CN110696824A - Vehicle and control method thereof - Google Patents
Vehicle and control method thereof Download PDFInfo
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- CN110696824A CN110696824A CN201911023928.0A CN201911023928A CN110696824A CN 110696824 A CN110696824 A CN 110696824A CN 201911023928 A CN201911023928 A CN 201911023928A CN 110696824 A CN110696824 A CN 110696824A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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Abstract
The invention provides a vehicle and a control method thereof, wherein the method comprises the following steps: determining the edge of a road where a controlled vehicle is located; detecting environmental information around a controlled vehicle to determine a target vehicle; acquiring a motion parameter between a controlled vehicle and a target vehicle, and determining the motion state of the target vehicle according to the motion parameter between the controlled vehicle and the target vehicle; and controlling the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle. The control method of the invention judges the vehicle state of the adjacent lane by evaluating the vehicle dynamic information around the vehicle, and controls the vehicle at the current moment after combining the vehicle state, thereby effectively avoiding the potential danger of the target vehicle on the road to the vehicle in the driving process of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and a vehicle.
Background
Nowadays, an automatic driving vehicle starts to appear, and the automatic driving vehicle can automatically sense the environment around the vehicle according to sensors such as a millimeter wave radar or a forward-looking camera and the like so as to evaluate the potential collision danger between the vehicle and the vehicle in real time. During the period, the vehicle can evaluate the road condition information around the front and the back of the vehicle through the sensors around the vehicle body to determine the reasonable vehicle motion control under the current vehicle state. Therefore, it is very important to determine the potentially dangerous motion state of the vehicle around the host vehicle.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a vehicle control method, which determines a vehicle state of an adjacent lane by evaluating vehicle dynamic information around a vehicle, and controls a vehicle at a current time after combining the vehicle state, so as to effectively avoid a potential danger of a target vehicle on the road to the vehicle during the driving of the vehicle.
A second object of the invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle, including: determining the edge of a road where a controlled vehicle is located; detecting environmental information around the controlled vehicle to determine a target vehicle; acquiring a motion parameter between the controlled vehicle and the target vehicle, and determining the motion state of the target vehicle according to the motion parameter between the controlled vehicle and the target vehicle; and controlling the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle.
According to the control method of the vehicle, the edge of the road where the controlled vehicle is located is determined, the environment information around the controlled vehicle is detected to determine the target vehicle, the motion parameter between the controlled vehicle and the target vehicle is acquired, the motion state of the target vehicle is determined according to the motion parameter between the controlled vehicle and the target vehicle, and the controlled vehicle is controlled according to the motion state of the target vehicle and the state of the controlled vehicle. Therefore, the method judges the vehicle state of the adjacent lane by evaluating the vehicle dynamic information around the vehicle, controls the vehicle at the current moment after combining the vehicle state, and effectively avoids the potential danger of the target vehicle on the road to the vehicle in the driving process of the vehicle.
In addition, the control method of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the motion parameters between the controlled vehicle and the target vehicle include relative angle, relative distance and relative speed.
According to one embodiment of the invention, the target vehicles include front target vehicles and rear target vehicles, the front target vehicles include a vehicle with a minimum distance between the front of the vehicle and the controlled vehicle, and a vehicle with a minimum distance between the front of the vehicle and the controlled vehicle, the rear target vehicles include a vehicle with a minimum distance between the front of the vehicle and the controlled vehicle, a vehicle with a minimum distance between the rear of the vehicle and the controlled vehicle, and a vehicle with a minimum distance between the rear of the vehicle and the controlled vehicle.
According to one embodiment of the present invention, determining the moving state of the target vehicle according to the moving parameter between the controlled vehicle and the target vehicle includes: determining a coordinate system of the controlled vehicle, wherein the forward direction of the controlled vehicle is taken as a Y axis of the coordinate system of the controlled vehicle, and the transverse motion direction of the controlled vehicle is taken as an X axis of the coordinate system of the controlled vehicle; determining the speed and speed change rate of the target vehicle along the Y axis and the speed and speed change rate of the target vehicle along the X axis according to the motion parameters between the controlled vehicle and the target vehicle; and determining the motion state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y axis and the speed change rate of the target vehicle along the X axis.
