CN111319619A - Autonomous vehicle and obstacle feedback adjustment method thereof - Google Patents
Autonomous vehicle and obstacle feedback adjustment method thereof Download PDFInfo
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- CN111319619A CN111319619A CN202010185271.4A CN202010185271A CN111319619A CN 111319619 A CN111319619 A CN 111319619A CN 202010185271 A CN202010185271 A CN 202010185271A CN 111319619 A CN111319619 A CN 111319619A
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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
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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Abstract
The invention discloses an automatic driving vehicle and an obstacle feedback adjusting method thereof, and relates to the field of unmanned vehicles (or automatic driving or unmanned driving), wherein the automatic driving vehicle comprises an obstacle detecting component, at least one tire of the automatic driving vehicle is correspondingly provided with the obstacle detecting component, and the obstacle detecting component is used for detecting obstacles in front of and/or behind the corresponding tire in a parking state; and the starting parameter adjusting component is electrically connected with the obstacle detecting component and used for adjusting the running starting parameters of the automatic driving vehicle according to the obstacle detecting result sent by the obstacle detecting component. By the technical scheme of the invention, the automatic driving vehicle can cross over the obstacle or bypass the obstacle when starting, and the automatic driving vehicle can be ensured to start normally.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to an automatic driving vehicle and an obstacle feedback adjusting method thereof.
Background
When the automatic driving vehicle stops temporarily or reaches a destination, an unobvious obstacle on a road surface cannot be identified by a sensing system of the automatic driving vehicle, the automatic driving vehicle sometimes stops in front of a deceleration strip or a stone on the road, and at the moment, an engine of the automatic driving vehicle provides static moment according to normal road starting and cannot necessarily overcome the obstacle.
The normal vehicle, that is, the vehicle driven by a person may encounter an obstacle in front of the wheel when starting, but the driver can solve the problem by means of moving the obstacle through a fuel door or getting off the vehicle according to experience, but the automatic driving vehicle belongs to an unmanned vehicle, and the automatic driving vehicle cannot know the existence of the obstacle in front of and behind the tire.
Disclosure of Invention
In view of this, the present invention provides an autonomous vehicle and an obstacle feedback adjustment method thereof, so that the autonomous vehicle can cross over an obstacle or bypass the obstacle when starting, and thus the autonomous vehicle can start normally.
In a first aspect, an embodiment of the present invention provides an autonomous vehicle, including:
the obstacle detection component is correspondingly arranged on at least one tire of the automatic driving vehicle and used for detecting obstacles in front of and/or behind the corresponding tire in a parking state;
and the starting parameter adjusting component is electrically connected with the obstacle detecting component and used for adjusting the driving starting parameters of the automatic driving vehicle according to the obstacle detecting result sent by the obstacle detecting component.
Optionally, the vehicle launch parameters comprise a launch direction and/or an engine torque.
Optionally, the obstacle detecting means comprises at least one distance sensor, the obstacle detecting means being adapted to detect the height of the obstacle and/or the position of the obstacle.
Optionally, the distance sensor is movable in a horizontal and/or vertical direction.
Optionally, the distance sensor is mounted on a chassis or on a wheel of the autonomous vehicle.
Optionally, the launch parameter adjustment component comprises:
and the torque comparison component is in communication connection with the obstacle detection component and is used for acquiring obstacle overcoming torque according to an obstacle detection result sent by the obstacle detection component and comparing the maximum torque of the engine of the automatic driving vehicle with the obstacle overcoming torque.
Optionally, the starting parameter adjusting component further includes:
and the starting direction adjusting component is in communication connection with the torque comparing component and is used for adjusting the starting direction of the automatic driving automobile according to the torque comparing result sent by the torque comparing component.
Optionally, the starting parameter adjusting component further includes:
and the torque adjusting component is in communication connection with the torque comparing component and is used for adjusting the engine torque corresponding to the starting of the automatic driving vehicle according to the torque comparison result sent by the torque comparing component.
In a second aspect, an embodiment of the present invention further provides an obstacle feedback adjustment method for an autonomous vehicle, including:
detecting obstacles in front of and/or behind the corresponding tire in a parking state;
and adjusting the driving starting parameters of the automatic driving vehicle according to the obstacle detection result.
