planning track of the vehicle, and judging that the collision check of the preset safety scene passes when the collision risk level is smaller than a preset level, or else judging that the collision check of the preset safety scene does not pass; performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed and the current road curvature of the vehicle, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in the preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification; and when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check are all checked, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
According to the technical means, whether the preset transverse control condition is met or not is judged by analyzing the track data, the scene data and the corner data of the vehicle, so that the vehicle can be transversely controlled under the condition that the condition is met, and the running safety of the vehicle is ensured.
Further, the identifying the lateral control request of the vehicle includes: acquiring one or more input signals; checking whether the one or more input signals are in a preset signal range, whether preset E2E conditions are met or not and whether preset anti-shake conditions are met or not; and when the one or more input signals are in the preset signal range and meet the preset E2E condition and the preset anti-shake condition, judging that the one or more input signals pass through the check, generating the transverse control request, and otherwise, judging that the one or more input signals do not pass through the check.
According to the technical means, the embodiment of the application checks the input signal of the vehicle, so that the input signal can define a range in a correct value and an anti-shake measure, and a transverse control request can be generated under the correct condition.
Further, the controlling the vehicle to execute a preset lateral control action that satisfies the lateral control request further includes: acquiring one or more output signals generated based on the trajectory data, scene data, and corner data; judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting the transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value of the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
According to the technical means, the embodiment of the application checks the signal value of the output signal of the vehicle, and executes the transverse control action after the signal value meets the condition, so that the running safety of the vehicle can be ensured, and the safety and reliability of the driving auxiliary function can be improved.
An embodiment of a second aspect of the present application provides a lateral control device of a vehicle, the device being applied to a vehicle, including: an identification module for identifying a lateral control request of the vehicle; the acquisition module is used for acquiring track data, scene data and corner data of the vehicle according to the transverse control request; and the control module is used for judging whether the vehicle meets the preset transverse control condition according to the track data, the scene data and the corner data, wherein if so, the vehicle is controlled to execute the preset transverse control action meeting the transverse control request, otherwise, the vehicle exits the transverse control function of the driving auxiliary system, generates an alarm prompt and simultaneously controls the vehicle to execute the preset safety action.
Further, the control module is further configured to: respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to the track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when the random track parameter changes between preset positive and negative values is smaller than an oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass; respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to the scene data, wherein a lane line input by a camera of the vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by the angular radar of the vehicle, matching the collision risk level of the vehicle and the road edge based on the guardrail road edge information and the planning track of the vehicle, and judging that the collision check of the preset safety scene passes when the collision risk level is smaller than a preset level, or else judging that the collision check of the preset safety scene does not pass; performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed and the current road curvature of the vehicle, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in the preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification; and when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check are all checked, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
Further, the identification module is further configured to: acquiring one or more input signals; checking whether the one or more input signals are in a preset signal range, whether preset E2E conditions are met or not and whether preset anti-shake conditions are met or not; and when the one or more input signals are in the preset signal range and meet the preset E2E condition and the preset anti-shake condition, judging that the one or more input signals pass through the check, generating the transverse control request, and otherwise, judging that the one or more input signals do not pass through the check.
Further, the control module is further configured to: acquiring one or more output signals generated based on the trajectory data, scene data, and corner data; judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting the transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value of the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
An embodiment of a third aspect of the present application provides a vehicle including: the vehicle transverse control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle transverse control method according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for realizing the lateral control method of a vehicle as described in the above embodiment.
Therefore, the application has at least the following beneficial effects:
(1) According to the embodiment of the application, the lateral functions of the vehicle are monitored safely by combining the three latitudes of the track, the scene and the corner, so that the failure of the lateral functions is covered, the vehicle is ensured to be capable of running under the condition of safety, and the safety and the reliability of the driving auxiliary function are ensured.
(2) According to the embodiment of the application, whether the preset transverse control condition is met is judged by analyzing the track data, the scene data and the corner data of the vehicle, so that the vehicle can be transversely controlled under the condition that the condition is met, and the running safety of the vehicle is ensured.