According to one embodiment of the present invention, the target vehicle includes a rear target vehicle, and the motion state of the target vehicle is determined according to a speed and a speed change rate of the target vehicle along the Y axis and a speed change rate of the target vehicle along the X axis, including: if the speed change rate of the rear target vehicle along the Y axis is greater than zero and the speed change rate of the rear target vehicle along the X axis is greater than or equal to a first speed change rate, acquiring the average speed change rate of the rear target vehicle along the Y axis in a first time and acquiring the distance between the rear target vehicle and the controlled vehicle in the Y axis direction; and if the average speed change rate of the rear target vehicle along the Y axis is greater than or equal to a second speed change rate in a first time, and the distance between the rear target vehicle and the controlled vehicle in the Y axis direction is less than a first distance, determining that the rear target vehicle is in an acceleration lane change overtaking state.
According to one embodiment of the present invention, the target vehicle includes a rear target vehicle, and the motion state of the target vehicle is determined according to a speed and a speed change rate of the target vehicle along the Y axis and a speed change rate of the target vehicle along the X axis, including: if the distance between the rear target vehicle and the controlled vehicle in the X-axis direction is smaller than a second distance, and the speed change rate of the rear target vehicle along the X-axis is smaller than a third speed change rate, acquiring the average speed change rate of the rear target vehicle along the X-axis in a first time, and acquiring the speed change rate of the rear target vehicle along the Y-axis; determining that the rear target vehicle is in a lateral-motion unstable state if an average rate of change of the speed of the rear target vehicle along the X-axis is less than a fourth rate of change of the speed and a rate of change of the speed of the rear target vehicle along the Y-axis is greater than a fifth rate of change of the speed within a first time.
According to one embodiment of the present invention, the target vehicle includes a preceding target vehicle, and the motion state of the target vehicle is determined according to a speed and a speed change rate of the target vehicle along the Y axis and a speed change rate of the target vehicle along the X axis, including: if the speed change rate of the front target vehicle along the Y axis is less than zero and the speed change rate of the front target vehicle along the X axis is greater than or equal to a sixth speed change rate, acquiring an average speed change rate of the front target vehicle along the Y axis in a first time and acquiring the distance between the front target vehicle and the controlled vehicle in the Y axis direction; and if the average speed change rate of the front target vehicle along the Y axis is greater than or equal to a seventh speed change rate in the first time and the distance between the front target vehicle and the controlled vehicle in the Y axis direction is less than the first distance, determining that the front target vehicle is in a state of decelerating and threatening the driving safety.
According to one embodiment of the present invention, the target vehicle includes a preceding target vehicle, and the motion state of the target vehicle is determined according to a speed and a speed change rate of the target vehicle along the Y axis and a speed change rate of the target vehicle along the X axis, including: if the distance between the front target vehicle and the controlled vehicle in the X-axis direction is smaller than a second distance, and the speed change rate of the front target vehicle along the X-axis is smaller than an eighth speed change rate, acquiring the average speed change rate of the front target vehicle along the X-axis in a first time, and acquiring the speed change rate of the front target vehicle along the Y-axis; determining that the front target vehicle is in a lateral-motion unstable state if an average rate of change of the speed of the front target vehicle along the X-axis is less than a ninth rate of change of the speed and a rate of change of the speed of the front target vehicle along the Y-axis is greater than a tenth rate of change of the speed during a first time.
According to an embodiment of the present invention, the controlling the controlled vehicle according to the moving state of the target vehicle and the state of the controlled vehicle includes: and if the controlled vehicle runs forwards and the rear target vehicle is in a state of accelerating lane change and overtaking, forbidding the controlled vehicle to change lanes to the lane where the rear target vehicle is located, and sending out warning information.