Optionally, the detecting an obstacle in front of and/or behind a tire corresponding to the parked state includes:
respectively detecting the distance from a set plane to the ground on two sides of the corresponding tire along the traveling direction of the automatic driving vehicle and the distance from the set plane to the ground on one side of the corresponding tire perpendicular to the traveling direction, wherein the distances are respectively a first distance, a second distance and a third distance; wherein the set plane is a plane parallel to the chassis of the autonomous vehicle;
comparing the first distance, the second distance and the third distance, and judging whether an obstacle exists in front of and/or behind the corresponding tire according to a comparison result;
if the first distance is equal to the third distance and the second distance is smaller than the first distance, judging that the corresponding tire only corresponds to one side of the second distance and has an obstacle;
if the second distance is equal to the third distance and the first distance is smaller than the first distance, judging that the corresponding tire only corresponds to one side of the first distance and has an obstacle;
and if the first distance and the second distance are both smaller than the third distance, judging that one side of the corresponding tire, corresponding to the first distance and the second distance, is provided with an obstacle.
Optionally, the adjusting the vehicle starting parameter of the autonomous vehicle according to the obstacle detection result includes:
when judging that the corresponding tire has an obstacle only in front of the advancing direction of the automatic driving vehicle according to the obstacle detection result, detecting the height of the corresponding obstacle in front of the tire to obtain obstacle overcoming torque, and comparing the maximum torque of an engine of the automatic driving vehicle with the obstacle overcoming torque;
when the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the automatic driving vehicle to move forward and start, and increasing the engine torque corresponding to the automatic driving vehicle to move forward and start;
and when the maximum torque is smaller than the obstacle overcoming torque, adjusting the automatic driving vehicle to start in a backward mode, and controlling the automatic driving vehicle to turn to bypass the corresponding obstacle in front of the tire in the forward direction.
Optionally, the adjusting the vehicle starting parameter of the autonomous vehicle according to the obstacle detection result includes:
when judging that the two sides of the corresponding tire along the advancing direction of the automatic driving vehicle are provided with obstacles according to the obstacle detection result, detecting the height of the corresponding obstacle in front of the tire to obtain obstacle overcoming torque, and comparing the maximum torque of an engine of the automatic driving vehicle with the obstacle overcoming torque;
when the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the automatic driving vehicle to move forward and start, and increasing the engine torque corresponding to the automatic driving vehicle to move forward and start;
and feeding back starting failure information to an automatic driving system of the automatic driving vehicle when the maximum torque is smaller than the obstacle overcoming torque.
The embodiment of the invention provides an automatic driving vehicle and an obstacle feedback adjusting method thereof, wherein the automatic driving vehicle comprises an obstacle detecting component, at least one tire of the automatic driving vehicle is correspondingly provided with the obstacle detecting component, and the obstacle detecting component is used for detecting obstacles in front of and/or behind the corresponding tire in a parking state; and the starting parameter adjusting component is electrically connected with the obstacle detecting component and used for adjusting the running starting parameters of the automatic driving vehicle according to the obstacle detecting result sent by the obstacle detecting component, so that the automatic driving vehicle realizes the detection of the obstacles in front of the tire and/or behind the tire, and the running starting parameters of the automatic driving vehicle are adjusted according to the obstacle detecting result in front of the tire and/or behind the tire, so that the automatic driving vehicle can stride over the obstacle or bypass the obstacle when starting, and the automatic driving vehicle can be started normally.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic diagram of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic bottom view of an autonomous vehicle according to an exemplary embodiment;
FIG. 3 is a schematic diagram of another autonomous vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating an obstacle feedback adjustment method for an autonomous vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for adjusting obstacle feedback of an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Fig. 1 is a schematic structural diagram of an autonomous vehicle according to an embodiment of the present invention. As shown in fig. 1, the automatic driving vehicle includes a starting parameter adjusting component 2 and an obstacle detecting component 1, at least one tire of the automatic driving vehicle is correspondingly provided with the obstacle detecting component 1, the obstacle detecting component 1 is used for detecting an obstacle in front of the tire and/or in the tire in a parking state, and the starting parameter adjusting component 2 is electrically connected with the obstacle detecting component 1 and is used for adjusting a driving starting parameter of the automatic driving vehicle according to an obstacle detecting result sent by the obstacle detecting component 1.
