CN105857310A - Autonomous vehicle following method and system - Google Patents
Autonomous vehicle following method and system Download PDFInfo
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- CN105857310A CN105857310A CN201610205818.6A CN201610205818A CN105857310A CN 105857310 A CN105857310 A CN 105857310A CN 201610205818 A CN201610205818 A CN 201610205818A CN 105857310 A CN105857310 A CN 105857310A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an autonomous vehicle following method and system. The method concretely comprises: firstly, selecting characteristics of a target vehicle, a following vehicle automatically tracking the characteristics of the target vehicle by using multiple sensors, analyzing the trajectory of the target vehicle, the following vehicle comprehensively analyzing the ambient environment and the condition of the vehicle per se by using the multiple sensors, controlling the vehicle per se to move after the target vehicle under the premise that no security risk would occur on the vehicle per se, and immediately switching to the autonomous driving or manual driving mode when tracking of the target vehicle fails. According to the invention, automatic following driving without human intervention is realized, the following stability is higher, and the safety of the following vehicle per se is guaranteed.
Description
Technical field
The present invention relates to automation control area, particularly to a kind of autonomous follower method of the vehicles and system.Additionally, this autonomous follower method and
System is particularly suitable for application as supplementing and upgrading of current vehicle driving control method.
Background technology
Automatic Pilot, since the nineties, each industrial power of the world has all put into a large amount of man power and material and has researched and developed it, existing so far
Portioned product can be fully achieved in the case of road conditions is simple and be not required to the Function for Automatic Pilot that people intervenes, but its system is extremely complex, cost intensive.
At present in part automated driving system, can pass through various kinds of sensors, it is achieved follow driving function, by range unit, velocity sensor,
Rotary angle transmitter and external environment condition sensor etc., get target travel information, and analyze these information self speed of adjustment and direction, reach to follow
Purpose, but the method is excessively simple, is easily lost target.
In existing system for tracking, target will be followed as sole purpose, give no thought to the security risk followed, as the handling capacity of target and this
Vehicles gap is huge, and surrounding is not suitable for these vehicles, self power performance is not enough, is likely to bring danger to following the vehicles
Danger.
Summary of the invention
Therefore, the present invention provides a kind of autonomous follower method of the vehicles and system, its object is to: reduce driver workload, solve independently with
The problem easily following failure with system because losing target, reduces the security risk during following.
The present invention can be used for conventional vehicles control system is carried out upgrading, it is possible to merges inside the automated driving system embedding the vehicles,
As a kind of supplementary control method.
The autonomous follower method of a kind of vehicles in the present invention and system step: first select target vehicle feature, follow the vehicles and use many
Individual sensor carries out automatic tracing to the feature of target vehicle, and feature may include but be not limited to color, pattern, word, electromagnetic signal, sound wave
Deng or manifold assemblage characteristic, and analyze this target vehicle movement locus, it may include but be not limited to acceleration and deceleration, change direction etc., simultaneously
This is followed the vehicles and uses multiple sensors to be analyzed surrounding and self-condition, it may include but it is not limited to biological close, wind speed, road
Footpath flatness, barrier, this instrument jolt degree, power source danger, energy deficiency etc., control this traffic work in the case of self is without security risk
Tool is followed target vehicle and is moved, and is immediately switched to autonomous driving or pilot steering pattern when target vehicle is followed the trail of unsuccessfully, its flow process such as figure
Shown in 1.
The mode controlling the vehicles can use the directly analog subscriber operation such as conventional hydraulic action device, servomotor, it is also possible to accesses the vehicles
Existing electric-control system, is directly controlled by the form sending control signal.
When select target vehicle feature time, should first select sensor type, in order to this sensor of system start-up, sensor type can include but not
Being limited to ccd sensor, infrared sensor, range sensor, electromagnetic signal sensor, pick up etc., sensor requirements has multiple, in order to be
Unite as redundancy, noise reduction, lifting systematic function, increase New function.
Detection to surrounding should be carried out automatically, is not required to user and participates in, and investigative range suitably should extend in multiple directions, the sensor class that should use
Type may include but be not limited to ccd sensor, biosensor, air velocity transducer, gyroscope, range sensor etc..
Detection to this vehicle status can have user to participate in determining, the method requires need to know these vehicles partial parameters value in advance, it may include
But be not limited to these vehicles grow tall width, power source Safety output value, power source limit output valve, energy minimum safe value, Mechanical Structure Strength,
Safe acceleration, limit acceleration, and require to get all known instantaneous parameterses that these vehicles are current, it may include but be not limited to speed,
Direction, the angle of pitch, attitude, overall jitter frequency and amplitude.
