CN110103961B - Intelligent car following control method, device, system and terminal - Google Patents
Intelligent car following control method, device, system and terminal Download PDFInfo
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- CN110103961B CN110103961B CN201910315557.7A CN201910315557A CN110103961B CN 110103961 B CN110103961 B CN 110103961B CN 201910315557 A CN201910315557 A CN 201910315557A CN 110103961 B CN110103961 B CN 110103961B
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The invention discloses an intelligent car following control method, device, system and terminal, wherein the method comprises the following steps: acquiring road environment information and first driving information of a vehicle in a following mode; determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; and carrying out vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level. By adopting the invention, the danger level of the vehicle is pre-judged in advance according to the road environment information and the driving information of the vehicle, and then the corresponding target vehicle following control strategy is executed according to the pre-judged danger level, so that more accurate and more stable intelligent vehicle following driving can be realized, and the safety of passengers is ensured.
Description
Technical Field
The invention relates to the technical field of intelligent driving and safety, in particular to an intelligent car following control method, device, system and terminal.
Background
The vehicle cruise system includes an adaptive cruise system, a constant speed cruise system, an intelligent cruise control system, and the like, which can release driver's operation to reduce driving fatigue and occurrence of traffic accidents, and has received wide attention as one of important automobile safety assistance systems. The self-adaptive cruise system monitors the distance between the vehicle and the front vehicle according to the radar to control the speed of the vehicle so as to keep following running at constant distance. The existing cruise system only has a longitudinal control function and does not have an over-bending control function, so that the vehicle cannot smoothly follow the front vehicle when the front vehicle runs in an S shape or passes a bend. Although the intelligent cruise control system can realize S-shaped following, when the vehicle follows the vehicle in the S-shaped manner, the vehicle easily exceeds a lane line, occupies other lanes and brings great potential safety hazards.
Disclosure of Invention
Based on this, the present invention aims to provide an intelligent car following control method, device, system and terminal to solve at least one of the above technical problems. The technical scheme is as follows:
in a first aspect, the invention provides an intelligent car following control method, which comprises the following steps:
acquiring road environment information and first driving information of the vehicle in a following mode;
determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle;
and carrying out vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level.
Optionally, the step of determining the current risk level of the host vehicle based on the road environment information, the first driving information, and the preset feedback time includes:
determining a first distance between a wheel of the host vehicle and an adjacent lane line and the adjacent lane line type based on the road environment information; the lane line type includes a dotted line and a solid line;
judging whether the first distance is reduced to be smaller than or equal to a first threshold value within the preset feedback time based on the first driving information and the first distance to obtain a first judgment result;
and determining the current danger level of the vehicle based on the first judgment result and the type of the adjacent lane line.
Optionally, the step of determining the current risk level of the host vehicle based on the first determination result and the type of the adjacent lane line includes:
if the first judgment result is yes and the adjacent lane line is a broken line, determining that the current danger level is a first danger level;
and if the first judgment result is yes and the adjacent lane line is a solid line, determining that the current danger level is a second danger level, wherein the danger degree of the second danger level is higher than that of the first danger level.
Optionally, the step of determining the current risk level of the host vehicle based on the road environment information, the first driving information, and the preset feedback time further includes:
judging whether the wheels of the vehicle exceed the line at the preset feedback time based on the first driving information and the first distance to obtain a second judgment result;
and if the second judgment result is yes, determining that the current danger level is a third danger level.
Optionally, the target control strategy at least includes at least one of the following: the method comprises the following steps of danger alarm prompt, steering control opposite to the current car following control direction, braking control, control of the vehicle to run along the adjacent lane line and activation of a vehicle auxiliary control system.
Optionally, the step of performing vehicle following control on the vehicle based on the target vehicle following control strategy corresponding to the current risk level includes:
determining a corresponding target vehicle following control strategy according to the corresponding relation between the vehicle following control strategy and a preset danger level;
if the current danger level is a first danger level, controlling to provide a danger alarm prompt for a driver according to a first car following control strategy corresponding to the first danger level;
if the current danger level is a second danger level, executing steering control opposite to the current following control direction on the vehicle or activating a vehicle auxiliary control system according to a second following control strategy corresponding to the second danger level;
and if the current danger level is a third danger level, according to a third following control strategy corresponding to the third danger level, performing steering control and braking control opposite to the current following control direction on the host vehicle, and/or controlling the host vehicle to run along the adjacent lane line, and/or activating a vehicle auxiliary control system.
