CN104608765A - Intelligent overtaking method and system for automobile - Google Patents

Abstract

The invention relates to an intelligent overtaking method and system for an automobile. The method includes the following steps that firstly, an overtaking system is started, the position information of vehicles around the vehicle is obtained through vehicle-mounted radar, and a planar coordinate system is set up; secondly, whether the overtaking conditions are met or not is judged; thirdly, the forecast running track of the front vehicle to be overtaken is obtained according to an online forecast algorithm; fourthly, the initial overtaking track of the vehicle is generated according to the forecast running track of the front vehicle; fifthly, whether overtaking is over or not is judged according to the position information, obtained in real time. of the front vehicle to be overtaken; sixthly, the position signal of the front vehicle to be overtaken is obtained continuously in real time, the running track is forecasted according to the online forecast algorithm, and the overtaking track of the vehicle is corrected in real time; seventhly, whether the acceleration of the front vehicle to be overtaken exceeds a corresponding threshold value or not is judged; eighthly, whether the value of K is equal to five or not is judged; ninthly, the intelligent overtaking system is shut down. Compared with the prior art, the intelligent overtaking method and system have the advantages that the overtaking safety is achieved, operation is simple, cost is low, and the algorithm is advanced.

Description

A kind of automobile intelligent method of overtaking and system

Technical field

The present invention relates to automatic driving scrap disassembling technical device field, especially relate to a kind of automobile intelligent method of overtaking and system.

Background technology

Along with being on the increase of China's automobile, automobile enters huge numbers of families, and automobile, while providing convenience to people's trip, is also frequency that the motor traffic accidents be on the increase occurs.Overtaking other vehicles is behavior comparatively common in driving process, but in short passing time, because chaufeur is difficult to observe the situation of all surrounding vehicles and the running orbit of prediction front vehicles, is therefore easy to traffic accident occurs.If whether meet by the set of system prerequisite that judges to overtake other vehicles, predict the running orbit of front vehicles subsequently, then forming a desirable path of overtaking other vehicles, having great role for improving the safety of overtaking other vehicles.

Summary of the invention

Object of the present invention is exactly provide a kind of raising to overtake other vehicles safety, the automobile intelligent method of overtaking that simple to operate, cost is low, algorithm is advanced and system to overcome defect that above-mentioned prior art exists.

Object of the present invention can be achieved through the following technical solutions:

A kind of automobile intelligent method of overtaking, comprises the following steps:

1) open system of overtaking other vehicles, trailer-mounted radar obtains the location information of the surrounding vehicles of this car, and a selected attachment point is initial point, and this car dead ahead is Y-axis, and this car right is X-axis, sets up plane coordinate system;

2) judge whether to meet condition of overtaking other vehicles, if so, then carry out step 3), if not, then, after waiting for a radar collection period, return step 2);

3) according to the position of this car and the front truck to be surmounted that detects relative to the position of this car, under the position of vehicle to be surmounted is transformed into plane coordinate system, and obtain the prediction line wheel paths of front truck to be surmounted according to on-line prediction algorithm;

4) generate the track of initially overtaking other vehicles of this car according to the prediction line wheel paths of front truck to be surmounted, this car is overtaken other vehicles according to track of initially overtaking other vehicles, and K assignment 1;

5) according to the location information of the front truck to be surmounted of Real-time Obtaining, whether judging overtakes other vehicles terminates, and if so, then carry out step 9), if not, then carry out step 6);

6) position signal of Real-time Obtaining front truck to be surmounted is continued, according to the wheelpath of on-line prediction algorithm real-time estimate front truck to be surmounted, the track of overtaking other vehicles of revised version car in real time, the correction obtaining this car is overtaken other vehicles track;

7) calculate the acceleration/accel in front truck X to be surmounted, Y-direction, judge whether the size of its acceleration/accel exceedes corresponding threshold value, if so, then K=K+1, and carry out step 8); If not, then K=1, returns step 5);

8) judge whether the value of K equals 5, if so, then slows down, and return to former track, overtake other vehicles unsuccessfully, carry out step 9), if not, then return step 5);

9) buzzer phone cipher three times, closes intelligence and to overtake other vehicles system.

Described step 2) in the condition of overtaking other vehicles comprise:

(1) within the scope of this car X-axis scope-3 ~ 0m and Y-axis scope-50 ~ 250m, other vehicles are not had;

(2) 200m is greater than or equal at the spacing of the two cars in the dead ahead of this car;

(3) size of the acceleration/accel travelled at this front side front truck to be surmounted does not exceed the threshold value of setting;

Must meet when overtaking other vehicles all overtake other vehicles condition time just allow to overtake other vehicles.