According to an embodiment of the present invention, the controlling the controlled vehicle according to the moving state of the target vehicle and the state of the controlled vehicle includes: and if the controlled vehicle runs forwards and the rear target vehicle is in a transverse movement unstable state, sending out warning information when the controlled vehicle changes the lane.
According to an embodiment of the present invention, the controlling the controlled vehicle according to the moving state of the target vehicle and the state of the controlled vehicle includes: and if the controlled vehicle runs forwards and the front target vehicle is in a state of decelerating and threatening the running safety, controlling a braking system of the controlled vehicle in a pre-filling mode to reduce or eliminate the distance between a brake caliper and a brake pad and sending out warning information.
According to an embodiment of the present invention, the controlling the controlled vehicle according to the moving state of the target vehicle and the state of the controlled vehicle includes: and if the controlled vehicle runs forwards and the front target vehicle is in a transverse movement unstable state, sending out warning information when the controlled vehicle accelerates or changes lanes.
In order to achieve the above object, a second embodiment of the present invention provides a vehicle, which includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method when executing the vehicle control program.
According to the vehicle provided by the embodiment of the invention, through the control method of the vehicle, the potential danger of the target vehicle on the road in the driving process of the vehicle can be effectively avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a millimeter microwave radar sensor mounting for acquiring parameters between a controlled vehicle and a target vehicle in accordance with one embodiment of the present invention;
FIG. 3 is a schematic illustration of the position between a controlled vehicle and a target vehicle according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a solution of a target vehicle in a controlled vehicle coordinate system according to an embodiment of the invention; and
FIG. 5 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a vehicle and a vehicle of an embodiment of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the invention.
As shown in fig. 1, a control method of a vehicle of an embodiment of the invention may include the steps of:
and S1, determining the edge of the road where the controlled vehicle is located.
As shown in fig. 2, road data may be collected by millimeter microwave radar sensors (millimeter microwave radar and lateral millimeter microwave radar arranged at the front end of the vehicle) arranged on a controlled vehicle (the host vehicle) to determine two edges of a road on one side of the forward direction of the host vehicle, and by identifying the edges of the road, the maximum width from the host vehicle to a travelable area, that is, whether a lane adjacent to the lane exists or not, may be determined. It will be appreciated that the edges of the roadway may be roadway barriers (e.g., iron fences on urban roads or iron barriers on expressways) or may be spaced iron roadway structures on the edges of the roadway.
It should be noted that road data can also be collected by a camera arranged at the front end of the vehicle.
And S2, detecting environmental information around the controlled vehicle to determine the target vehicle.
Specifically, the environment information around the controlled vehicle is collected through millimeter wave radar sensors distributed around the controlled vehicle, and the running states of vehicles in the left lane and the right lane of the lane where the controlled vehicle is located are analyzed to determine the target vehicle, wherein in one embodiment of the present invention, as shown in fig. 3, the target vehicle may include a front target vehicle and a rear target vehicle, the front target vehicle includes a vehicle with a minimum distance between the front of the vehicle and the controlled vehicle, and the rear target vehicle includes a vehicle with a minimum distance between the front of the vehicle and the controlled vehicle, a vehicle with a minimum distance between the rear of the vehicle and the controlled vehicle, and a vehicle with a minimum distance between the rear of the vehicle and the controlled vehicle. Where 6 denotes a controlled vehicle, 7 denotes a vehicle whose distance from the controlled vehicle is the smallest directly behind the vehicle, 8 denotes a vehicle whose distance from the controlled vehicle is the smallest at the left and right rear of the vehicle, 9 denotes a vehicle whose distance from the controlled vehicle is the smallest directly in front of the vehicle, 10 denotes a vehicle whose distance from the controlled vehicle is the smallest at the left and right front of the vehicle, 11 denotes the edge of the road in the traveling direction of the vehicle, and 12 denotes the left and right lane lines in the traveling direction of the controlled vehicle.