(3) The embodiment of the application checks the input signal of the vehicle, so that the input signal can define a range in a correct value and an anti-shake measure, and a transverse control request can be generated under the correct condition.
(4) The embodiment of the application checks the signal value of the output signal of the vehicle, and executes the transverse control action after the signal value meets the condition, so that the running safety of the vehicle can be ensured, and the safety and reliability of the driving auxiliary function are improved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a lateral control method of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a security scene centering verification provided according to an embodiment of the present application;
fig. 3 is a schematic diagram of a security scenario collision avoidance verification provided according to an embodiment of the present application;
FIG. 4 is an architecture diagram of a lateral function implementation of a vehicle provided in accordance with an embodiment of the present application;
FIG. 5 is a flow chart of a lateral control method implementation of a vehicle according to an embodiment of the present application;
fig. 6 is an exemplary diagram of a lateral control device of a vehicle provided according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In the related art, determining a safe distance DLEFTSAFE from the host vehicle to a left lane line and a safe distance DRIGHTSAFE from the host vehicle to a right lane line according to the width of the host vehicle lane, the speed of the host vehicle, the curvature of a road and the lane where the host vehicle is positioned, and planning a deviation boundary allowed by transverse control; judging the rationality of transverse control according to whether the vehicle enters the deviation boundary, and monitoring the control capacity of the whole transverse direction so as to reduce the harm caused by failure of ADAS longitudinal control. The technology monitors the safety boundary of the transverse control of the intelligent driving auxiliary system, and fixes the intelligent driving auxiliary system in a safety area by setting a left deviation-preventing and right deviation-preventing safety distance to the driving range of the vehicle. As long as the vehicle is outside the safe area, a safety risk is considered to exist and related measures are taken. According to the method, the vehicle is monitored from the purpose of preventing the vehicle from deviating through the thought of a safety envelope, so that related failure caused by transverse control is avoided to a certain extent, and the safety of the transverse control is ensured. But the method has insufficient safety risk coverage in fault monitoring of the control interface and other application scenes.
The following describes a lateral control method and apparatus of a vehicle, and a storage medium of an embodiment of the present application with reference to the accompanying drawings. In order to solve the problem that the monitoring risk of other scenes and faults is not covered enough when the vehicle runs outside the safety area monitoring and the safety running of the vehicle cannot be ensured, the application provides a transverse control method of the vehicle, in the method, by the monitoring method combining the track, the scene and the corner of the vehicle, when the transverse function of the vehicle is monitored to be abnormal, the vehicle enters a safe state, and the vehicle is alerted to remind the driver to take over the vehicle, so that the functions of the vehicle system and the safety of the vehicle running are improved. . Therefore, the problems that when the vehicle runs outside the safety area for monitoring, the monitoring risk of other scenes and faults is not covered enough, and the safety running of the vehicle cannot be ensured are solved.
Specifically, fig. 1 is a schematic flow chart of a lateral control method of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the lateral control method of the vehicle is applied to the vehicle and comprises the following steps:
in step S101, a lateral control request of the vehicle is identified.
In an embodiment of the present application, identifying a lateral control request of a vehicle includes: acquiring one or more input signals; checking whether one or more input signals are in a preset signal range, whether preset E2E conditions are met or not, and whether preset anti-shake conditions are met or not; when one or more input signals are in a preset signal range and meet a preset E2E (End-to-End) condition and a preset anti-shake condition, judging that one or more input signals pass through verification, generating a transverse control request, and otherwise, judging that one or more input signals do not pass through verification.
The input signal refers to information about the vehicle and the road where the vehicle is located, and may include: lane line information, road information (such as ramps, curves, tunnels, toll stations, etc.), guardrail curb information, etc.
In the intelligent driving System, calculation is mainly performed in an SOC (System on Chip), and data processing and fusion are performed on a millimeter wave radar, a long-distance high-definition camera, an ultrasonic radar, a laser radar, and the like, so as to output lane lines, target information, and the like.