Described step 3) and step 6) in on-line prediction algorithm be:

31) according to multiple position and the time data of the front truck to be surmounted obtained, judge whether number of data points s is greater than 50, if so, then Kalman filtering carried out to data, then carry out step 32), if not, then directly carry out step 32);

32) carry out cubic spline interpolation, regressive interpolation 2 seconds to the data obtained, make the time gap of data after interpolation identical, the expression formula of cubic spline functions is:

$f\left(x\right)=-S_i\frac{{(x-x_{i+1})}^3}{6h_i}+S_{i+1}\frac{{(x-x_{i+1})}^3}{6h_i}+[f\left(x_i\right)-\frac{S_i{h_i}^2}{6}]\frac{x_{i+1}-x}{h_i}+[f\left(x_{i+1}\right)-\frac{S_{i+1}{h_i}^2}{6}]\frac{x-x_i}{h_i}$

h _i＝x _i+1-x _i

The boundary condition of interpolation is:

$\left\{\begin{array}{c}{s}^{\′}\left(x_0\right)=f_0^{\′}\\ s^{\′}\left(x_n\right)=f_n^{\′}\end{array}\right.:$

Wherein, x _ifor interpolating function f (x _i) sampling point on interpolation section, S _ifor sampling point x _ithe second derivative at place, n is that interpolation is counted, i=0,1,2,3 ... n;

33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain the predicted data that a group comprises front truck to be surmounted each prediction moment position and the speed of a motor vehicle;

34) obtain the prediction line wheel paths of front truck to be surmounted according to predicted data, and receive next data point, s value, from adding 1, returns step 33).

Described initially overtake other vehicles track and correction track of overtaking other vehicles meets the following conditions all simultaneously:

(1) more than 3m is kept with the distance of the corresponding time point of the prediction line wheel paths of front truck to be surmounted;

(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous;

(3) location point through the current position of this car with front truck Y-axis forward 60m to be surmounted.

Described step 5) in overtake other vehicles terminate decision condition be:

The position of front truck to be surmounted is positioned at this car X-direction-0.5 ~ 0.5m, and the relative distance at Y-axis rear is greater than or equal in the scope of 30m.

A kind of automobile intelligent is overtaken other vehicles system, it is characterized in that, comprising:

Trailer-mounted radar, in order to detect the location information of neighbouring vehicle;

Throttle gate electromagnetic valve, in order to regulate throttle opening, controls this car speed of a motor vehicle, makes this car speed of a motor vehicle be greater than front truck 10-20km/h to be surmounted in overtaking process;

Assist steering system electromagnetic valve, in order to control the front wheel steering angle of automobile;

Buzzer siren, reports to the police in order to send buzzing when overtaking other vehicles system closing;

ECU, built-in wheelpath algorithm routine, be connected with trailer-mounted radar, throttle gate electromagnetic valve, assist steering system electromagnetic valve and buzzer siren respectively, ECU is by receiving the information of trailer-mounted radar, wheelpath is obtained according to built-in program, by regulating the throttle gate solenoid control speed of a motor vehicle, regulating assist steering system electromagnetic valve, controlling direction of traffic.

Compared with prior art, the present invention has the following advantages:

One, safety of overtaking other vehicles is improved, by judging whether prerequisite of overtaking other vehicles meets, and judge whether to meet the condition continuing to overtake other vehicles in overtaking process, and take into account the unforeseen circumstances in front truck driving process to be surmounted, thus form desirable track of overtaking other vehicles, make overtaking other vehicles of passing vehicle safety and steady.

Two, simple to operate, after originally the system of overtaking other vehicles is opened, automatically judge, automatically generate track of overtaking other vehicles, and automatically overtake other vehicles according to track of overtaking other vehicles, reduce the burden of chaufeur, alleviate driver fatigue.

Three, cost is low, and the present invention only need receive the position signal of automobile around by radar, and uses the lock onto target function of radar, and does not need other sensors, therefore implements and is more prone to, advantage of lower cost.

Four, algorithm is advanced, by the on-line prediction algorithm based on Kalman Prediction principle built-in in ECU, enhances real-time and the reliability of on-line prediction.