More excellent, the method is followed the vehicles and should detect and record the safe stopping distance in current environment and evasive maneuvering target at the volley
The distance of the vehicles, controls to follow the vehicles and target vehicle and keeps this distance, and in target vehicle brake hard or have an accident
Time, adopt right measures and reduce the danger following the vehicles.
More excellent, the method is followed the vehicles and should detect degree of stability and degree of jolting, the degree of stability i.e. mesh of target vehicle at the volley
In the range of whether the mobility of the mark vehicles is in safe kinetic parameter, the overall jitter journey of degree of jolting target vehicle the most under the present circumstances
Degree, when degree of stability, degree of jolting and speed are comprehensively analyzed beyond when following vehicle safety value, alerts user.
More excellent, the method should with autonomous driving system with the use of, when autonomous system for tracking starts, autonomous driving system also should start and at any time simultaneously
Prepare switching mutually, when sensor is lost and followed the tracks of target vehicle, autonomous driving system should be immediately switched to, and alert user.
More excellent, the method, after target vehicle lost by sensor, should be immediately switched to autonomous driving system, and according to the letter collected before
The position of breath prediction target vehicle, accelerates pursuit, until surpassing the expectation value or user abandons following.
More excellent, in the method after target vehicle lost by sensor, sensor investigative range should be increased, attempt again tracking target, when
Again find to switch to autonomous system for tracking from autonomous driving system immediately during target, continue to follow.
The technique effect obtained after using the present invention is: utilize autonomous system for tracking to decrease the workload of driver；Utilize and attempt chasing after after losing target
Again follow function after catching up with function and finding target and improve the stability of the system of following；Utilize the analysis of target vehicle labile state, right
The detection of surrounding and the monitoring to oneself state improve safety when independently following.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, the present invention and logic theory, physical arrangement and advantage will
Can become readily apparent from.The part that labelling instruction identical in whole accompanying drawings is identical.Accompanying drawing is not drawn to scale, it is preferred that emphasis is this is shown
Bright purport.
Fig. 1 is the autonomous follower method of a kind of vehicles and the logic flow schematic diagram of system in the present invention；
Fig. 2 is an embodiment simplified structure diagram in the present invention.
Label declaration: 1-laser range finder, high definition CCD of 2-band three-dimensional automatic cradle head, 3-road surface ccd sensor, 4-biological detection sensor,
5-car side radar, 6-CAN communication module, 7-acceleration transducer, 8-gyroscope, 9 high-performance computers.
Detailed description of the invention
Hereinafter one embodiment of the present of invention will be described.It is to be appreciated that the invention is not limited in following particular implementation, wherein
The equipment and the structure that do not describe in detail to the greatest extent are construed as being practiced with the common mode in this area；Any those of ordinary skill in the art,
Without departing under technical solution of the present invention ambit, technical solution of the present invention is made many possible by the method and the technology contents that all may utilize the disclosure above
Variation and modification, or be revised as the Equivalent embodiments of equivalent variations, this has no effect on the flesh and blood of the present invention.Therefore, every without departing from this
The content of bright technical scheme, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, the most still belongs to
In the range of technical solution of the present invention is protected.
Achieving a kind of vehicle-mounted autonomous system for tracking in the present embodiment, its structure is as in figure 2 it is shown, specifically include that
1, laser range finder, it is fixed on Herba Plantaginis, for detecting the accurate air line distance between this car and target vehicle, direct-connected with high-performance computer,
Automatic feedback distance value；
2, high definition CCD of band three-dimensional automatic cradle head, it is used for following the trail of target vehicle car plate, and automatically target vehicle is locked in center, the visual field, with high property
Can computer direct-connected, automatic feedback The Cloud Terrace level and luffing angle, computer can calculate from the data difference of two The Cloud Terraces accurate car with
The distance value of target vehicle；
3, road surface ccd sensor, it is fixed on Herba Plantaginis, is used for detecting road traffic line, direct-connected with high-performance computer, by computer processing data；
4, biological detection sensor, it is fixed on Herba Plantaginis, is used for detecting whether road ahead has biological close, direct-connected with high-performance computer, automatically
Feedback testing result；
5, car side radar, it is fixed on car side, is used for detecting whether side road has barrier, direct-connected with high-performance computer, automatic feedback detects
Result；
6, CAN, it is integrated in high-performance computer, for interconnecting with other carried-on-vehicle computer system, convenient acquisition dynamical system is instant
Data, and vehicle-mounted computer is transmitted Driving control signal；
7, acceleration transducer, it is integrated in high-performance computer, is used for obtaining this car acceleration, sideslip situation and this car entirety pitch frequency
And amplitude；
8, gyroscope, it is integrated in high-performance computer, is used for obtaining this car attitude, including the angle of pitch and vehicle roll situation；
9, high-performance computer, it is installed on vehicle interior, its performance should ensure that must not block time, crashes；
In the present embodiment, follow vehicle and use the license plate number of target vehicle to carry out following driving as eigenvalue.
