CN106945668A - Vehicle travels arrow path accessory system - Google Patents

Vehicle travels arrow path accessory system Download PDF

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Publication number
CN106945668A
CN106945668A CN201610955047.2A CN201610955047A CN106945668A CN 106945668 A CN106945668 A CN 106945668A CN 201610955047 A CN201610955047 A CN 201610955047A CN 106945668 A CN106945668 A CN 106945668A
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China
Prior art keywords
vehicle
arrow path
driving trace
arrow
road
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Granted
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CN201610955047.2A
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CN106945668B (en
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董易伟
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NIO Holding Co Ltd
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NIO Nextev Ltd
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Priority to CN201610955047.2A priority Critical patent/CN106945668B/en
Publication of CN106945668A publication Critical patent/CN106945668A/en
Priority to PCT/CN2017/095067 priority patent/WO2018076855A1/en
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

Arrow path accessory system, including road data acquisition module, arrow path analysis module, head-up display are travelled the present invention relates to a kind of vehicle；Road data acquisition module is configured to the road data of collection vehicle travel direction；Data and the vehicle body parameter that arrow path analysis module is configured to gather using road data acquisition module carry out narrow road condition adjudgement, and vehicle driving trace prediction is carried out according to steering wheel for vehicle corner, driving of going forward side by side whether the judgement and alarm of collision obstacle；Heads-up display configuration for display arrow path analysis module output prediction locus and vehicle whether collision obstacle judgement and warning message, and adjust display image and fitted with reality scene.The present invention realizes the functions such as effective arrow path identification, driving trace prediction, anti-collision warning and collision point prediction, and shown by display device, effective provided to driver by arrow path compares intuitively information of forecasting, improves the current security of vehicle arrow path.