Specifically, the autonomous vehicle may include at least one obstacle detection unit 1, fig. 1 exemplarily shows one obstacle detection unit 1 in the autonomous vehicle, one obstacle detection unit 1 may be disposed corresponding to one tire of the autonomous vehicle, and when the autonomous vehicle is in a parking state, the obstacle detection unit 1 is configured to detect whether there is an obstacle in front of and/or behind the corresponding tire, that is, the obstacle detection unit 1 is configured to detect whether there is an obstacle only in front of the corresponding tire, or detect whether there is an obstacle only behind the corresponding tire, or detect whether there is an obstacle in front of and behind the corresponding tire.
The starting parameter adjusting component 2 is electrically connected with the obstacle detecting component 1, for example, the starting parameter adjusting component 2 and the obstacle detecting component 1 can be directly and electrically connected, or can be wirelessly connected, the obstacle detecting component 1 transmits the obstacle detecting result to the starting parameter adjusting component 2, the starting parameter adjusting component 2 judges whether an obstacle exists in front of and/or behind a corresponding tire according to the received obstacle detecting result, and adjusts the driving starting parameter of the automatic driving vehicle by combining the position of the obstacle and the height of the obstacle, for example, the driving starting parameter can comprise the starting direction and/or the engine torque, namely, the starting direction of the automatic driving vehicle can be adjusted, or the engine torque of the automatic driving vehicle can be adjusted, or the starting direction and the engine torque of the automatic driving vehicle can be adjusted at the same time, so that the automatic driving vehicle can cross the obstacle or bypass the obstacle when starting, and the automatic driving vehicle can be ensured to start normally.
Fig. 2 is a schematic bottom view of an autonomous vehicle according to an embodiment. With reference to fig. 1 and 2, fig. 2 shows a base and tires 3 of an autonomous vehicle 10, one or more tires 3 of the autonomous vehicle 10 may be provided with corresponding obstacle detection means 1, and fig. 2 exemplarily provides that each tire 3 of the autonomous vehicle 10 is provided with corresponding obstacle detection means 1.
Specifically, the obstacle detecting component 1 is configured to detect an obstacle in front of and/or behind a corresponding tire, that is, detect whether an obstacle exists in front of and/or behind the corresponding tire, and each tire 3 provided with the autonomous vehicle is correspondingly provided with the obstacle detecting component 1, so that the starting parameter adjusting component 2 may acquire whether an obstacle exists in front of and/or behind each tire 3 of the autonomous vehicle 10, which is beneficial for the starting parameter adjusting component 2 to comprehensively adjust the driving starting parameters of the autonomous vehicle according to the condition whether an obstacle exists in front of and/or behind each tire 3 of each tire.
For example, if an obstacle exists in front of the front wheels and an obstacle exists in front of the rear wheels, engine torque required for the autonomous vehicle to cross the obstacle differs even if the height of the obstacle is the same. Further, if an obstacle exists in front of the front wheels, the front and rear wheels of the autonomous vehicle pass by the obstacle in succession, and the engine torque required for the autonomous vehicle to cross the obstacle is also different than if an obstacle exists only in front of the rear wheels. For another example, if an obstacle exists in front of the left tire 3 and an obstacle exists in front of the right tire 3, and the autonomous vehicle cannot pass over the obstacle, the steering direction of the autonomous vehicle differs depending on the left and right conditions of the tires 3.
According to the embodiment of the invention, each tire 3 of the automatic driving vehicle can be correspondingly provided with the obstacle detection component 1, so that the starting parameter adjusting component 2 can acquire whether an obstacle exists in front of and/or behind the tire of each tire 3 of the automatic driving vehicle, and the starting parameter adjusting component 2 is favorable for comprehensively adjusting the driving starting parameters of the automatic driving vehicle according to the condition whether the obstacle exists in front of and/or behind the tire of each tire 3, so that the automatic driving vehicle can accurately cross over the obstacle or bypass the obstacle when starting, and the automatic driving vehicle can be ensured to be normally started.
With reference to fig. 1 and 2, the obstacle detecting component 1 may include at least one distance sensor 4, where the obstacle detecting component 1 is configured to detect a height of an obstacle and/or a position of the obstacle, that is, the distance sensor may be configured to detect the height of the corresponding obstacle, or the position of the corresponding obstacle, or both. For example, the distance sensor 4 may be arranged to be movable in a horizontal and/or vertical direction, i.e. the distance sensor 4 may be movable only in a horizontal direction, or only in a vertical direction, or both in a horizontal direction and in a vertical direction, so that the distance sensor 4 can detect the height of an obstacle and/or the position of the obstacle at least in front of the corresponding tire 3, behind the tire 3, and on a side of the tire 3.