That is, by evaluating the running states of the front and rear vehicles that are the smallest distance from the controlled vehicle and determining the running state of the controlled vehicle, potential danger caused by vehicles approaching around the controlled vehicle can be avoided.
And S3, acquiring the motion parameters between the controlled vehicle and the target vehicle, and determining the motion state of the target vehicle according to the motion parameters between the controlled vehicle and the target vehicle. In one embodiment of the invention, the motion parameters between the controlled vehicle and the target vehicle comprise relative angle, relative distance and relative speed.
According to one embodiment of the present invention, determining the moving state of the target vehicle according to the moving parameter between the controlled vehicle and the target vehicle includes: determining a coordinate system of a controlled vehicle, wherein the forward direction of the controlled vehicle is used as a Y axis of the coordinate system of the controlled vehicle, and the transverse motion direction of the controlled vehicle is used as an X axis of the coordinate system of the controlled vehicle; determining the speed and the speed change rate of the target vehicle along the Y axis and the speed change rate of the target vehicle along the X axis according to the motion parameters between the controlled vehicle and the target vehicle; and determining the motion state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y axis and the speed change rate of the target vehicle along the X axis.
Specifically, a two-dimensional coordinate system is established by taking the controlled vehicle as a center, wherein an X axis represents the transverse running direction of the controlled vehicle, and a Y axis represents the advancing direction of the controlled vehicle. Similarly, the forward direction of the target vehicle is the Y-axis, the lateral movement direction is the X-axis, and the target vehicle coordinate system is parallel to the controlled vehicle coordinate system. After the object is detected by the millimeter microwave radar sensor, the relative Angle between the target vehicle and the controlled vehicle, the relative distance Range between the target vehicle and the controlled vehicle, and the relative speed V between the target vehicle and the controlled vehicle are outputrel。
Taking the controlled vehicle and the target vehicle approaching each other as an example, as shown in fig. 4, the Angle of the target relative to the controlled vehicle is a, the distance is Range, and the relative speed is Vrel. The speed and the change rate of the target vehicle along the X axis and the Y axis under the controlled vehicle coordinate system can be obtained. Wherein the speed V of the target vehicle along the Y-axisrelYtarget＝VrelCosa, rate of change of speed of target vehicle along Y axis, a ═ VrelSina, speed V of the target vehicle along the X-axisrelXtarget＝VrelSina, rate of change of speed of target vehicle along X axis B ═ VrelCosa. And determining the potential movement trend of the target vehicle according to the speed and the speed change rate of the target vehicle along the X axis and the Y axis.
It should be noted that the rate of change B of the speed of the target vehicle along the X axis is a negative value, indicating that the target vehicle is decelerating and the relative speed is VrelFor negative, the controlled vehicle accelerates, the two vehicles approach each other, in other wordsThe difference between the target vehicle and the controlled vehicle is a relative speed, and when the target vehicle decelerates and the controlled vehicle accelerates, the relative speed is a negative value.
According to a first embodiment of the present invention, a target vehicle including a rear target vehicle, a motion state of the target vehicle being determined according to a speed and a speed change rate of the target vehicle along a Y-axis and a speed change rate of the target vehicle along an X-axis, includes: if the speed change rate of the rear target vehicle along the Y axis is greater than zero and the speed change rate of the rear target vehicle along the X axis is greater than or equal to a first speed change rate, acquiring the average speed change rate of the rear target vehicle along the Y axis in a first time and acquiring the distance between the rear target vehicle and a controlled vehicle in the Y axis direction; and if the average speed change rate of the rear target vehicle along the Y axis is greater than or equal to the second speed change rate in the first time, and the distance between the rear target vehicle and the controlled vehicle in the Y axis direction is less than the first distance, determining that the rear target vehicle is in the state of accelerating lane change overtaking.