Description

Vehicle travels arrow path accessory system
Technical field
The present invention relates to vehicle traveling ancillary technique field, and in particular to a kind of vehicle travels arrow path accessory system.
Background technology
With the increase of car ownership, unskilled new hand is manipulated in the crowd of drivers of rapid growth and is also increased year by year Many, this also make it that Current vehicle travels ancillary technique and is used widely.
Current vehicle traveling ancillary technique mainly has early radar warning and travelling image auxiliary.Early radar warning belongs to passivity Collision distance early warning, be mainly used in reversing or anti-collision early warning during with car, be mainly used in closely forecasting-obstacle；OK Coordinate the prediction of vehicle driving trace more car Image-aided, be only simple gathered row that vehicle driving trace is added to In car image, the prediction of reversing auxiliary or direction of traffic is mainly used in.
Arrow path is current is a kind of road conditions that current new hand driver most has a headache, but there is presently no design for arrow path Driving accessory system.Analysis is found by inquiry, and a set of vehicle travels arrow path accessory system, should have the arrow path of active to recognize, Driving trace prediction, anti-collision warning and the collision function such as point prediction, the directly transplanting of above two technology are also unable to reach good Good arrow path auxiliaring effect.
The content of the invention
In order to solve above mentioned problem of the prior art, the present invention proposes a kind of vehicle traveling arrow path accessory system, had What is imitated realizes the current identification of vehicle arrow path and active forewarning.
A kind of vehicle traveling arrow path accessory system proposed by the present invention, including road data acquisition module, arrow path analysis mould Block；
Road data acquisition module is configured to the road data of collection vehicle travel direction；
The data that arrow path analysis module is configured to gather using road data acquisition module carry out narrow road shape with vehicle body parameter State judges, vehicle driving trace prediction is carried out according to steering wheel for vehicle corner, driving of going forward side by side whether the judgement of collision obstacle And alarm.
It is preferred that, described arrow path analysis module includes vehicle driving trace predicting unit, arrow path judging unit, collision barrier Hinder thing judging unit；
Vehicle driving trace predicting unit is configured to, according to steering wheel for vehicle corner, Che Zi, carry out vehicle driving trace Prediction；
Arrow path judging unit is configured to data, vehicle body parameter, the car predicted according to the collection of road data acquisition module Driving trace, and the arrow path judgment threshold of setting is combined, whether the road for judging vehicle heading is arrow path, and output is sentenced Disconnected result；
Collision obstacle judging unit is configured to when arrow path judging unit output judged result is arrow path, according to road way The data and vehicle driving trace gathered according to acquisition module are made whether the judgement of collision obstacle, and export judged result.
It is preferred that, described arrow path judgment threshold is w_、w+, wherein w_For lower limit width threshold value, w+For upper limit width threshold Value, by w_And w+The range intervals of composition judge predetermined width interval [w for arrow path_,w+]。
It is preferred that, the vehicle driving trace includes two boundary lines for predicting vehicle driving trace, described to be predicted Drawn according to the vehicle driving trace and width of the carbody, length information predicted the boundary line of vehicle driving trace.
It is preferred that, the road data acquisition module includes laser radar sensor, three-dimensional environment map constructing unit；
Laser radar sensor is configured to set angle immediately ahead of collection vehicle travel direction, three-dimensional environment in setpoint distance Data；
Three-dimensional environment map constructing unit is configured to build three-dimensional environment map according to the three-dimensional environment data.
It is preferred that, whether the road that vehicle heading is judged in arrow path judging unit is that the method for arrow path is：
Step A1, selected distance ground level is more than h and is less than d three-dimensional environment data with headstock front end horizontal range； H is according to vehicle chassis height H setting height values, h<H；
In step A2, the rasterizing coordinate system that the three-dimensional environment data in step A1 are mapped to two dimension, formed a series of Barrier point；
Step A3, chooses two nearest points of each row distance longitudinal direction of car axis in grid, and by longitudinal direction of car The point of axis both sides connects the path boundary to form both sides respectively；
Step A4, calculates the path boundary on both sides with the often coordinate points that intersect of a line gridline apart from Di, by DiWith arrow path Judge predetermined width interval [w_,w+] contrasted, if Di∈[w_,w+] then vehicle traveling road ahead be the arrow path that can pass through, If Di<w_Then judge the intransitable arrow path of vehicle.
It is preferred that, the method that the judgement of collision obstacle is made whether in collision obstacle judging unit is：
Judge that the boundary line of predicted vehicle driving trace intersects with whether path boundary has, be judged as collision if having simultaneously Crosspoint is labeled as the point of impingement, if being judged as that vehicle can pass through without selecting.
It is preferred that, the system also includes head-up display, and the heads-up display configuration is defeated for display arrow path analysis module The prediction locus and vehicle gone out whether collision obstacle judgement and warning message, and adjust display image and reality scene Laminating.
It is preferred that, the system also include display device, the display device configurations for display vehicle heading image, Arrow path analysis module output prediction locus and vehicle whether collision obstacle judgement and warning message.
It is preferred that, the system also includes starting trigger element, and the unit is configured to receive input signal and starts way Arrow path identification and collision judgment are proceeded by according to acquisition module, arrow path analysis module；Described input signal is man-machine interaction side The control instruction or speed of formula input are less than the judgement signal of given threshold.
The present invention realizes effective arrow path by road data acquisition module and recognized, is realized by arrow path analysis module The functions such as effective driving trace prediction, anti-collision warning and collision point prediction, and shown by display device, effectively Driver provided by arrow path compare intuitively information of forecasting, improve the current security of vehicle arrow path.
Brief description of the drawings
Fig. 1 is the vehicle traveling arrow path accessory system block schematic illustration of the present invention；
Fig. 2 is the arrow path determination methods schematic flow sheet of the present invention.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this A little embodiments are used only for explaining the know-why of the present invention, it is not intended that limit the scope of the invention.
A kind of vehicle traveling arrow path accessory system proposed by the present invention, as shown in figure 1, including road data acquisition module, Arrow path analysis module, display module, startup trigger element.
1st, road data acquisition module
Road data acquisition module is configured to the road data of collection vehicle travel direction；