Optionally, the road environment information further includes road obstacle information; the method further comprises the following steps:
and if the obstacle is detected to exist in the road environment, preferentially executing steering control and braking control opposite to the current following control direction on the vehicle.
In a second aspect, the present invention further provides an intelligent car following control device, including:
the acquisition module is used for acquiring road environment information and first driving information of the vehicle in a following mode;
the determining module is used for determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle;
and the control module is used for carrying out vehicle following control on the vehicle based on the target vehicle following control strategy corresponding to the current danger level.
In a third aspect, the invention further provides an intelligent vehicle following control system, which comprises the above intelligent vehicle following control device, an environment acquisition device, a vehicle auxiliary control system and a vehicle power control system, wherein one end of the intelligent vehicle following control device is connected with the environment acquisition device, the other end of the intelligent vehicle following control device is connected with the intelligent vehicle following control system, and the intelligent vehicle following control system is connected with the vehicle power control system.
In a fourth aspect, the present invention also provides a terminal comprising a processor and a memory,
the memory has stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the processor to implement an intelligent vehicle following control method as described in any of the above.
The technical scheme provided by the invention at least has the following beneficial effects:
according to the invention, under the following mode, road environment information and first driving information of the vehicle are acquired; determining the current danger level of the vehicle based on the road environment information, the first driving information and the preset feedback time; and then, carrying out vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level. Therefore, the invention can pre-judge the danger level of the vehicle in advance according to the road environment information and the driving information of the vehicle, and then execute the corresponding target vehicle following control strategy according to the pre-judged danger level, thereby realizing more accurate and more stable intelligent vehicle following driving and ensuring the safety of passengers.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 without creative efforts.
Fig. 1 is a schematic flow chart of an intelligent car following control method according to an embodiment of the present invention.
FIG. 2 is a partial flow diagram of an embodiment of the present invention.
Fig. 3 is a schematic diagram of four different car following control situations in an application scenario of "S-shaped" car following according to an embodiment of the present invention.
Fig. 4 is a block diagram of an intelligent car-following control device according to an embodiment of the present invention.
Fig. 5 is a block diagram of an intelligent car-following control system according to an embodiment of the present invention.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
The inventor finds out in the experimental process that: when the existing vehicle with the cruise system follows the vehicle in an S-shaped manner, the vehicle is easy to exceed a lane line due to the fact that the vehicle does not have a front vehicle block due to overshoot reaction, and great potential safety hazards are brought. Although the electronic power steering system EPS with high sensitivity and high response speed can be adopted to improve the technical problem, extra cost is increased, the problem cannot be solved fundamentally, and certain potential safety hazard still exists. Therefore, the embodiment of the application provides an intelligent car following control method, device, system and terminal.
Fig. 1 is a flow chart diagram illustrating an intelligent car following control method according to an example embodiment. The embodiment of the invention is used for cruising and car-following scenes, particularly including but not limited to cruising and car-following scenes such as S-shaped car-following scenes, S-shaped overtaking scenes, curve car-following scenes and the like of a lane, and is particularly suitable for low-speed S-shaped car-following scenes. Referring to fig. 1, the intelligent car following control method may include the following steps S102 to S106. Wherein:
in step S102, in the following mode, road environment information and first traveling information of the own vehicle are acquired.
During driving, if the vehicle cruise system is started, the vehicle enters a following mode. In the following mode, the host vehicle follows the driving speed and direction of the preceding vehicle. The road environment information is acquired by an acquisition module, which includes but is not limited to an image acquisition device and/or a radar sensor and/or an ultrasonic radar sensor. The road environment information may be road image information, and lane line information of the road or road conditions such as road pits and cracks may be determined through the road image information.
The first traveling information may include a vehicle speed, a traveling direction, and the like of the host vehicle. The intelligent vehicle following control device CAN acquire the first driving information detected by the vehicle-mounted sensor and also CAN acquire the first driving information through the CAN bus.