Accompanying drawing explanation

Fig. 1 is method flow diagram of the present invention.

Fig. 2 is system architecture schematic diagram of the present invention.

Fig. 3 is the diagram of circuit of on-line prediction algorithm.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.

Embodiment:

As shown in Figure 1, a kind of automobile intelligent method of overtaking, comprises the following steps:

A kind of automobile intelligent method of overtaking, comprises the following steps:

1) open system of overtaking other vehicles, trailer-mounted radar obtains the location information of the surrounding vehicles of this car, and a selected attachment point is initial point, and this car dead ahead is Y-axis, and this car right is X-axis, sets up plane coordinate system;

2) judge whether to meet and to overtake other vehicles condition, if so, then carry out step 3), if not, then, after waiting for a radar collection period, return step 2) condition of overtaking other vehicles comprises:

(1) within the scope of this car X-axis scope-3 ~ 0m and Y-axis scope-50 ~ 250m, other vehicles are not had;

(2) 200m is greater than or equal at the spacing of the two cars in the dead ahead of this car;

(3) size of the acceleration/accel travelled at this front side front truck to be surmounted does not exceed the threshold value of setting;

Must meet when overtaking other vehicles all overtake other vehicles condition time just allow to overtake other vehicles;

3) according to the position of this car and the front truck to be surmounted that detects relative to the position of this car, under the position of vehicle to be surmounted is transformed into plane coordinate system, and obtain the prediction line wheel paths of front truck to be surmounted according to on-line prediction algorithm;

4) generate the track of initially overtaking other vehicles of this car according to the prediction line wheel paths of front truck to be surmounted, this car is overtaken other vehicles according to track of initially overtaking other vehicles, and K assignment 1, and initially overtake other vehicles track and correction track of overtaking other vehicles meets the following conditions all simultaneously:

(1) more than 3m is kept with the distance of the corresponding time point of the prediction line wheel paths of front truck to be surmounted;

(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous;

(3) location point through the current position of this car with front truck Y-axis forward 60m to be surmounted;

5) according to the location information of the front truck to be surmounted of Real-time Obtaining, whether judging overtakes other vehicles terminates, and if so, then carry out step 9), if not, then carry out step 6), the decision condition terminated of overtaking other vehicles is:

The position of front truck to be surmounted is positioned at this car X-direction-0.5 ~ 0.5m, and the relative distance at Y-axis rear is greater than or equal in the scope of 30m;

6) position signal of Real-time Obtaining front truck to be surmounted is continued, according to the wheelpath of on-line prediction algorithm real-time estimate front truck to be surmounted, the track of overtaking other vehicles of real-time revised version car, the track and the correction obtaining this car is overtaken other vehicles;

7) calculate the acceleration/accel in front truck X to be surmounted, Y-direction, judge whether the size of its acceleration/accel exceedes corresponding threshold value, if so, then K=K+1, and carry out step 8); If not, then K=1, returns step 5);

8) judge whether the value of K equals 5, if so, then slows down, and return to former track, overtake other vehicles unsuccessfully, carry out step 9), if not, then return step 5):

9) buzzer phone cipher three times, closes intelligence and to overtake other vehicles system.

As shown in Figure 3, on-line prediction algorithm is:

31) according to multiple position and the time data of the front truck to be surmounted obtained, judge whether number of data points s is greater than 50, if so, then Kalman filtering carried out to data, then carry out step 32), if not, then directly carry out step 32);

32) carry out cubic spline interpolation, regressive interpolation 2 seconds to the data obtained, make the time gap of data after interpolation identical, the expression formula of cubic spline functions is:

$f\left(x\right)=-S_i\frac{{(x-x_{i+1})}^3}{6h_i}+S_{i+1}\frac{{(x-x_{i+1})}^3}{6h_i}+[f\left(x_i\right)-\frac{S_i{h_i}^2}{6}]\frac{x_{i+1}-x}{h_i}+[f\left(x_{i+1}\right)-\frac{S_{i+1}{h_i}^2}{6}]\frac{x-x_i}{h_i}$

h _i＝x _i+1-x _i

The boundary condition of interpolation is:

$\left\{\begin{array}{c}{s}^{\′}\left(x_0\right)=f_0^{\′}\\ s^{\′}\left(x_n\right)=f_n^{\′}\end{array}\right.;$

Wherein, x _ifor interpolating function f (x _i) sampling point on interpolation section, S _ifor sampling point x _ithe second derivative at place, n is that interpolation is counted, i=0,1,2,3 ... n;

33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain the predicted data that a group comprises front truck to be surmounted each prediction moment position and the speed of a motor vehicle;

34) obtain the prediction line wheel paths of front truck to be surmounted according to predicted data, and receive next data point, s value, from adding 1, returns step 31).