Road data acquisition module includes laser radar sensor, three-dimensional environment map constructing unit；Laser radar is sensed Device is configured to set angle immediately ahead of collection vehicle travel direction, three-dimensional environment data in setpoint distance；Three-dimensional environment map structure Unit is built to be configured to build three-dimensional environment map according to the three-dimensional environment data.Road data acquisition module can also be by it His sensor or video collector carry out data acquisition, and build three-dimensional environment map according to the data of collection.
The present invention is due to that laser beam is more gathered compared with sound wave using laser radar sensor, therefore can be accurate The relative distance of contour of object edge and equipment room in visual field is measured, these profile informations constitute so-called cloud and draw out 3D Environmental map, precision can reach a centimetre rank, be more suitable for the required precision that vehicle arrow path travels anti-collision warning.
The 3D environmental maps within the vision that can be drawn out based on laser radar technique.Laser radar can detect vehicle body 3D environmental maps in the range of front set angle alpha+beta and setpoint distance d.Wherein β is steering angle, and α is set angle Value, it is 150 degree to preferably set angle value α.
2nd, arrow path analysis module
The data that arrow path analysis module is configured to gather using road data acquisition module carry out narrow road shape with vehicle body parameter State judges, vehicle driving trace prediction is carried out according to steering wheel for vehicle corner, driving of going forward side by side whether the judgement of collision obstacle And alarm.
Arrow path analysis module includes vehicle driving trace predicting unit, arrow path judging unit, collision obstacle judging unit； Vehicle driving trace predicting unit is configured to carry out the prediction of vehicle driving trace according to steering wheel for vehicle corner, Che Zi；Arrow path Judging unit is configured to data, vehicle body parameter, the vehicle driving trace predicted according to the collection of road data acquisition module, and With reference to the arrow path judgment threshold of setting, whether the road for judging vehicle heading is arrow path, and export judged result；Collision barrier Thing judging unit is hindered to be configured to when arrow path judging unit output judged result is arrow path, according to the collection of road data acquisition module Data and vehicle driving trace be made whether the judgement of collision obstacle, and export judged result.
Vehicle driving trace includes two boundary lines for predicting vehicle driving trace in the present embodiment, described pre- measuring car Drawn according to the vehicle driving trace and width of the carbody, length information predicted the boundary line of driving trace.
Arrow path judgment threshold in arrow path judging unit is w_、w+, wherein w_For lower limit width threshold value, w+For upper limit width Threshold value, by w_And w+The range intervals of composition judge predetermined width interval [w for arrow path_,w+]。
Judge in arrow path judging unit vehicle heading road whether be arrow path method as shown in Fig. 2 including with Lower step：
Step A1, selected distance ground level is more than h and is less than d three-dimensional environment data with headstock front end horizontal range； H is according to vehicle chassis height H setting height values, h<H；
In order to further reduce amount of calculation, the present embodiment is when choosing three environmental datas, in addition it is also necessary to screen out vehicle traveling Data outside the extension cord of track boundary line, vehicle driving trace boundary line extension cord and corresponding vehicle driving trace boundary line Horizontal range be C.
The step is exactly to determine to need that in the scope for the arrow path for carrying out anticipation, the present embodiment vehicle can be set in fact Axis is y-axis, and travel direction is positive direction, and x-axis is the horizontal direction of headstock corresponding y values coordinate points foremost perpendicular to y The straight line of axle, the then scope (i.e. for the scope of the selected three-dimensional environment data subsequently judged) for carrying out the arrow path of anticipation passes through Three conditions are limited：(1) it is more than h apart from ground level；(2) headstock front end horizontal range is less than d；(3) travelled in vehicle Within the extension cord of track boundary line.
In step A2, the rasterizing coordinate system that the three-dimensional data in step A1 is mapped to two dimension, a series of obstacles are formed Point；
Step A3, chooses two points of each row distance longitudinal direction of car axis (i.e. y-axis) recently in grid, and by vehicle The point of longitudinal central axis line both sides connects the path boundary to form both sides respectively；
Step A4, calculates the path boundary on both sides with the often coordinate points that intersect of a line gridline apart from Di, by DiWith arrow path Judge predetermined width interval [w_,w+] contrasted, if Di∈[w_,w+] then vehicle traveling road ahead be the arrow path that can pass through, If Di<w_Then judge the intransitable arrow path of vehicle.
Because vehicle chassis height H determines that the object that then need to only choose higher than h is considered as barrier, and h need to only be slightly less than H can meet in design requirement, the present embodiment and take h=H-0.05m；Because body width W is determined, arrow path can be set according to W Judge predetermined width interval [w_,w+] setting, choose w in the present embodiment+=w+0.5m, w_=w+0.05m；Length of wagon is set For L, it is l=L+0.2m that the present embodiment, which collects selection for the length of wagon of trajectory calculation, and wherein m is the expression of long measure rice Symbol.
The method that the judgement of collision obstacle is made whether in collision obstacle judging unit is：Judge institute's prediction vehicle row The boundary line for sailing track intersects with whether path boundary has, and is judged as collision if having and crosspoint is labeled as into the point of impingement, if It is judged as that vehicle can pass through without selecting.
3rd, display module
Display module is head-up display or other display devices.
The present embodiment uses head-up display, the display be configured to show the prediction locus of arrow path analysis module output, And vehicle whether collision obstacle judgement and warning message, and adjust display image and fitted with reality scene.
When using other display devices, display device is configurable to show the image of vehicle heading, arrow path point Analyse module output prediction locus and vehicle whether collision obstacle judgement and warning message.
4th, trigger element is started
Start trigger element, the unit is configured to receive input signal and starts road data acquisition module, arrow path analysis Module proceeds by arrow path identification and collision judgment；Described input signal is the control instruction or car that man-machine interaction mode is inputted Speed is less than the judgement signal of given threshold.
Those skilled in the art should be able to recognize that, the mould of each example described with reference to the embodiments described herein Block, unit and method and step, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly say The interchangeability of bright electronic hardware and software, generally describes the composition of each example according to function in the above description And step.These functions are performed with electronic hardware or software mode actually, depending on technical scheme application-specific and set Count constraints.Those skilled in the art can realize described work(to each specific application using distinct methods Can, but this realization is it is not considered that beyond the scope of this invention.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these Technical scheme after changing or replacing it is fallen within protection scope of the present invention.