For example, the distance sensor 4 may be provided as a light sensor, the distance sensor 4 may emit light toward the ground, and the distance sensor 4 may be provided to emit light toward the ground at least in front of the corresponding tire 3, behind the tire 3, and on a side of the tire 3. With reference to fig. 1 and 2, it can be provided that the obstacle detecting unit 1 comprises a distance sensor 4, the distance sensor 4 being movable in a horizontal and/or vertical direction to enable the distance sensor 4 to be movable in a plane parallel to the chassis of the autonomous vehicle, the path of movement of the distance sensor 4 passing at least on both sides of the respective tyre 3 in the direction of travel of the autonomous vehicle and on at least one side of the respective tyre 3 perpendicular to the direction of travel.
In particular, it is possible to provide only one distance sensor 4 for one tyre 3, the distance sensor 4 being movable along a plane parallel to the chassis of the autonomous vehicle, the path of movement of the distance sensor 4 passing at least through position a, position b and position c in fig. 2, the detection of the presence of an obstacle in front of the corresponding tyre 3 and/or behind the tyre 3 being possible with one distance sensor 4 movable along a plane parallel to the chassis of the autonomous vehicle.
Specifically, with reference to fig. 1 and 2, the distance sensor 4 is movable along a plane parallel to the chassis of the autonomous vehicle, the movement trajectory of the distance sensor 4 passes through at least position a, position b and position c in fig. 2, the distance sensor 4 is capable of detecting the distance from the aforementioned movement plane to the ground on both sides of the corresponding tire 3 in the travel direction X of the autonomous vehicle, and detecting the distance from the setting plane to the ground on the side of the corresponding tire 3 perpendicular to the travel direction X, that is, the distance from the setting plane to the ground on the front side of the corresponding tire 3 is respectively detectable as a first distance, the distance from the setting plane to the ground on the rear side of the corresponding tire 3 is detectable as a second distance, and the distance from the setting plane to the ground on the side of the corresponding tire 3 is detectable as a third distance.
When the obstacle detecting component 1 acquires the first distance, the second distance, and the third distance, the first distance, the second distance, and the third distance are compared, and whether an obstacle exists in front of the corresponding tire 3 and/or behind the tire 3 is determined according to the comparison result. The side surface of the corresponding tire 3 may be determined to have no obstacle, that is, the third distance is used as a comparison standard, and if a distance smaller than the third distance exists between the first distance and the second distance, it may be determined that an obstacle exists on one side of the tire 3 corresponding to the distance smaller than the third distance.
For example, if the first distance is equal to the third distance and the second distance is smaller than the first distance, the obstacle detecting means 1 determines that the corresponding tire 3 has an obstacle only on the side corresponding to the second distance, that is, determines that the rear side of the corresponding tire 3 has an obstacle. If the second distance is equal to the third distance and the first distance is smaller than the first distance, it is determined that the corresponding tire 3 has an obstacle only on the side corresponding to the first distance, that is, it is determined that the obstacle is located on the front side of the corresponding tire 3. If first distance and second distance all are less than the third distance, then judge that the corresponding tire 3 corresponds one side of first distance and second distance and all have the barrier, judge promptly that the front side and the rear side of corresponding tire 3 all have the barrier, can realize in view of the above whether there is the detection of barrier before the tire 3 that corresponds and/or behind the tire 3.
In addition, the distance sensors 4 which can move along the plane parallel to the chassis of the automatic driving vehicle are utilized, so that whether obstacles exist in front of the corresponding tires 3 and/or behind the tires 3 is detected, the number of the distance sensors 4 is reduced, and especially when the distance sensors 4 are correspondingly arranged on the four tires 3 of the automatic driving vehicle, the detection cost of whether obstacles exist in front of the corresponding tires 3 and/or behind the tires 3 by the obstacle detection component 1 is reduced. For example, the distance sensor 4 may be installed on the chassis of the autonomous vehicle, the distance sensor 4 may be installed directly on the chassis of the autonomous vehicle, or the distance sensor 4 may be installed on the chassis of the autonomous vehicle through mechanical components. The distance sensor 4 may be mounted on a wheel of the autonomous vehicle, and the distance sensor 4 may be mounted on a chassis of the autonomous vehicle through a mechanical component.