Wherein the first speed change rate, the first time, the second speed change rate and the first distance can be calibrated according to actual conditions, for example, the first speed change rate can be 2m/s2The first time may be 2s and the second speed change rate may be 3.5m/s2The first distance may be 20 m.
Specifically, taking the target vehicle behind the controlled vehicle (the target vehicle 7 and the target vehicle 8 in fig. 3) as an example, if the target vehicle accelerates to approach the controlled vehicle (i.e., the rate of change of the speed of the target vehicle along the Y-axis is greater than zero), and the rate of change B of the speed of the current target vehicle along the X-axis is greater than or equal to a first rate of change (e.g., 2 m/s)2) And the vehicle BMS starts to record historical data of the target vehicle, and obtains the average change rate of the target vehicle along the Y axis and the relative distance between the target vehicle and the controlled vehicle in the Y axis direction within the first time (such as 2 s). If the average rate of change of the target vehicle along the Y-axis is greater than or equal to the second rate of change (3.5 m/s) during the first time (e.g., 2s)2) And the distance between the target vehicle and the controlled vehicle is less than the first distance (such as 20m), determining that the rear target vehicle is in the state of accelerating lane change and overtaking(ii) a Otherwise, continuing to record the data of the target vehicle in the first time.
According to a second embodiment of the present invention, a target vehicle including a rear target vehicle, a motion state of the target vehicle being determined based on a speed and a speed change rate of the target vehicle along a Y-axis and a speed change rate of the target vehicle along an X-axis, includes: if the distance between the rear target vehicle and the controlled vehicle in the X-axis direction is smaller than the second distance, and the speed change rate of the rear target vehicle along the X-axis is smaller than the third speed change rate, acquiring the average speed change rate of the rear target vehicle along the X-axis in the first time, and acquiring the speed change rate of the rear target vehicle along the Y-axis; if the average rate of change of the speed of the rear target vehicle along the X-axis is less than the fourth rate of change of the speed and the rate of change of the speed of the rear target vehicle along the Y-axis is greater than the fifth rate of change of the speed during the first time, it is determined that the rear target vehicle is in the lateral-motion unstable state.
Wherein the second distance, the third speed change rate, the fourth speed change rate and the fifth speed change rate can be calibrated according to actual conditions, for example, the second distance can be 20m, and the third speed change rate can be 1m/s2The fourth rate of change of speed may be 1m/s2The fifth rate of change of speed may be 1m/s2。
Specifically, still taking the example where the target vehicle is behind the controlled vehicle, if the distance between the target vehicle and the controlled vehicle in the X-axis direction is less than the second distance (e.g., 20m), and the rate of change B of the speed of the target vehicle along the X-axis is less than the third rate of change (1 m/s)2) The vehicle BMS may then begin recording historical data of the target vehicle and obtain an average rate of change of the target vehicle along the X-axis and a rate of change of the target vehicle along the Y-axis for a first time (e.g., 2 s). If the average rate of change of the speed of the rear target vehicle along the X-axis is less than the fourth rate of change of speed (1 m/s) within the first time (e.g., 2s)2) And the rate of change A of the speed of the rear target vehicle along the Y-axis is greater than the fifth rate of change (1 m/s)2) Then it is determined that the rear object vehicle is in the lateral-motion unstable state.
According to a third embodiment of the present invention, a target vehicle including a preceding target vehicle, a motion state of the target vehicle being determined according to a speed and a speed change rate of the target vehicle along a Y-axis and a speed change rate of the target vehicle along an X-axis, includes: if the speed change rate of the front target vehicle along the Y axis is less than zero and the speed change rate of the front target vehicle along the X axis is greater than or equal to the sixth speed change rate, acquiring the average speed change rate of the front target vehicle along the Y axis in the first time and acquiring the distance between the front target vehicle and the controlled vehicle in the Y axis direction; and if the average speed change rate of the front target vehicle along the Y axis is greater than or equal to the seventh speed change rate in the first time and the distance between the front target vehicle and the controlled vehicle in the Y axis direction is less than the first distance, determining that the front target vehicle is in a state of decelerating and threatening the driving safety.