In step S104, determining a current risk level of the host vehicle based on the road environment information, the first driving information, and a preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle.
The inventor finds that in the following vehicle running mode, the vehicle-mounted sensor such as a radar monitors that the front vehicle determines the position and the speed of the front vehicle through the echo, and then sends the calculated echo to the corresponding controller to calculate the output command so as to control the execution of the lucky motion. However, monitoring, calculating the echo and transmitting the command require a certain amount of time, which can cause the rear vehicle to slow down and overshoot. If the preceding vehicle suddenly changes lanes or the traveling direction is suddenly changed, the vehicle may be damaged due to slow movement.
In this embodiment, according to the acquired road environment information, the first driving information, and the preset feedback time, it is determined whether the host vehicle is in a dangerous emergency within the preset feedback time, and a current danger level of the host vehicle is determined. And the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle. The preset feedback time can be calibrated through a real vehicle.
Specifically, the distance between the vehicle wheel and the adjacent lane line can be determined through the acquired road environment information and the first driving information, and then whether the distance is reduced to the threshold value within the preset feedback time is judged. If the distance is determined to be reduced to the threshold value, the vehicle is about to be in a dangerous area, and the dangerous level of the vehicle is high. If the distance is determined not to be reduced to the threshold value, the vehicle is indicated to be always running in a non-dangerous area, and the dangerous level of the vehicle is low. The current risk level may be divided into a plurality of risk levels, such as a first risk level, a second risk level, and a third risk level. The higher the risk level, the more severe its corresponding emergency situation.
In step S106, the vehicle is controlled to follow the vehicle based on the target vehicle following control strategy corresponding to the current risk level.
And after the current danger level is determined, looking up a table to obtain a corresponding target vehicle following control strategy according to the corresponding relation between the current danger level and a preset vehicle following control strategy. The target control strategy may be a safety warning and/or vehicle control. And then, controlling the vehicle to adjust the following control strategy according to the determined target following control strategy so as to ensure that the vehicle runs safely and avoid harm.
According to the intelligent car following control method, under a car following mode, road environment information and first driving information of a car are obtained; determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; and then, carrying out vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level. Therefore, the danger level of the vehicle can be pre-judged in advance according to the road environment information and the driving information of the vehicle; and then according to the pre-judged danger level, a corresponding target vehicle following control strategy is executed, more accurate and more stable intelligent vehicle following driving can be realized, and the safety of passengers is ensured.
In some embodiments, the step S104 may include:
s202, determining a first distance between the vehicle and an adjacent lane line and the type of the adjacent lane line based on the road environment information; the lane line types include a dotted line and a solid line.
The acquisition module acquires road environment information of the vehicle and acquires corresponding road image information. And identifying the road image information, and acquiring the position of the adjacent lane line and the type of the adjacent lane line. And determining a first distance between the vehicle and an adjacent lane line according to the position of the vehicle.
The adjacent lane line type may be determined by recognizing and detecting the road image information based on an existing image recognition algorithm. Of course, the adjacent lane line type may also be determined by obtaining the location information of the vehicle and the road information of the server or the cloud. The lane line type includes a dotted line and a solid line. The dashed lines include, but are not limited to, road-marking lines that are discontinuous. The solid line includes, but is not limited to, a continuous road marking line, and may also be a road edge stone or a virtual lane line determined based on edge information of a road.
S204, judging whether the first distance is reduced to be smaller than or equal to a first threshold value within the preset feedback time based on the first driving information and the first distance, and obtaining a first judgment result.
And acquiring a first distance between the vehicle and an adjacent lane line at the current moment, and pre-judging whether the first distance is reduced within the preset feedback time according to the vehicle speed and the driving direction of the vehicle contained in the first driving information. If the first distance is judged to be reduced in advance, whether the first distance is reduced to a first threshold value is judged according to the amplitude which is possibly reduced, and a corresponding first judgment result is obtained. The first threshold may be zero and positive. Wherein zero represents the wheel pressure lane line of the vehicle; the positive value represents the corresponding preset distance d1 when the vehicle is in the lane, and the d1 can be 0 < d1 < 50 cm.