As shown in Figure 2, a kind of automobile intelligent is overtaken other vehicles system, comprising:

Trailer-mounted radar, in order to detect the location information of neighbouring vehicle;

Throttle gate electromagnetic valve, in order to regulate throttle opening, controls this car speed of a motor vehicle, makes this car speed of a motor vehicle be greater than front truck 10-20km/h to be surmounted in overtaking process;

Assist steering system electromagnetic valve, in order to control the front wheel steering angle of automobile;

Buzzer siren, reports to the police in order to send buzzing when overtaking other vehicles system closing;

ECU, built-in wheelpath algorithm routine, be connected with trailer-mounted radar, throttle gate electromagnetic valve, assist steering system electromagnetic valve and buzzer siren respectively, ECU is by receiving the information of trailer-mounted radar, wheelpath is obtained according to built-in program, by regulating the throttle gate solenoid control speed of a motor vehicle, regulating assist steering system electromagnetic valve, controlling direction of traffic.

A kind of automobile intelligent method of overtaking, first judge whether to meet condition of overtaking other vehicles by radar detection surrounding vehicles situation, if do not meet, then continue detection surrounding vehicles situation after waiting for a radar collection period and judge whether to meet condition of overtaking other vehicles, until condition of overtaking other vehicles meets; Condition of overtaking other vehicles detects the position signal of front truck to be surmounted after meeting, and by the track of on-line prediction algorithm predicts front truck to be surmounted, and generates track of initially overtaking other vehicles.Often receive once front vehicle position signal to be surmounted subsequently and judge to overtake other vehicles whether terminate, if do not terminate, then also revise track of overtaking other vehicles by the track of on-line prediction algorithm predicts front truck to be surmounted, calculate its X, Y-direction acceleration/accel simultaneously, judge whether the size of the acceleration/accel of front truck to be surmounted exceedes corresponding threshold value, if the continuous situation its acceleration/accel occurring and exceedes corresponding threshold value for five times, then car deceleration return to former track, intelligence is overtaken other vehicles system closing subsequently, and triggers buzzer phone cipher three times.Otherwise, continue to detect front vehicle position signal to be surmounted, predict its track, and revise track of overtaking other vehicles.To overtake other vehicles ends if judge, then intelligence is overtaken other vehicles system closing, and triggers buzzer phone cipher three times, prompting chaufeur.

Above-mentioned is can understand and use invention for ease of those skilled in the art to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, those skilled in the art, according to announcement of the present invention, do not depart from improvement that scope makes and amendment all should within protection scope of the present invention.

Claims (6)

1. an automobile intelligent method of overtaking, is characterized in that, comprises the following steps:

1) open system of overtaking other vehicles, trailer-mounted radar obtains the location information of the surrounding vehicles of this car, and a selected attachment point is initial point, and this car dead ahead is Y-axis, and this car right is X-axis, sets up plane coordinate system;

2) judge whether to meet condition of overtaking other vehicles, if so, then carry out step 3), if not, then, after waiting for a radar collection period, return step 2);

3) according to the position of this car and the front truck to be surmounted that detects relative to the position of this car, under the position of vehicle to be surmounted is transformed into plane coordinate system, and obtain the prediction line wheel paths of front truck to be surmounted according to on-line prediction algorithm;

4) generate the track of initially overtaking other vehicles of this car according to the prediction line wheel paths of front truck to be surmounted, this car is overtaken other vehicles according to track of initially overtaking other vehicles, and K assignment 1;

5) according to the location information of the front truck to be surmounted of Real-time Obtaining, whether judging overtakes other vehicles terminates, and if so, then carry out step 9), if not, then carry out step 6);

6) position signal of Real-time Obtaining front truck to be surmounted is continued, according to the wheelpath of on-line prediction algorithm real-time estimate front truck to be surmounted, the track of overtaking other vehicles of revised version car in real time, the correction obtaining this car is overtaken other vehicles track;

7) calculate the acceleration/accel in front truck X to be surmounted, Y-direction, judge whether the size of its acceleration/accel exceedes corresponding threshold value, if so, then K=K+1, and carry out step 8); If not, then K=1, returns step 5);

8) judge whether the value of K equals 5, if so, then slows down, and return to former track, overtake other vehicles unsuccessfully, carry out step 9), if not, then return step 5);

9) buzzer phone cipher three times, closes intelligence and to overtake other vehicles system.