Wherein the sixth speed change rate and the seventh speed change rate can be calibrated according to actual conditions, for example, the sixth speed change rate can be 1m/s2The seventh rate of change may be 2m/s2。
Specifically, taking the target vehicle ahead of the controlled vehicle (target vehicle 9 and target vehicle 10 in fig. 3) as an example, if the rate of change of the speed of the preceding target vehicle along the Y-axis is less than zero (i.e., the target vehicle decelerates closer to the controlled vehicle), and the rate of change B of the speed of the target vehicle along the X-axis is equal to or greater than the sixth rate of change (e.g., 1 m/s)2) And the vehicle BMS starts to record historical data of the target vehicle, and obtains the average speed change rate of the target vehicle along the Y axis and the distance between the target vehicle and the controlled vehicle in the Y axis direction within the first time (such as 2 s). If the average rate of change of the speed of the preceding target vehicle along the Y-axis is equal to or greater than the seventh rate of change of the speed (e.g., 2 m/s) within the first time (e.g., 2s)2) And the distance between the target vehicle and the controlled vehicle in the Y-axis direction is less than a first distance (such as 20m), determining that the front target vehicle is in a state of decelerating and threatening the driving safety; otherwise, continuing to record the data of the target vehicle in the first time.
According to a fourth embodiment of the present invention, a target vehicle including a preceding target vehicle, a motion state of the target vehicle being determined according to a speed and a speed change rate of the target vehicle along a Y-axis and a speed change rate of the target vehicle along an X-axis, includes: if the distance between the front target vehicle and the controlled vehicle in the X-axis direction is smaller than the second distance, and the speed change rate of the front target vehicle along the X-axis is smaller than the eighth speed change rate, acquiring the average speed change rate of the front target vehicle along the X-axis in the first time, and acquiring the speed change rate of the front target vehicle along the Y-axis; if the average rate of change of the speed of the front target vehicle along the X-axis is less than the ninth rate of change of the speed and the rate of change of the speed of the front target vehicle along the Y-axis is greater than the tenth rate of change of the speed during the first time, it is determined that the front target vehicle is in the lateral-motion unstable state.
Wherein the eighth speed change rate, the ninth speed change rate and the tenth speed change rate can be calibrated according to actual conditions, for example, the eighth speed change rate can be 1m/s2The ninth speed change rate may be 1m/s2The tenth speed change rate may be 1m/s2。
Specifically, still taking the example that the target vehicle is in front of the controlled vehicle, if the distance between the target vehicle and the controlled vehicle in the X-axis direction is less than the second distance (e.g., 20m), and the rate of change B of the speed of the target vehicle along the X-axis is less than the eighth rate of change (1 m/s)2) The vehicle BMS may then begin recording historical data of the target vehicle and obtain an average rate of change of the target vehicle along the X-axis and a rate of change of the target vehicle along the Y-axis for a first time (e.g., 2 s). If the average rate of change of the rear target vehicle along the X-axis is less than the ninth rate of change (1 m/s) in the first time (e.g., 2s)2) And the rate of change A of the speed of the rear target vehicle along the Y-axis is greater than the tenth rate of change (1 m/s)2) Then it is determined that the preceding target vehicle is in the lateral-motion unstable state.
From the above analysis, by analyzing the motion parameters between the target vehicle and the controlled vehicle, the potentially dangerous motion state of the target vehicle can be determined.
And S4, controlling the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle.
According to one embodiment of the invention, the control of the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle comprises: and if the controlled vehicle runs forwards and the rear target vehicle is in the state of accelerating lane change and overtaking, forbidding the controlled vehicle to change the lane of the lane where the rear target vehicle is located, and sending out warning information.