S206, determining the current danger level of the vehicle based on the first judgment result and the type of the adjacent lane line.
In this embodiment, the degree of danger occurring within the preset feedback time is pre-determined based on the first determination result and the type of the adjacent lane line, and then the current danger level corresponding to the vehicle is determined according to the degree of danger occurring.
In some optional embodiments, the step S206 may specifically include:
s302, if the first judgment result is yes and the adjacent lane line is a broken line, determining that the current danger level is a first danger level.
S304, if the first determination result is yes and the adjacent lane line is a solid line, determining that the current risk level is a second risk level, where a risk level of the second risk level is higher than a risk level of the first risk level.
In the present embodiment, the current danger level of the vehicle is determined comprehensively by combining the first determination result and the adjacent lane line type. In the case of the adjacent lane lines being the solid line and the broken line, there is a difference in the types of lanes in which the vehicle is located. The solid line is more dangerous than the dashed line.
It should be noted that the lane line types are not limited to solid lines and dotted lines, and may include lane line color and shape information, etc. to obtain a more comprehensive lane line type. And then, further thinning and grading the current danger grade by further combining the newly determined lane line type and the first judgment result.
In some embodiments, the step S104 may further include:
and S208, judging whether the wheels of the vehicle are out of line at the preset feedback time based on the first driving information and the first distance to obtain a second judgment result.
Specifically, the driving distance of the wheels of the vehicle is predicted at the preset feedback time based on the first driving information; and then determining the component distance of the driving distance on the line vertical to the adjacent lane. And determining whether the vehicle can pass the line according to whether the component distance is larger than the first distance at the current moment.
And S210, if the second judgment result is yes, determining that the current danger level is a third danger level.
Specifically, if the component distance is greater than the first distance at the current time, it is determined that the vehicle will overshoot, and the second determination result is obtained as yes. And if the second judgment result is yes, further determining that the current danger level is a third danger level. If the second judgment result is negative, the dangerous situation of the vehicle in the lane is judged in advance. The order of the degree of risk of each risk class may be: third risk level > second risk level > first risk level.
It should be noted that, the danger level of the vehicle may be further divided according to the type of the adjacent lane line and the second determination result.
And determining the current danger level of the vehicle by judging whether the wheels of the vehicle can exceed the line. So, be convenient for according to the dangerous condition of difference, in time make reasonable intelligence with car control strategy, avoid the emergence of harm, improve driving safety nature.
In some embodiments, the target control strategy may include at least one of: the method comprises the following steps of danger alarm prompt, steering control opposite to the current car following control direction, braking control, control of the vehicle to run along the adjacent lane line and activation of a vehicle auxiliary control system. The vehicle assistance control system may include a lane departure prevention module, a lane keeping module, and the like, among others. The vehicle assistance control system can trigger a response in special situations, such as high speed driving situations. The target control strategy of the invention comprises activating the vehicle auxiliary control system, which not only can exert the advantages of the vehicle auxiliary control system in advance, but also can reduce the components for mounting response, integrate the vehicle resources and reduce the cost. The higher the risk level, the more types of target control strategies that may be associated with it.
In a specific embodiment, as shown in fig. 2, the S106 may include:
s402, determining a corresponding target vehicle following control strategy according to the corresponding relation between the vehicle following control strategy and a preset danger level.
Specifically, the correspondence between the following control strategy and the preset risk level may be stored on the vehicle. And if the current danger level of the vehicle is determined, acquiring a target vehicle following control strategy corresponding to the current danger level through table lookup according to the pre-stored corresponding relation.
S404, if the current danger level is a first danger level, providing a danger alarm prompt for a driver according to a first car following control strategy corresponding to the first danger level.
The first car following control strategy can be a danger alarm prompt. At this time, if the first risk level is determined, a risk warning prompt is provided to the driver according to the first following control strategy. Specifically, this dangerous alarm suggestion can be voice broadcast's suggestion form, for example can send out voice broadcast or other alarm sounds such as "first order warning", "dangerous driving". The hazard warning indicia may also be in the form of vibration indicia, such as vibrating the seat and/or steering wheel at different frequencies and intensities. In addition, the danger warning prompt may also be in the form of a prompt indicating a text reminder and/or an indicator light alarm on the display. The danger alarm prompts remind the driver to take over the steering wheel and the brake pedal.