The high-definition long-distance camera is used for providing lane line information meeting ASIL B after processing, wherein the detection distance is greater than 100 m; a high-precision map mainly providing road information satisfying ASIL B, such as ramps, curves, tunnels, toll stations, etc.; millimeter wave angle radar mainly provides guardrail road edge information of ASIL B.
It will be appreciated that the input signal verification includes: checking the range of signal values, and checking whether the information of roads, guardrails and road edges required to be input exceeds the signal definition range; E2E checking, including Time out, CRC, rolling Counter, when E2E checking is not passed, the signal value is output as invalid and the node E2E checking failure flag bit is accompanied; and (3) checking the anti-shake, determining the value when the interface change lasts for 3 periods, and filtering if 1 frame or 2 frame hopping is carried out.
In step S102, trajectory data, scene data, and corner data of the vehicle are acquired in accordance with the lateral control request.
In step S103, whether the vehicle meets the preset lateral control condition is determined according to the track data, the scene data and the corner data, wherein if yes, the vehicle is controlled to execute the preset lateral control action meeting the lateral control request, otherwise, the vehicle exits the lateral control function of the driving assistance system, generates an alarm prompt, and simultaneously controls the vehicle to execute the preset safety action.
The preset safety action refers to an action performed to ensure the running safety of the vehicle, such as braking.
It can be understood that by the monitoring method combining the track, the scene and the corner, when the transverse function abnormality of the vehicle is monitored to enter a safe state, the alarm prompts the driver to take over and execute the preset safe action, thereby greatly improving the safety of the system and the vehicle driving.
In the embodiment of the application, judging whether the vehicle meets the preset transverse control condition according to the track data, the scene data and the corner data comprises the following steps: respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when any track parameter changes between preset positive and negative values is smaller than the oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass; respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to scene data, wherein a lane line input by a camera of a vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by a corner radar of a vehicle, matching collision risk levels of the vehicle and the road edge based on the guardrail road edge information and a planned track of the vehicle, judging that the collision verification of a preset safety scene passes when the collision risk levels are smaller than a preset level, and judging that the collision verification of the preset safety scene does not pass otherwise; performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed of the vehicle and the current road curvature, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in a preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification; and when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check pass through the check, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
It should be noted that the lateral functions of the intelligent driving assistance function include lateral planning and lateral control.
The track coefficient of the vehicle refers to the final track coefficient of the vehicle. And processing the transverse planning according to the processed lane line information to obtain a cubic polynomial equation coefficient of a final track: y [ QM ] =c 0+C1*X1+C2*X2+C3+X3. Wherein Y is the transverse distance from the lane line to the front protection center of the vehicle; x is the longitudinal distance from the point on the lane line to the front protection center of the vehicle; c 0 is the transverse distance from the current position of the vehicle to the lane line; c 1 is the course angle coefficient of the lane line; c 2 is the curvature coefficient of the lane line; and C 3 is the change rate coefficient of the curvature of the lane line. And the transverse control carries out PID control algorithm calculation according to the final track curve parameters to obtain a steering wheel corner request for control.
It can be understood that the verification of the track comprises track coefficient range verification, track coefficient change rate verification and track coefficient oscillation verification; the verification of the scene comprises verification of security scene centering and security scene collision verification; the checking of the rotation angle comprises a rotation angle range checking and a rotation angle change rate checking.
And verifying the track coefficient range, namely verifying the range of the track parameter C 0～C3 which is transversely planned and output, and considering that the track coefficient range is abnormal when any of the following conditions is met.
1. Consecutive TBD periods, |c 0|≥SafetyRangeC0;
2. consecutive TBD periods, |c 1|≥SafetyRangeC1;
3. Consecutive TBD periods, |c 2|≥SafetyRangeC2;
4. Consecutive TBD periods, |c 3|≥SafetyRangeC3.
The change rate of the track coefficient is checked, namely, the change rate of the track parameter C 0～C3 which is output by transverse planning is checked, and when any condition is met, the change rate of the track coefficient is considered to be abnormal.