For example, as shown in fig. 2, it is also possible to provide that the obstacle detecting member 1 includes at least three distance sensors 4, and fig. 2 exemplarily provides that the obstacle detecting member 1 corresponding to each tire 3 includes three distance sensors 4.
With reference to fig. 1 and 2, all the distance sensors 4 may be disposed in a plane parallel to the chassis of the autonomous vehicle, that is, the vertical distances from all the distance sensors 4 to the ground are approximately equal, the distance sensors 4 are disposed on two sides of the corresponding tire 3 along the traveling direction X of the autonomous vehicle, that is, the distance sensors 4 are disposed in front of the corresponding tire 3 and behind the corresponding tire 3, the distance sensor 4 is disposed on at least one side of the corresponding tire 3 perpendicular to the traveling direction X, that is, the distance sensor 4 is disposed on at least one side of the corresponding tire 3, fig. 2 exemplarily illustrates that the distance sensor 4 is disposed on the inner side of the corresponding tire 3, and the distance sensor 4 may also be disposed on the outer side of the corresponding tire 3 on the basis of the disposition space on the outer side of the corresponding tire 3.
Specifically, with reference to fig. 1 and 2, all the distance sensors 4 are located in a plane parallel to the chassis of the autonomous vehicle, which may be set as a set plane, and then for one tire 3, the three distance sensors 4 may respectively detect the distance from the set plane to the ground on both sides of the corresponding tire 3 in the traveling direction X of the autonomous vehicle, and detect the distance from the set plane to the ground on one side of the corresponding tire 3 perpendicular to the traveling direction X, that is, respectively detect that the distance from the set plane to the ground on the front side of the corresponding tire 3 is a first distance, the distance from the set plane to the ground on the rear side of the corresponding tire 3 is a second distance, the distance from the set plane to the ground on the side of the corresponding tire 3 is a third distance, and whether the distance detection is performed before and/or after the corresponding tire 3 by the moved distance sensor according to the principle of distance detection performed by the first distance, the second distance, and the third distance The principle of the obstacle detection is similar, and the detailed description is omitted here.
Fig. 3 is a schematic structural diagram of another autonomous vehicle according to an embodiment of the present invention. On the basis of the autonomous vehicle with the structure shown in fig. 1, the starting parameter adjusting component 2 in the autonomous vehicle with the structure shown in fig. 3 comprises a torque comparing component 6, the torque comparing component 6 is in communication connection with the obstacle detecting component 1, the torque comparing component 6 can be arranged to be directly electrically connected or wirelessly connected with the obstacle detecting component 1, and the torque comparing component 6 is used for obtaining obstacle overcoming torque according to the received obstacle detecting result and comparing the maximum torque of the engine of the autonomous vehicle with the obstacle overcoming torque.
Specifically, in conjunction with fig. 2 and 3, when the obstacle detecting means 1 detects an obstacle in front of the corresponding tire 3, the obstacle detecting means 1 detects the height of the obstacle in front of the corresponding tire 3. Exemplarily, the obstacle detecting part 1 may comprise at least one light sensor, i.e. the obstacle detecting part 1 may rely on the light sensor to detect the height of the corresponding obstacle. The torque comparison means 6 obtains an obstacle overcoming torque required to overcome the obstacle, that is, the corresponding tire 3 can cross the obstacle, from the height of the obstacle in front of the corresponding tire 3, and compares the maximum torque that can be provided by the engine of the autonomous vehicle with the obstacle overcoming torque.
Optionally, as shown in fig. 3, the starting parameter adjusting component 2 may further include a starting direction adjusting component 7, the starting direction adjusting component 7 is connected in communication with the torque comparing component 6, the starting direction adjusting component 7 may be directly electrically connected or connected in communication with the torque comparing component 6, and the starting direction adjusting component 7 is configured to adjust the starting direction of the automatic vehicle according to the received torque comparing result.
Specifically, referring to fig. 2 and 3, when the obstacle detecting means 1 determines that there is an obstacle only in front of the corresponding tire 3 in the forward direction of the autonomous vehicle, the obstacle detecting means 1 detects the height of the obstacle in front of the corresponding tire 3, and the torque comparing means 6 obtains the obstacle overcoming torque according to the height of the obstacle in front, and compares the maximum torque of the engine of the autonomous vehicle with the obstacle overcoming torque. When the maximum torque is smaller than the obstacle overcoming torque, that is, the engine of the autonomous vehicle can provide less maximum torque than the obstacle overcoming torque required to be able to cross the corresponding obstacle, the starting direction adjusting means 7 can adjust the autonomous vehicle to start backward and control the autonomous vehicle to turn around the obstacle ahead of the corresponding tire 3 in the forward direction.