And S406, if the current danger level is a second danger level, executing steering control opposite to the current following control direction on the vehicle or activating a vehicle auxiliary control system according to a second following control strategy corresponding to the second danger level.
In one embodiment, the second following control strategy is a vehicle steering control. At this time, if the second risk level is determined, the steering control opposite to the current following control direction is executed for the own vehicle by sending a steering torque request back to the electric power steering system EPS according to the second following control strategy.
In another embodiment, the second following control strategy is activating a vehicle auxiliary control system. At this time, if the second danger level is determined, the vehicle auxiliary control system is activated according to the second following control strategy, and then a lane departure prevention module in the vehicle auxiliary control system operates to control the electronic steering power-assisted system EPS to operate so as to execute steering control opposite to the current following control direction on the vehicle, and further pull back the vehicle.
And S408, if the current danger level is a third danger level, according to a third following control strategy corresponding to the third danger level, executing steering control and braking control opposite to the current following control direction on the host vehicle, and/or controlling the host vehicle to run along the adjacent lane line, and/or activating a vehicle auxiliary control system.
The third following control strategy can be vehicle speed control and vehicle steering control. At this time, if the third risk level is determined to indicate that the host vehicle is likely to overtake, the steering control and the braking control in the direction opposite to the current direction of the vehicle-following control are simultaneously executed on the host vehicle by sending the steering torque request and the braking request back to the electric power steering system EPS in accordance with the third vehicle-following control strategy. In addition, steering and braking may be adjusted to allow the vehicle to travel along or near adjacent lane lines. In addition, the vehicle auxiliary control system can be directly activated, and then a lane departure prevention module in the system responds to the lane departure prevention module so as to pull back the vehicle.
In the case of performing the steering control and the braking control, the higher the risk level is, the higher the change rate of the steering angle and the higher the braking rate can be set. In addition, the second following control strategy and the third following control strategy are not limited thereto, and both may further include a danger warning prompt.
In some embodiments, the road environment information further includes road obstacle information; the method may further comprise:
and S502, if the obstacle is detected to exist in the road environment, preferentially executing steering control and braking control opposite to the current following control direction on the vehicle.
The obstacles include, but are not limited to, trees, houses, railings, pedestrians, etc. The obstacle may be detected by a camera or an ultrasonic sensor. If it is detected that an obstacle exists ahead of the vehicle in the traveling direction, turning moment control and braking control are preferentially executed for the vehicle. Therefore, the danger of the vehicle can be further avoided, and the driving safety is improved.
In some embodiments, the method may further comprise:
s602, obtaining a count value of the current danger level of the vehicle, and detecting whether the count value reaches a statistical threshold value within a preset time threshold value.
The current risk level may include a first risk level, a second risk level, and a third risk level. And determining whether the count value within the preset time threshold reaches the statistical threshold of the corresponding grade according to the corresponding danger grade. And if the detection result is that the corresponding statistical threshold is reached, the next step is carried out.
S604, if the counting value reaches the statistical threshold value within the preset time threshold value, determining whether the front vehicle is in dangerous driving.
And if the counting value is detected to reach the corresponding statistical threshold value, indicating that the track following the vehicle is abnormal. At this time, whether the preceding vehicle is dangerous driving or not can be determined by the driving parameters of the preceding vehicle and the road information. Such dangerous driving includes, but is not limited to, driving in an abnormal "S" shape, abrupt changes in the direction of travel, and the like.
And S606, if the front vehicle is determined to be in dangerous driving, re-determining the following target or exiting the current vehicle following mode.
And if the front vehicle is determined to be dangerous driving, detecting the vehicle condition of the surrounding environment, and if a proper target vehicle exists, re-determining the following target. If the front vehicle is determined to be dangerous driving, the driver can be reminded to take over the vehicle, and the vehicle is taken over by the driver and then moves back out of the current vehicle following mode.