1. The change rate of C 0 is more than or equal to SAFETYRANGEC 0 in a continuous TBD period;
2. The change rate of C 1 is more than or equal to SAFETYRANGEC 1 in a continuous TBD period;
3. the change rate of C 2 is more than or equal to SAFETYRANGEC 2 in a continuous TBD period;
4. The rate of change of C 3 is greater than or equal to SAFETYRANGEC 3 for successive TBD cycles.
For the oscillation verification of the track coefficient, that is, the oscillation verification is performed on the track parameter C 0～C3 outputted by the transverse programming, when the inputted final track equation coefficient C 0 fluctuates back and forth between positive and negative values, and the absolute value is larger than the absolute value of the last negative (positive) vertex at each positive (negative) vertex, TBD is continued for times, and the absolute value of the last positive vertex is larger than MaxSafetyC 0, the coefficient C 0 oscillates.
The method comprises the steps of performing centering verification on a safety scene, and performing fusion processing on ASIL B lane lines input by a front camera and road information input by a high-precision map into ASIL B to obtain left and right lane lines of an own lane line of the ASIL B:
YRightLine[ASIL]＝C0_Rightline+C1_Rightline*X1+C2_Rightline*X2+C3_Rightline*X3
YLeftline[ASIL]＝C0_Leftline+C1_Leftline*X1+C2_Leftline*X2+C3_Leftline*X3
In the running process of the vehicle in the lane, as shown in fig. 2, judging whether the final track of the transverse planning output exceeds the lane line and the range in real time; (2) whether the vehicle control state is within the left and right lane lines. As long as an item is not satisfied, the check is not passed.
The method comprises the steps of performing collision correction on a safety scene, and performing fusion processing on ASIL B guardrail road edge information input by a radar to obtain a guardrail road edge lane line equation coefficient of ASIL B:
Y Guard bar or Road edge [ASIL]＝C0_ Guard bar or Road edge +C1_ Guard bar or Road edge *X1+C2_ Guard bar or Road edge *X2+C3_ Guard bar or Road edge *X3
As shown in fig. 3, according to the current vehicle posture of the vehicle, the expected running track of the vehicle is calculated, and the track length is determined according to the product of the current vehicle speed V and the preset time T, so as to determine whether the vehicle is at risk of collision with the road edge. If so, a secure state is entered.
And performing range verification on the corner request output by transverse control, calibrating according to the vehicle speed to obtain the corner request range of the driving of the lane, and limiting the corner range based on the curvature of the road. And when the safety rotation angle range is exceeded, checking is not passed.
And verifying the rotation angle change rate, namely verifying the change rate of the rotation angle request output by transverse control, calibrating according to the vehicle speed to obtain the rotation angle request change rate of the driving of the lane, and limiting the rotation angle change rate based on the curvature of the road. And when the safety rotation angle change rate limit is exceeded, the verification is not passed.
It can be understood that when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the safety scene centering check, the safety scene collision check, the corner range check and the corner change rate check of the vehicle pass, the vehicle is judged to meet the preset transverse control condition, the transverse function is executed, otherwise, the vehicle is warned to prompt the driver to take over the vehicle and execute the preset safety pass, the driving safety is ensured, and a certain risk is avoided.
In an embodiment of the present application, controlling the vehicle to execute a preset lateral control action that satisfies a lateral control request further includes: acquiring one or more output signals generated based on the trajectory data, the scene data, and the corner data; judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting a transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value in the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
It will be appreciated that the output of the final preset lateral motion instruction is processed before it is executed, ensuring that the input signal is within its definition range to ensure the safety of executing the final control instruction.
Specifically, the implementation of the lateral control function of the vehicle, as shown in fig. 4, includes: sensing fusion function, transverse function (including transverse planning and transverse control), checking input and output signals, safety monitoring module and system safety state.
The safety monitoring module comprises verification for track parameters C 0～C3, safety scene verification and rotation angle verification. The track parameter verification is aimed at verification of the characteristics of the track parameter C 0～C3, such as change rate, out-of-range, oscillation and the like; the safety scene determines that the track is in a safety range and the vehicle driving process is also in a safety area; and the rotation angle verification verifies the calculated rotation angle value and the change rate.