Illustratively, when the obstacle detecting means 1 determines that there is an obstacle only in front of at least one tire 3 on the left side of the vehicle in the vehicle forward direction, and the torque adjusting means 6 determines that the maximum torque is smaller than the obstacle overcoming torque, the starting direction adjusting means 7 adjusts the automated driving vehicle to start backward, and controls the automated driving vehicle to turn rightward to bypass the obstacle in front of the corresponding tire 3 in the forward direction, avoiding the tire 3 on the right side of the automated driving vehicle from passing the obstacle again. Similarly, in the above case, when the obstacle detecting means 1 determines that there is an obstacle only in front of at least one tire 3 on the right side of the vehicle in the vehicle forward direction, and the torque adjusting means 6 determines that the maximum torque is smaller than the obstacle overcoming torque, the starting direction adjusting means 7 adjusts the autonomous vehicle to start backward, controls the autonomous vehicle to turn left to bypass the obstacle in front of the corresponding tire 3 in the forward direction, and prevents the tire 3 on the left side of the autonomous vehicle from passing through the obstacle again, so as to ensure that the autonomous vehicle can bypass the obstacle, and thus ensure that the autonomous vehicle can start normally.
Alternatively, as shown in fig. 3, the starting parameter adjusting component 2 may further include a torque adjusting component 8, and the torque adjusting component 8 is connected in communication with the torque comparing component 6, that is, the torque adjusting component 8 and the torque comparing component 6 may be directly electrically connected or wirelessly connected, and the torque adjusting component 8 is configured to adjust the engine torque corresponding to the forward starting of the autonomous vehicle according to the received torque comparison result.
Specifically, referring to fig. 2 and 3, when the obstacle detecting means 1 determines that there is an obstacle only in front of the corresponding tire 3 in the forward direction of the autonomous vehicle, the height of the obstacle in front of the corresponding tire 3 is detected, the torque comparing means 6 obtains the obstacle overcoming torque according to the height of the obstacle in front, and compares the maximum torque of the engine of the autonomous vehicle with the obstacle overcoming torque. When the maximum torque is larger than or equal to the obstacle overcoming torque, namely the maximum torque which can be provided by the engine of the automatic driving vehicle is larger than the obstacle overcoming torque required by the automatic driving vehicle to cross the corresponding obstacle, the starting parameter adjusting component 2 adjusts the automatic driving vehicle to start forwards, and increases the engine torque corresponding to the automatic driving vehicle to start forwards, so as to ensure that the automatic driving vehicle can cross the obstacle, and further ensure that the automatic driving vehicle can start normally.
Specifically, when the obstacle detecting means 1 determines that there is an obstacle on both sides of the corresponding tire 3 in the traveling direction of the autonomous vehicle, the height of the obstacle in front of the corresponding tire 3 is detected, and the torque comparing means 6 acquires the obstacle overcoming torque and compares the maximum torque of the engine of the autonomous vehicle with the obstacle overcoming torque. When the maximum torque is larger than or equal to the obstacle overcoming torque, the starting parameter adjusting component 2 adjusts the automatic driving vehicle to start forwards, and increases the engine torque corresponding to the forward starting of the automatic driving vehicle to ensure that the automatic driving vehicle can cross the obstacle, so that the automatic driving vehicle can start normally, and when the maximum torque is smaller than the obstacle overcoming torque, the starting parameter adjusting component 2 feeds back starting failure information to an automatic driving system of the automatic driving vehicle.
The embodiment of the invention also provides an obstacle feedback adjusting method for the automatic driving vehicle. Fig. 4 is a schematic flow chart of an obstacle feedback adjustment method for an autonomous vehicle according to an embodiment of the present invention, which may be performed by the autonomous vehicle according to the embodiment of the present invention, and as shown in fig. 4, the obstacle feedback adjustment method for the autonomous vehicle includes:
and S110, detecting the corresponding obstacles in front of and/or behind the tire in the parking state.
Optionally, the distance from the setting plane to the ground on the two sides of the corresponding tire along the traveling direction of the autonomous vehicle and the distance from the setting plane to the ground on the side perpendicular to the traveling direction of the corresponding tire are respectively detected, wherein the distances are respectively a first distance, a second distance and a third distance; wherein the set plane is a plane parallel to the chassis of the autonomous vehicle.