The invention is explained in detail below with reference to specific application scenarios, and fig. 3 illustrates four different car following control situations in an application scenario of "S-shaped" car following:
the first situation is as follows:
continuing to refer to fig. 3, the lane line is a dashed line, and if the first determination result is yes, the current risk level is determined to be the first risk level. And then, controlling a vehicle auxiliary control system to provide a danger alarm prompt for the driver according to a first vehicle following control strategy corresponding to the first danger level, and further reminding the driver to take over the vehicle.
Case two:
continuing to refer to fig. 3, the lane line is a solid line, and if the first determination result is yes, the current risk level is determined to be a second risk level. And then, according to a second following control strategy corresponding to the second danger level, activating the operation of a lane departure prevention module LDP module in the vehicle auxiliary control system to perform steering control on the host vehicle in a direction opposite to the current following control direction, namely controlling the LDP operation to pull the host vehicle back.
Case three:
as shown in fig. 3, if it is determined that the second determination result is yes, the current risk level is determined to be a third risk level. And then, according to a third following control strategy corresponding to the third danger level, activating an LDP module in a vehicle auxiliary control system to work and controlling a vehicle power control system to work so as to perform steering control and braking control (the vehicle speed is reduced from 25km/h to 20km/h) opposite to the current following control direction on the host vehicle and/or control the host vehicle to run along the adjacent lane line.
Case four:
continuing as shown in fig. 3, an obstacle is present in the road environment of the host vehicle. And if the existence of the obstacle in the road environment is detected, activating a lane departure prevention module LDP module to work and controlling a vehicle power control system to work so as to preferentially execute steering control and braking control opposite to the current following control direction on the vehicle (the vehicle speed is reduced from 25km/h to 20 km/h).
Fig. 4 is a schematic diagram illustrating an intelligent car-following control device according to an example embodiment. Referring to fig. 4, the intelligent car following control device may include:
an obtaining module 410, configured to obtain road environment information and first driving information of a vehicle in a following mode;
a determining module 420, configured to determine a current risk level of the host vehicle based on the road environment information, the first driving information, and a preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle;
and the first control module 430 is configured to perform vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current risk level.
In some embodiments, the determining module 420 may include:
a line type determination submodule for determining a first distance between a wheel of the host vehicle and an adjacent lane line and the type of the adjacent lane line based on the road environment information; the lane line type includes a dotted line and a solid line;
the first judgment submodule is used for judging whether the first distance is reduced to be smaller than or equal to a first threshold value within the preset feedback time based on the first driving information and the first distance to obtain a first judgment result;
and the danger level determining submodule is used for determining the current danger level of the vehicle based on the first judgment result and the type of the adjacent lane line.
In some embodiments, the hazard level determination sub-module may include:
a first risk determining unit, configured to determine that the current risk level is a first risk level if the first determination result is yes and the adjacent lane line is a broken line;
and the second risk determining unit is used for determining that the current risk level is a second risk level if the first judgment result is yes and the adjacent lane line is a solid line, wherein the risk degree of the second risk level is higher than that of the first risk level.
In some embodiments, the determining module 420 may include:
the second judgment submodule is used for judging whether the wheels of the vehicle exceed the line at the preset feedback time based on the first driving information and the first distance to obtain a second judgment result;
and a third risk determining unit, configured to determine that the current risk level is a third risk level if the second determination result is yes.
In some embodiments, the target control strategy includes at least one of: and the vehicle is controlled to run along the adjacent lane line by danger alarm prompt, steering control opposite to the current following control direction, braking control and control.
In some embodiments, the first control module 430 may include:
the strategy determination submodule is used for determining a corresponding target vehicle following control strategy according to the corresponding relation between the vehicle following control strategy and a preset danger level;
the first control submodule is used for controlling to provide a danger alarm prompt for a driver according to a first following control strategy corresponding to the first danger level if the current danger level is the first danger level;
the second control submodule is used for executing steering control opposite to the current car following control direction on the vehicle according to a second car following control strategy corresponding to the second danger level if the current danger level is the second danger level;
and the third control sub-module is used for executing steering control and braking control opposite to the current car-following control direction on the vehicle according to a third car-following control strategy corresponding to the third danger level and/or controlling the vehicle to run along the adjacent lane line if the current danger level is the third danger level.