The lateral control method of the vehicle will be described by a specific embodiment, as shown in fig. 5, and includes the steps of:
S01: judging whether the transverse function of the intelligent driving auxiliary system is activated or not, if so, performing subsequent safety monitoring, and if not, ending the monitoring;
s02: checking the input signal;
The safety monitoring comprises S03-S09 (S03-S09 sequentially comprises track coefficient range verification, track coefficient change rate verification, track coefficient oscillation verification, safety scene centering verification, safety scene collision verification, corner range verification and corner change rate verification). When any one of the monitoring units is abnormal, the system enters a safe state; if all the control requests are normal, the transverse control requests are directly output.
S10: the system is in a safe state, and comprises the steps of sending an alarm signal to prompt a driver to take over and decelerate;
S11: for output signal processing, it is ensured that all signals are within a defined range. If the signal value exceeds the range, outputting according to the maximum or minimum value of the range limitation; and if the signal change rate exceeds the slope limit, outputting according to the maximum allowable slope.
According to the transverse control method of the vehicle, the transverse functions of the vehicle are monitored safely by combining the track, the scene and the corner, so that the failure of the transverse functions is covered, the vehicle can be ensured to run under the condition of safety, and the safety and the reliability of the driving auxiliary function are ensured; whether a preset transverse control condition is met or not is judged by analyzing track data, scene data and corner data of the vehicle, so that the vehicle can be transversely controlled under the condition that the condition is met, and the driving safety of the vehicle is ensured; checking an input signal of a vehicle, so that the input signal can define a range in a correct value and an anti-shake measure, and a transverse control request can be generated under the correct condition; and verifying the signal value of the output signal of the vehicle, and executing the transverse control action after the verification meets the condition, so that the running safety of the vehicle can be ensured, and the safety and reliability of the driving auxiliary function can be improved.
Next, a lateral control device of a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 6 is a block schematic diagram of a lateral control device of a vehicle according to an embodiment of the present application.
As shown in fig. 6, the lateral control device 10 of the vehicle is applied to a vehicle, and includes: the device comprises an identification module 100, an acquisition module 200 and a control module 300.
Wherein the identification module 100 is configured to identify a lateral control request of the vehicle; the acquisition module 200 is used for acquiring track data, scene data and corner data of the vehicle according to the transverse control request; the control module 300 is configured to determine whether the vehicle meets a preset lateral control condition according to the track data, the scene data and the corner data, and if so, control the vehicle to execute a preset lateral control action meeting a lateral control request, otherwise, exit a lateral control function of the driving assistance system, generate an alarm prompt, and simultaneously control the vehicle to execute a preset safety action.
In an embodiment of the present application, the control module 300 is further configured to: respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when any track parameter changes between preset positive and negative values is smaller than the oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass; respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to scene data, wherein a lane line input by a camera of a vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by a corner radar of the vehicle, matching collision risk levels of the vehicle and the road edge based on the guardrail road edge information and a planning track of the vehicle, judging that the collision verification of the preset safety scene passes when the collision risk levels are smaller than preset levels, and judging that the collision verification of the preset safety scene does not pass otherwise; performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed of the vehicle and the current road curvature, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in a preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification; and when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check pass through the check, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
In an embodiment of the present application, the identification module 100 is further configured to: acquiring one or more input signals; checking whether one or more input signals are in a preset signal range, whether preset E2E conditions are met or not, and whether preset anti-shake conditions are met or not; when one or more input signals are in a preset signal range and meet a preset E2E condition and a preset anti-shake condition, judging that one or more input signals pass through verification, generating a transverse control request, and otherwise, judging that one or more input signals do not pass through verification.
In an embodiment of the present application, the control module 300 is further configured to: acquiring one or more output signals generated based on the trajectory data, the scene data, and the corner data; judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting a transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value in the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
It should be noted that the foregoing explanation of the embodiment of the lateral control method of the vehicle is also applicable to the lateral control device of the vehicle of this embodiment, and will not be repeated here.