And comparing the first distance, the second distance and the third distance, and judging whether an obstacle exists in front of the corresponding tire and/or behind the corresponding tire according to the comparison result. If the first distance is equal to the third distance and the second distance is smaller than the first distance, judging that the corresponding tire only corresponds to one side of the second distance and has an obstacle; if the second distance is equal to the third distance and the first distance is less than the first distance, judging that the corresponding tire only corresponds to one side of the first distance and has an obstacle; if the first distance and the second distance are both smaller than the third distance, it is judged that the corresponding tire has an obstacle on the side corresponding to the first distance and the second distance.
And S120, adjusting the driving and starting parameters of the automatic driving vehicle according to the obstacle detection result.
Alternatively, when it is determined that there is an obstacle in front of the corresponding tire only in the forward direction of the autonomous vehicle according to the obstacle detection result, the height of the obstacle in front of the corresponding tire is detected to obtain an obstacle overcoming torque, and the maximum torque of the engine of the autonomous vehicle is compared with the obstacle overcoming torque. When the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the forward starting of the automatic driving vehicle, and increasing the engine torque corresponding to the forward starting of the automatic driving vehicle; and when the maximum torque is smaller than the obstacle overcoming torque, adjusting the automatic driving vehicle to start backward, and controlling the automatic driving vehicle to turn to bypass the obstacle in front of the corresponding tire along the advancing direction.
Optionally, when it is determined that there is an obstacle on both sides of the corresponding tire in the traveling direction of the autonomous vehicle according to the obstacle detection result, the height of the obstacle in front of the corresponding tire is detected to obtain an obstacle overcoming torque, and the maximum torque of the engine of the autonomous vehicle is compared with the obstacle overcoming torque. When the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the forward starting of the automatic driving vehicle, and increasing the engine torque corresponding to the forward starting of the automatic driving vehicle; and when the maximum torque is smaller than the obstacle overcoming torque, feeding back starting failure information to an automatic driving system of the automatic driving vehicle.
Fig. 5 is a detailed flowchart of an obstacle feedback adjustment method for an autonomous vehicle according to an embodiment of the present invention, where the obstacle feedback adjustment method for an autonomous vehicle may also be executed by the autonomous vehicle according to the embodiment, and as shown in fig. 5, the obstacle feedback adjustment method for an autonomous vehicle includes:
s201, starting.
S202, detecting the obstacle situation in front of and/or behind the corresponding tire.
And S203, acquiring engine torque M1 corresponding to normal starting of the vehicle.
S204, judging whether the corresponding tire is provided with an obstacle in front of and/or behind; if yes, go to step 205; if not, go to step 208.
S205, judging whether the maximum torque provided by the engine can enable the vehicle to cross the obstacle or not; if yes, go to step 206; if not, go to step 207;
s206, updating the normal starting torque M1 of the engine into a new starting torque; wherein the new starting torque is greater than the normal starting torque.
And S207, reporting the automatic driving system, failing to start, and executing step 211.
S208, judging whether an obstacle exists in front of the corresponding tire; if yes, go to step 209; if not, go to step 212.
S209, judging whether the maximum torque provided by the engine can enable the vehicle to cross the obstacle or not; if yes, go to step 206; if not, go to step 210.
And S210, controlling the vehicle to move backwards and bypass the obstacle.
And S211, ending.
S212, the autonomous vehicle is controlled to start with the torque M1, and step S211 is executed.
The automatic driving vehicle realizes the detection of the obstacles in front of the tire and/or behind the tire, and adjusts the driving starting parameters of the automatic driving vehicle according to the detection result of the obstacles in front of the tire and/or behind the tire, so that the automatic driving vehicle can cross the obstacles or bypass the obstacles when starting, and the automatic driving vehicle can be ensured to start normally.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (12)
1. An autonomous vehicle, comprising:
the obstacle detection component is correspondingly arranged on at least one tire of the automatic driving vehicle and used for detecting obstacles in front of and/or behind the corresponding tire in a parking state;
and the starting parameter adjusting component is electrically connected with the obstacle detecting component and used for adjusting the driving starting parameters of the automatic driving vehicle according to the obstacle detecting result sent by the obstacle detecting component.
2. The autonomous-capable vehicle of claim 1, wherein the vehicle launch parameters include launch direction and/or engine torque.