Claims (10)

1. a kind of vehicle travels arrow path accessory system, it is characterised in that including road data acquisition module, arrow path analysis module；
Road data acquisition module is configured to the road data of collection vehicle travel direction；
The data that arrow path analysis module is configured to gather using road data acquisition module are sentenced with vehicle body parameter progress narrow road state It is disconnected, carry out vehicle driving trace prediction according to steering wheel for vehicle corner, driving of going forward side by side whether collision obstacle judgement and report It is alert.
2. system according to claim 1, it is characterised in that it is pre- that described arrow path analysis module includes vehicle driving trace Survey unit, arrow path judging unit, collision obstacle judging unit；
Vehicle driving trace predicting unit is configured to carry out the prediction of vehicle driving trace according to steering wheel for vehicle corner, Che Zi；
Arrow path judging unit is configured to data, vehicle body parameter, the vehicle row predicted according to the collection of road data acquisition module Track is sailed, and combines the arrow path judgment threshold of setting, whether the road for judging vehicle heading is arrow path, and exports judgement knot Really；
Collision obstacle judging unit is configured to, when arrow path judging unit output judged result is arrow path, adopt according to road data The data and vehicle driving trace of collection module collection are made whether the judgement of collision obstacle, and export judged result.
3. system according to claim 1, it is characterised in that described arrow path judgment threshold is w_、w+, wherein w_For under Limit width threshold value, w+For upper limit width threshold value, by w_And w+The range intervals of composition judge predetermined width interval [w for arrow path_, w+]。
4. system according to claim 3, it is characterised in that the vehicle driving trace includes two institute's prediction vehicle rows The boundary line of track is sailed, the boundary line of the predicted vehicle driving trace is according to the vehicle driving trace, Yi Jiche predicted Body width, length information are drawn.
5. system according to claim 4, it is characterised in that the road data acquisition module is sensed including laser radar Device, three-dimensional environment map constructing unit；
Laser radar sensor is configured to set angle immediately ahead of collection vehicle travel direction, three-dimensional environment number in setpoint distance According to；
Three-dimensional environment map constructing unit is configured to build three-dimensional environment map according to the three-dimensional environment data.
6. system according to claim 5, it is characterised in that the road of vehicle heading is judged in arrow path judging unit Whether it is that the method for arrow path is：
Step A1, selected distance ground level is more than h and is less than d three-dimensional environment data with headstock front end horizontal range；H is According to vehicle chassis height H setting height values, h<H；
In step A2, the rasterizing coordinate system that the three-dimensional environment data in step A1 are mapped to two dimension, a series of obstacles are formed Point；
Step A3, chooses two nearest points of each row distance longitudinal direction of car axis in grid, and by longitudinal direction of car axis The point of both sides connects the path boundary to form both sides respectively；
Step A4, calculates the path boundary on both sides with the often coordinate points that intersect of a line gridline apart from Di, by DiJudge with arrow path Predetermined width interval [w_,w+] contrasted, if Di∈[w_,w+] then vehicle traveling road ahead be the arrow path that can pass through, if Di< w_Then judge the intransitable arrow path of vehicle.
7. system according to claim 6, it is characterised in that be made whether to knock down in collision obstacle judging unit The method of the judgement of thing is：
Judge that the boundary line of predicted vehicle driving trace intersects with whether path boundary has, be judged as colliding if having and will hand over Crunode is labeled as the point of impingement, if being judged as that vehicle can pass through without selecting.
8. according to system according to any one of claims 1 to 7, it is characterised in that the system also includes head-up display, institute State heads-up display configuration for display arrow path analysis module output prediction locus and vehicle whether the judgement of collision obstacle And warning message, and adjust display image and fitted with reality scene.
9. according to system according to any one of claims 1 to 7, it is characterised in that the system also includes display device, described Display device configurations for display vehicle heading image, arrow path analysis module output prediction locus and vehicle whether The judgement of collision obstacle and warning message.
10. according to system according to any one of claims 1 to 7, it is characterised in that the system also includes starting triggering list Member, the unit is configured to receive input signal and start road data acquisition module, arrow path analysis module to proceed by arrow path knowledge Not and collision judgment；Described input signal is control instruction or speed the sentencing less than given threshold that man-machine interaction mode is inputted Break signal.
CN201610955047.2A 2016-10-27 2016-10-27 Vehicle driving arrow path auxiliary system Active CN106945668B (en)

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PCT/CN2017/095067 WO2018076855A1 (en) 2016-10-27 2017-07-28 Assisting system for vehicle driving on narrow road

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