According to the transverse control device of the vehicle, provided by the embodiment of the application, the transverse functions of the vehicle are safely monitored by combining the track, the scene and the corner so as to cover the failure of the transverse functions, so that the vehicle can run under the condition of safety, and the safety and the reliability of the driving auxiliary function are ensured; whether a preset transverse control condition is met or not is judged by analyzing track data, scene data and corner data of the vehicle, so that the vehicle can be transversely controlled under the condition that the condition is met, and the driving safety of the vehicle is ensured; checking an input signal of a vehicle, so that the input signal can define a range in a correct value and an anti-shake measure, and a transverse control request can be generated under the correct condition; and verifying the signal value of the output signal of the vehicle, and executing the transverse control action after the verification meets the condition, so that the running safety of the vehicle can be ensured, and the safety and reliability of the driving auxiliary function can be improved.
Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.
The processor 702 implements the lateral control method of the vehicle provided in the above-described embodiment when executing a program.
Further, the vehicle further includes:
A communication interface 703 for communication between the memory 701 and the processor 702.
Memory 701 for storing a computer program executable on processor 702.
The memory 701 may include high-speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.
The processor 702 may be a CPU (Central Processing Unit ) or an ASIC (Application SPECIFIC INTEGRATED Circuit, application specific integrated Circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the lateral control method of a vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. A lateral control method of a vehicle, the method being applied to the vehicle, wherein the method comprises the steps of:
identifying a lateral control request of the vehicle;
Acquiring track data, scene data and corner data of the vehicle according to the transverse control request;
Judging whether the vehicle meets a preset transverse control condition according to the track data, the scene data and the corner data, wherein if so, the vehicle is controlled to execute a preset transverse control action meeting the transverse control request, otherwise, the vehicle exits the transverse control function of the driving assistance system, generates an alarm prompt and simultaneously controls the vehicle to execute a preset safety action;
the judging whether the vehicle meets the preset transverse control condition according to the track data, the scene data and the corner data comprises the following steps:
Respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to the track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when the random track parameter changes between preset positive and negative values is smaller than an oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass;
Respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to the scene data, wherein a lane line input by a camera of the vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by the angular radar of the vehicle, matching the collision risk level of the vehicle and the road edge based on the guardrail road edge information and the planning track of the vehicle, and judging that the collision check of the preset safety scene passes when the collision risk level is smaller than a preset level, or else judging that the collision check of the preset safety scene does not pass;
performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed and the current road curvature of the vehicle, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in the preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification;
And when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check are all checked, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
2. The method of claim 1, wherein the identifying the lateral control request of the vehicle comprises:
Acquiring one or more input signals;
checking whether the one or more input signals are in a preset signal range, whether preset E2E conditions are met or not and whether preset anti-shake conditions are met or not;
And when the one or more input signals are in the preset signal range and meet the preset E2E condition and the preset anti-shake condition, judging that the one or more input signals pass through the check, generating the transverse control request, and otherwise, judging that the one or more input signals do not pass through the check.