That is, when it is determined that the rear target vehicle is in the acceleration lane change overtaking state, that is, when it is described that the rear target vehicle is about to accelerate to overtake, the controlled vehicle should not change the lane of the target, and a continuous warning, for example, an audio warning: "pay attention to a rear vehicle and may overtake, pay attention to driving safety! ".
According to one embodiment of the invention, the control of the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle comprises: and if the controlled vehicle runs forwards and the rear target vehicle is in a transverse movement unstable state, sending out warning information when the controlled vehicle changes the lane.
That is, the driving state of the vehicle is classified as a potential hazard by determining that the rear target vehicle is in a laterally unstable state, i.e., indicating that the rear target vehicle is moving laterally too frequently. When the controlled vehicle changes lane, a continuous warning is given to the driver by means of sound/light or the like, for example, an audio warning: "noticing the moving state of the vehicle behind! ".
According to one embodiment of the invention, the control of the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle comprises: if the controlled vehicle runs forwards and the front target vehicle is in a state of decelerating and threatening the running safety, a brake system of the controlled vehicle is controlled in a pre-filling mode to reduce or eliminate the distance between a brake caliper and a brake pad and give out warning information.
That is, the target vehicle ahead is determined to be in a condition of deceleration and threatening driving safety, i.e., the vehicle ahead is being decelerated, and the controlled vehicle braking system should be pre-charged to reduce or eliminate the distance between the brake caliper and the brake pad to cope with an emergency situation. Meanwhile, a continuous warning is issued to the driver by means of sound/light or the like, for example, an audio warning: "Note the sign of deceleration of the vehicle ahead, please note safe distance! ". The mode of brake pre-filling refers to monitoring the state of an accelerator pedal through an ESP system, pre-pressurizing a brake system, and shortening the response time of the brake system, so that the function can improve the response speed of the brake system, shorten the braking distance, and improve the safety performance of the vehicle under the emergency braking condition.
According to one embodiment of the invention, the control of the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle comprises: and if the controlled vehicle runs forwards and the front target vehicle is in a transverse motion unstable state, warning information is sent out when the controlled vehicle accelerates or changes lanes.
That is, it is determined that the preceding target vehicle is in a lateral movement unstable state, i.e., a situation that the preceding target vehicle has a lateral lane change occurs, the driving state of the vehicle is classified as a potential danger, and the controlled vehicle should observe the movement state thereof in real time during acceleration and lane change. While issuing a continuous warning to the driver by means of an acoustic/optical or similar device, for example an acoustic warning: "pay attention to the intention of changing lane and overtaking in front of the vehicle, please pay attention to driving safety! ".
In conclusion, the running states of the front and rear vehicles closest to the controlled vehicle are evaluated, and the controlled vehicle is controlled according to the evaluation result, so that potential danger is avoided.
In summary, according to the control method of the vehicle in the embodiment of the present invention, the edge of the road where the controlled vehicle is located is determined, the environmental information around the controlled vehicle is detected to determine the target vehicle, the motion parameter between the controlled vehicle and the target vehicle is acquired, the motion state of the target vehicle is determined according to the motion parameter between the controlled vehicle and the target vehicle, and the controlled vehicle is controlled according to the motion state of the target vehicle and the state of the controlled vehicle. Therefore, the method judges the vehicle state of the adjacent lane by evaluating the vehicle dynamic information around the vehicle, controls the vehicle at the current moment after combining the vehicle state, and effectively avoids the potential danger of the target vehicle on the road to the vehicle in the driving process of the vehicle.
FIG. 5 is a block schematic diagram of a vehicle according to an embodiment of the invention.
As shown in fig. 5, the vehicle 100 according to the embodiment of the present invention may include a memory 110, a processor 120, and a vehicle control program stored in the memory 110 and operable on the processor 120, and when the processor 120 executes the vehicle control program, the vehicle control method is implemented.