2. a kind of automobile intelligent method of overtaking according to claim 1, is characterized in that, described step 2) in the condition of overtaking other vehicles comprise:

(1) within the scope of this car X-axis scope-3 ~ 0m and Y-axis scope-50 ~ 250m, other vehicles are not had;

(2) 200m is greater than or equal at the spacing of the two cars in the dead ahead of this car;

(3) size of the acceleration/accel travelled at this front side front truck to be surmounted does not exceed the threshold value of setting; Must meet when overtaking other vehicles all overtake other vehicles condition time just allow to overtake other vehicles.

3. a kind of automobile intelligent method of overtaking according to claim 1, is characterized in that, described step 3) and step 6) in on-line prediction algorithm be:

31) according to multiple position and the time data of the front truck to be surmounted obtained, judge whether number of data points s is greater than 50, if so, then Kalman filtering carried out to data, then carry out step 32), if not, then directly carry out step 32);

32) carry out cubic spline interpolation, regressive interpolation 2 seconds to the data obtained, make the time gap of data after interpolation identical, the expression formula of cubic spline functions is:

$f\left(x\right)=-S_i\frac{{(x-x_{i+1})}^3}{6h_i}+S_{i+1}\frac{{(x-x_{i+1})}^3}{6h_i}+[f\left(x_i\right)-\frac{S_i{h}_i^2}{6}]\frac{x_{i+1}-x}{h_i}+[f\left(x_{i+1}\right)-\frac{S_{i+1}{h}_i^2}{6}]\frac{x-x_i}{h_i}$

h _i＝x _i+1-x _i

The boundary condition of interpolation is:

$\left\{\begin{array}{c}{s}^{\′}\left(x_0\right)=f_0^{\′}\\ s^{\′}\left(x_n\right)=f_n^{\′}\end{array}\right.;$

Wherein, x _ifor interpolating function f (x _i) sampling point on interpolation section, S _ifor sampling point x _ithe second derivative at place, n is that interpolation is counted, i=0,1,2,3 ... n;

33) carry out Kalman Prediction according to the data after cubic spline interpolation, obtain the predicted data that a group comprises front truck to be surmounted each prediction moment position and the speed of a motor vehicle;

34) obtain the prediction line wheel paths of front truck to be surmounted according to predicted data, and receive next data point, s value, from adding 1, returns step 33).

4. a kind of automobile intelligent method of overtaking according to claim 1, is characterized in that, described initially overtake other vehicles track and correction track of overtaking other vehicles meets the following conditions all simultaneously:

(1) more than 3m is kept with the distance of the corresponding time point of the prediction line wheel paths of front truck to be surmounted;

(2) in the left side of front truck to be surmounted, and trajectory tortuosity is continuous;

(3) location point through the current position of this car with front truck Y-axis forward 60m to be surmounted.

5. a kind of automobile intelligent method of overtaking according to claim 1, is characterized in that, described step 5) in overtake other vehicles terminate decision condition be:

The position of front truck to be surmounted is positioned at this car X-direction-0.5 ~ 0.5m, and the relative distance at Y-axis rear is greater than or equal in the scope of 30m.

6. realize a system of overtaking other vehicles for automobile intelligent method of overtaking as described in any one of claim 1-5, it is characterized in that, comprising:

Trailer-mounted radar, in order to detect the location information of neighbouring vehicle;

Throttle gate electromagnetic valve, in order to regulate throttle opening, controls this car speed of a motor vehicle, makes this car speed of a motor vehicle be greater than front truck 10-20km/h to be surmounted in overtaking process;

Assist steering system electromagnetic valve, in order to control the front wheel steering angle of automobile;

Buzzer siren, reports to the police in order to send buzzing when overtaking other vehicles system closing;

ECU, built-in wheelpath algorithm routine, be connected with trailer-mounted radar, throttle gate electromagnetic valve, assist steering system electromagnetic valve and buzzer siren respectively, ECU is by receiving the information of trailer-mounted radar, wheelpath is obtained according to built-in program, by regulating the throttle gate solenoid control speed of a motor vehicle, regulating assist steering system electromagnetic valve, controlling direction of traffic.