In some embodiments, the road environment information further includes road obstacle information; the device further comprises:
and the second control submodule is used for preferentially executing steering control and braking control opposite to the current following control direction on the vehicle if the obstacle in the road environment is detected.
The intelligent vehicle following control device can pre-judge the danger level of the vehicle in advance according to the road environment information and the driving information of the vehicle; and then according to the pre-judged danger level, a corresponding target vehicle following control strategy is executed, more accurate and more stable intelligent vehicle following driving can be realized, and the safety of passengers is ensured.
Fig. 5 illustrates an intelligent car following control system according to an example embodiment. Referring to fig. 4, the intelligent vehicle following control system may include an environment acquisition device 510, an intelligent vehicle following control device 520, a vehicle auxiliary control system 530 and a vehicle power control system 540.
The environment acquisition means 510 may comprise a sensor, such as an image acquirer, and/or a radar sensor, and/or a millimeter wave radar sensor. The image collector may be, for example, several cameras and/or cameras mounted on the vehicle, or an environmental scanner, etc. The image collector is used for collecting road environment information, such as road information including lane line information around a vehicle. Radar sensors and/or ultrasonic sensors are used to detect obstacle information for a road, including but not limited to trees, houses, railings, pedestrians, etc.
The intelligent vehicle following control device 520 is connected with the environment acquisition device 510, and is used for generating a corresponding first instruction according to the information acquired by the environment acquisition device. The intelligent car following control device is any one of the control devices.
The vehicle assistance control system 530 may include a lane departure prevention module, a lane keeping module, and the like. The lane departure prevention module is connected with the intelligent vehicle following control device and used for responding to a first instruction of the intelligent vehicle following control device and executing a corresponding auxiliary control function.
The vehicle dynamics control system 540 is connected to the vehicle auxiliary control system 530 for performing corresponding control operations to adjust the driving direction and speed of the vehicle in response to commands from the vehicle auxiliary control system. The vehicle power control system may include an electric power steering system EPS, an engine controller EMS, and a body stabilization system ESC.
According to the intelligent vehicle following control system, the intelligent vehicle following control device 520 is arranged, and the vehicle auxiliary control system 530 is activated and controlled to execute a corresponding auxiliary control function according to the information acquired by the environment acquisition device 510, so that the vehicle power control system 540 is controlled to execute a corresponding vehicle control operation, and the vehicle following running of the vehicle is adjusted. So, can improve the control degree that whole intelligence was followed the car greatly, especially under the operating mode that low-speed traveles and the operating mode that low-speed S shape was followed the car, the intelligence is followed car controlling means direct activation and is called vehicle auxiliary control system and carry out corresponding auxiliary adjustment, can satisfy actual application demand, improves the intelligence and follows the security of driving.
It should be noted that: in the intelligent car following control device and the intelligent car following control system provided in the above embodiments, only the division of the above functional modules is taken as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structures of the device and the system are divided into different functional modules to complete all or part of the above described functions. In addition, the intelligent vehicle following control device, the intelligent vehicle following control system and the intelligent vehicle following method provided by the embodiment belong to the same concept, and specific implementation processes are detailed in the method embodiment and are not described again.
The invention also provides a terminal. The terminal comprises a processor and a memory, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to realize the intelligent car following control method.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. An intelligent car following control method is characterized by comprising the following steps:
acquiring road environment information and first driving information of the vehicle in a following mode;
determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle;
performing vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level;
the step of determining the current danger level of the vehicle based on the road environment information, the first driving information and the preset feedback time includes:
determining a first distance between a wheel of the host vehicle and an adjacent lane line and the adjacent lane line type based on the road environment information; the adjacent lane line types include a dotted line and a solid line;
judging whether the first distance is reduced to be smaller than or equal to a first threshold value within the preset feedback time based on the first driving information and the first distance to obtain a first judgment result;
and determining the current danger level of the vehicle based on the first judgment result and the type of the adjacent lane line.
2. The intelligent vehicle following control method according to claim 1, wherein the step of determining the current risk level of the host vehicle based on the first determination result and the type of the adjacent lane line includes:
if the first judgment result is yes and the adjacent lane line is a broken line, determining that the current danger level is a first danger level;
and if the first judgment result is yes and the adjacent lane line is a solid line, determining that the current danger level is a second danger level, wherein the danger degree of the second danger level is higher than that of the first danger level.