3. Autonomous vehicle according to claim 1, characterized in that the obstacle detecting means comprise at least one distance sensor for detecting the height of the obstacle and/or the position of the obstacle.
4. The autonomous-capable vehicle of claim 3, wherein the distance sensor is movable in a horizontal and/or vertical direction.
5. The autonomous-capable vehicle of claim 3 or 4, wherein the distance sensor is mounted on a chassis or wheels of the autonomous vehicle.
6. The autonomous-capable vehicle of any of claims 1-5, wherein the launch parameter adjustment feature comprises:
and the torque comparison component is in communication connection with the obstacle detection component and is used for acquiring obstacle overcoming torque according to an obstacle detection result sent by the obstacle detection component and comparing the maximum torque of the engine of the automatic driving vehicle with the obstacle overcoming torque.
7. The autonomous-capable vehicle of claim 6, wherein the take-off parameter adjustment feature further comprises:
and the starting direction adjusting component is in communication connection with the torque comparing component and is used for adjusting the starting direction of the automatic driving automobile according to the torque comparing result sent by the torque comparing component.
8. The autonomous-capable vehicle of claim 7, wherein the launch parameter adjustment feature further comprises:
and the torque adjusting component is in communication connection with the torque comparing component and is used for adjusting the engine torque corresponding to the starting of the automatic driving vehicle according to the torque comparison result sent by the torque comparing component.
9. An obstacle feedback adjustment method for an autonomous vehicle, comprising:
detecting obstacles in front of and/or behind the corresponding tire in a parking state;
and adjusting the driving starting parameters of the automatic driving vehicle according to the obstacle detection result.
10. The obstacle feedback adjustment method according to claim 9, wherein the detecting an obstacle before and/or after a tire corresponding to a parked state includes:
respectively detecting the distance from a set plane to the ground on two sides of the corresponding tire along the traveling direction of the automatic driving vehicle and the distance from the set plane to the ground on one side of the corresponding tire perpendicular to the traveling direction, wherein the distances are respectively a first distance, a second distance and a third distance; wherein the set plane is a plane parallel to the chassis of the autonomous vehicle;
comparing the first distance, the second distance and the third distance, and judging whether an obstacle exists in front of and/or behind the corresponding tire according to a comparison result;
if the first distance is equal to the third distance and the second distance is smaller than the first distance, judging that the corresponding tire only corresponds to one side of the second distance and has an obstacle;
if the second distance is equal to the third distance and the first distance is smaller than the first distance, judging that the corresponding tire only corresponds to one side of the first distance and has an obstacle;
and if the first distance and the second distance are both smaller than the third distance, judging that one side of the corresponding tire, corresponding to the first distance and the second distance, is provided with an obstacle.
11. The obstacle feedback adjustment method according to claim 10, wherein the adjusting of the vehicle start parameter of the autonomous vehicle according to the obstacle detection result comprises:
when judging that the corresponding tire has an obstacle only in front of the advancing direction of the automatic driving vehicle according to the obstacle detection result, detecting the height of the corresponding obstacle in front of the tire to obtain obstacle overcoming torque, and comparing the maximum torque of an engine of the automatic driving vehicle with the obstacle overcoming torque;
when the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the automatic driving vehicle to move forward and start, and increasing the engine torque corresponding to the automatic driving vehicle to move forward and start;
and when the maximum torque is smaller than the obstacle overcoming torque, adjusting the automatic driving vehicle to start in a backward mode, and controlling the automatic driving vehicle to turn to bypass the corresponding obstacle in front of the tire in the forward direction.
12. The obstacle feedback adjustment method according to claim 9, wherein the adjusting of the vehicle start parameter of the autonomous vehicle according to the obstacle detection result comprises:
when judging that the two sides of the corresponding tire along the advancing direction of the automatic driving vehicle are provided with obstacles according to the obstacle detection result, detecting the height of the corresponding obstacle in front of the tire to obtain obstacle overcoming torque, and comparing the maximum torque of an engine of the automatic driving vehicle with the obstacle overcoming torque;
when the maximum torque is larger than or equal to the obstacle overcoming torque, adjusting the automatic driving vehicle to move forward and start, and increasing the engine torque corresponding to the automatic driving vehicle to move forward and start;
and feeding back starting failure information to an automatic driving system of the automatic driving vehicle when the maximum torque is smaller than the obstacle overcoming torque.
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Application publication date: 20200623 |