Its workflow is as follows: 1, and user opens autonomous system for tracking, and selects the license plate number in the CCD visual field；2, user confirms to start to follow,
System for tracking cuts off user's steering wheel, throttle, brake input, gets involved and travels control；3, high definition CCD of band three-dimensional automatic cradle head is by target vehicle
Car plate is locked in the visual field right in the middle automatically, and to system feedback The Cloud Terrace level and luffing angle data；4, system is according to The Cloud Terrace data and current line
Sail speed, automatically control vehicle and follow, and command range；5, in following, the detection road surface ahead traffic line of road surface ccd sensor, system is automatic
Process, and according to handing over rule to travel；6, in following, biosensor detection road surface ahead has inanimate object to swarm into, and system automatically processes, and takes braking
Or evasion manoeuvre；7, in following, whether radar monitoring vehicle both sides, car side have barrier close, and system automatically processes, and exceedes safety value, takes
Evasion manoeuvre；8, in following, acceleration transducer detection defective steering stabilizer and vehicle jolt situation, notice system for tracking when having security risk；9,
In following, gyroscope detection vehicle attitude, notice system for tracking when having security risk；10, if in following, target vehicle is lost, two band three-dimensionals
High definition CCD of automatic cradle head is partial to vehicle both sides each sector respectively and is searched for back and forth, increases hunting zone as far as possible；11, system for tracking is according to target carriage
Last steering operation judges path and accelerates pursuit；12, if again finding target vehicle, continuing to follow, otherwise abandoning beyond after the stipulated time
Follow.
Claims (6)
1. the autonomous follower method of the vehicles and system, it is characterised in that first select target vehicle feature, follows the vehicles and uses
Multiple sensors carry out automatic tracing to the feature of target vehicle, and analyze this target vehicle movement locus, and this follows the vehicles simultaneously
Use multiple sensor that surrounding and self-condition are comprehensively analyzed, in the case of self is without security risk, controls these vehicles follows mesh
The mark vehicles move, and are immediately switched to autonomous driving or pilot steering pattern when target vehicle is followed the trail of unsuccessfully.
2. the autonomous follower method of the vehicles as claimed in claim 1 and system, it is characterised in that follow the vehicles according to current kinetic speed
Degree, and the distance of inherently safe braking distance or evasive maneuvering distance controlling self and target vehicle.
3. the autonomous follower method of the vehicles as claimed in claim 1 and system, it is characterised in that follow the vehicles according to target traffic work
Whether degree of stability, degree of jolting and current kinetic velocity estimated during tool motion continue to be suitable for following, when condition has safety wind to these vehicles
Warning user during danger.
4. the autonomous follower method of the vehicles as claimed in claim 1 and system, it is characterised in that the method and system need and autonomous driving
System with the use of, can the most seamless mutual switching.
5. the autonomous follower method of the vehicles as claimed in claim 1 and system, it is characterised in that vertical when target vehicle is followed the trail of unsuccessfully
I.e. switch to autonomous driving, and be intended to according to the information anticipation target vehicle path collected before, accelerate pursuit.
6. the autonomous follower method of the vehicles as claimed in claim 1 and system, it is characterised in that after target vehicle is followed the trail of unsuccessfully again
Autonomous follow the mode is switched at once during secondary discovery target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610205818.6A CN105857310A (en) | 2016-03-29 | 2016-03-29 | Autonomous vehicle following method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610205818.6A CN105857310A (en) | 2016-03-29 | 2016-03-29 | Autonomous vehicle following method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740848A (en) * | 2016-12-24 | 2017-05-31 | 北汽福田汽车股份有限公司 | Aid in method, device and the vehicle for driving |
| CN106828482A (en) * | 2016-12-24 | 2017-06-13 | 北汽福田汽车股份有限公司 | Aid in method, device and the vehicle for driving |
| CN108733042A (en) * | 2017-04-19 | 2018-11-02 | 上海汽车集团股份有限公司 | The method for tracking target and device of automatic driving vehicle |
| CN110147109A (en) * | 2019-05-21 | 2019-08-20 | 重庆长安汽车股份有限公司 | A kind of archetype development system of automated driving system |
| CN113741458A (en) * | 2021-09-03 | 2021-12-03 | 北京易航远智科技有限公司 | Robot on-site help following or gesture guiding driving method and system |
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| CN113741458A (en) * | 2021-09-03 | 2021-12-03 | 北京易航远智科技有限公司 | Robot on-site help following or gesture guiding driving method and system |
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Application publication date: 20160817 |