3. The intelligent vehicle following control method according to claim 2, wherein the step of determining the current danger level of the host vehicle based on the road environment information, the first driving information and a preset feedback time further comprises:
judging whether the wheels of the vehicle exceed the line at the preset feedback time based on the first driving information and the first distance to obtain a second judgment result;
and if the second judgment result is yes, determining that the current danger level is a third danger level.
4. The intelligent vehicle following control method according to any one of claims 1-3, wherein the target vehicle following control strategy comprises at least one of the following: the method comprises the following steps of danger alarm prompt, steering control opposite to the current car following control direction, braking control, control of the vehicle to run along the adjacent lane line and activation of a vehicle auxiliary control system.
5. The intelligent car following control method according to claim 3, wherein the step of performing car following control on the own vehicle based on the target car following control strategy corresponding to the current risk level includes:
determining a corresponding target vehicle following control strategy according to the corresponding relation between the vehicle following control strategy and a preset danger level;
if the current danger level is a first danger level, controlling to provide a danger alarm prompt for a driver according to a first car following control strategy corresponding to the first danger level;
if the current danger level is a second danger level, executing steering control opposite to the current following control direction on the vehicle or activating a vehicle auxiliary control system according to a second following control strategy corresponding to the second danger level;
and if the current danger level is a third danger level, according to a third following control strategy corresponding to the third danger level, performing steering control and braking control opposite to the current following control direction on the host vehicle, and/or controlling the host vehicle to run along the adjacent lane line, and/or activating a vehicle auxiliary control system.
6. The intelligent car-following control method according to any one of claims 1-3, wherein the road environment information further includes road obstacle information; the method further comprises the following steps:
and if the obstacle is detected to exist in the road environment, preferentially executing steering control and braking control opposite to the current following control direction on the vehicle.
7. An intelligent car following control device, characterized in that the device comprises:
the acquisition module is used for acquiring road environment information and first driving information of the vehicle in a following mode;
the determining module is used for determining the current danger level of the vehicle based on the road environment information, the first driving information and preset feedback time; the preset feedback time is used for representing the reaction time of the vehicle responding to the following front vehicle;
the control module is used for carrying out vehicle following control on the vehicle based on a target vehicle following control strategy corresponding to the current danger level;
wherein the determining module comprises:
a line type determination submodule for determining a first distance between a wheel of the host vehicle and an adjacent lane line and the type of the adjacent lane line based on the road environment information; the adjacent lane line types include a dotted line and a solid line;
the first judgment submodule is used for judging whether the first distance is reduced to be smaller than or equal to a first threshold value within the preset feedback time based on the first driving information and the first distance to obtain a first judgment result;
and the danger level determining submodule is used for determining the current danger level of the vehicle based on the first judgment result and the type of the adjacent lane line.
8. An intelligent vehicle following control system, which is characterized by comprising the intelligent vehicle following control device, an environment acquisition device, a vehicle auxiliary control system and a vehicle power control system, wherein the intelligent vehicle following control device is connected with the environment acquisition device at one end and the vehicle auxiliary control system at the other end, and the vehicle auxiliary control system is connected with the vehicle power control system.
9. A terminal, comprising a processor and a memory,
the memory has stored therein at least one instruction, at least one program, a set of codes, or a set of instructions that is loaded and executed by the processor to implement the intelligent vehicle following control method according to any one of claims 1-6.
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| CN112455439B (en) * | 2020-11-25 | 2022-07-08 | 重庆长安汽车股份有限公司 | Environment cognition and decision control method and system for unmanned vehicle and vehicle |
| CN113492856B (en) * | 2021-07-15 | 2022-08-09 | 重庆长安汽车股份有限公司 | Cruise following parking waiting time control method and system, vehicle and storage medium |
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| JP6379510B2 (en) * | 2014-02-18 | 2018-08-29 | 日産自動車株式会社 | Driving diagnosis device and insurance fee calculation method |
| CN105015548B (en) * | 2015-07-23 | 2017-10-17 | 江苏大学 | A kind of longitudinal collision avoidance is reminded and follows integrated system and method automatically |
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