3. The method of claim 1, wherein the controlling the vehicle to perform a preset lateral control action that satisfies the lateral control request further comprises:
Acquiring one or more output signals generated based on the trajectory data, scene data, and corner data;
Judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting the transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value of the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
4. A lateral control device of a vehicle, the device being applied to a vehicle, wherein the device comprises:
an identification module for identifying a lateral control request of the vehicle;
the acquisition module is used for acquiring track data, scene data and corner data of the vehicle according to the transverse control request;
The control module is used for judging whether the vehicle meets the preset transverse control conditions according to the track data, the scene data and the corner data, wherein if so, the vehicle is controlled to execute the preset transverse control action meeting the transverse control request, otherwise, the vehicle exits the transverse control function of the driving auxiliary system, generates an alarm prompt and simultaneously controls the vehicle to execute the preset safety action;
the control module is further to:
Respectively carrying out track coefficient range verification and track coefficient change rate verification and track coefficient oscillation verification according to the track data, wherein if any track parameter in the track data is in a preset track range, judging that the track coefficient range verification passes, otherwise, judging that the track coefficient range verification does not pass; if the track change rate of any track parameter is in the preset change rate range, judging that the track coefficient change rate is checked, otherwise, judging that the track coefficient change rate is not checked; if the absolute value of the corresponding value vertex when the random track parameter changes between preset positive and negative values is smaller than an oscillation threshold value, judging that the track coefficient oscillation check passes, otherwise, judging that the track coefficient oscillation check does not pass;
Respectively carrying out preset safety scene centering verification and preset safety scene collision verification according to the scene data, wherein a lane line input by a camera of the vehicle and a lane line input by a preset map are fused to obtain a left lane line and a right lane line of the lane line where the vehicle is currently positioned, if the transverse planning track and the preset control state of the vehicle are both in the range of the left lane line and the right lane line, judging that the preset safety scene centering verification passes, otherwise, judging that the preset safety scene centering verification does not pass; fusing guardrail road edge information input by the angular radar of the vehicle, matching the collision risk level of the vehicle and the road edge based on the guardrail road edge information and the planning track of the vehicle, and judging that the collision check of the preset safety scene passes when the collision risk level is smaller than a preset level, or else judging that the collision check of the preset safety scene does not pass;
performing corner range verification and corner change rate verification according to the corner data, wherein a preset safety corner range and a preset safety corner change rate range are matched according to the current speed and the current road curvature of the vehicle, and if a requested corner in the corner data is in the preset safety corner range, the corner range verification is judged to pass, otherwise, the corner range verification is judged not to pass; when the rotation angle change rate in the rotation angle data is in the preset safe rotation angle change rate range, judging that the rotation angle change rate passes the verification, otherwise, judging that the rotation angle change rate fails the verification;
And when the track coefficient range check, the track coefficient change rate check, the track coefficient oscillation check, the preset safety scene centering check, the preset safety scene collision check, the corner range check and the corner change rate check are all checked, judging that the vehicle meets the preset transverse control condition, or else, judging that the vehicle does not meet the preset transverse control condition.
5. The apparatus of claim 4, wherein the identification module is further to:
Acquiring one or more input signals;
checking whether the one or more input signals are in a preset signal range, whether preset E2E conditions are met or not and whether preset anti-shake conditions are met or not;
And when the one or more input signals are in the preset signal range and meet the preset E2E condition and the preset anti-shake condition, judging that the one or more input signals pass through the check, generating the transverse control request, and otherwise, judging that the one or more input signals do not pass through the check.
6. The apparatus of claim 4, wherein the control module is further to:
Acquiring one or more output signals generated based on the trajectory data, scene data, and corner data;
Judging whether the signal value of each output signal is in a preset definition range and whether the signal change rate is smaller than a preset slope threshold value or not, if so, controlling the vehicle to execute a preset transverse control action meeting the transverse control request according to one or more output signals, otherwise, outputting according to the maximum signal to or minimum signal value of the preset definition range or outputting according to the maximum slope allowed by the signal change rate.
7. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the lateral control method of a vehicle as claimed in any one of claims 1-3.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the lateral control method of a vehicle as claimed in any one of claims 1-3.
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| CN110001636A (en) * | 2017-12-25 | 2019-07-12 | 丰田自动车株式会社 | Vehicle control system |
| CN114643994A (en) * | 2022-04-02 | 2022-06-21 | 驭势科技（北京）有限公司 | Vehicle transverse anomaly detection method, device, equipment and medium |
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| CN112298208B (en) * | 2020-10-21 | 2022-05-17 | 长城汽车股份有限公司 | Automatic driving transverse auxiliary control method and transverse auxiliary system |
| CN113511221B (en) * | 2021-05-20 | 2022-10-11 | 重庆长安汽车股份有限公司 | Method, system, vehicle and storage medium for monitoring transverse control capability |
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| CN110001636A (en) * | 2017-12-25 | 2019-07-12 | 丰田自动车株式会社 | Vehicle control system |
| CN114643994A (en) * | 2022-04-02 | 2022-06-21 | 驭势科技（北京）有限公司 | Vehicle transverse anomaly detection method, device, equipment and medium |
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