According to the vehicle provided by the embodiment of the invention, through the control method of the vehicle, the potential danger of the target vehicle on the road in the driving process of the vehicle can be effectively avoided.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A control method of a vehicle, characterized by comprising the steps of:
determining the edge of a road where a controlled vehicle is located;
detecting environmental information around the controlled vehicle to determine a target vehicle;
acquiring a motion parameter between the controlled vehicle and the target vehicle, and determining the motion state of the target vehicle according to the motion parameter between the controlled vehicle and the target vehicle;
and controlling the controlled vehicle according to the motion state of the target vehicle and the state of the controlled vehicle.
2. The control method of the vehicle according to claim 1, wherein the motion parameters between the controlled vehicle and the target vehicle include a relative angle, a relative distance, and a relative speed.
3. The method according to claim 1, wherein the target vehicles include front target vehicles and rear target vehicles, the front target vehicles include a vehicle whose distance from the controlled vehicle is smallest in a vehicle directly in front, a vehicle whose distance from the controlled vehicle is smallest in a vehicle left front, and a vehicle whose distance from the controlled vehicle is smallest in a vehicle right front, and the rear target vehicles include a vehicle whose distance from the controlled vehicle is smallest in a vehicle directly in rear, a vehicle whose distance from the controlled vehicle is smallest in a vehicle left rear, and a vehicle whose distance from the controlled vehicle is smallest in a vehicle right rear.
4. The method according to any one of claims 1 to 3, wherein determining the moving state of the target vehicle from the moving parameter between the controlled vehicle and the target vehicle includes:
determining a coordinate system of the controlled vehicle, wherein the forward direction of the controlled vehicle is taken as a Y axis of the coordinate system of the controlled vehicle, and the transverse motion direction of the controlled vehicle is taken as an X axis of the coordinate system of the controlled vehicle;
determining the speed and speed change rate of the target vehicle along the Y axis and the speed and speed change rate of the target vehicle along the X axis according to the motion parameters between the controlled vehicle and the target vehicle;
and determining the motion state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y axis and the speed change rate of the target vehicle along the X axis.
5. The method of controlling a vehicle according to claim 4, wherein the target vehicle includes a rear target vehicle, and the determining the moving state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y-axis and the speed change rate of the target vehicle along the X-axis includes:
if the speed change rate of the rear target vehicle along the Y axis is greater than zero and the speed change rate of the rear target vehicle along the X axis is greater than or equal to a first speed change rate, acquiring the average speed change rate of the rear target vehicle along the Y axis in a first time and acquiring the distance between the rear target vehicle and the controlled vehicle in the Y axis direction;
and if the average speed change rate of the rear target vehicle along the Y axis is greater than or equal to a second speed change rate in a first time, and the distance between the rear target vehicle and the controlled vehicle in the Y axis direction is less than a first distance, determining that the rear target vehicle is in an acceleration lane change overtaking state.
6. The method of controlling a vehicle according to claim 4, wherein the target vehicle includes a rear target vehicle, and the determining the moving state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y-axis and the speed change rate of the target vehicle along the X-axis includes:
if the distance between the rear target vehicle and the controlled vehicle in the X-axis direction is smaller than a second distance, and the speed change rate of the rear target vehicle along the X-axis is smaller than a third speed change rate, acquiring the average speed change rate of the rear target vehicle along the X-axis in a first time, and acquiring the speed change rate of the rear target vehicle along the Y-axis;
determining that the rear target vehicle is in a lateral-motion unstable state if an average rate of change of the speed of the rear target vehicle along the X-axis is less than a fourth rate of change of the speed and a rate of change of the speed of the rear target vehicle along the Y-axis is greater than a fifth rate of change of the speed within a first time.
7. The method of controlling a vehicle according to claim 4, wherein the target vehicle includes a preceding target vehicle, and the determining the moving state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y-axis and the speed change rate of the target vehicle along the X-axis includes:
if the speed change rate of the front target vehicle along the Y axis is less than zero and the speed change rate of the front target vehicle along the X axis is greater than or equal to a sixth speed change rate, acquiring an average speed change rate of the front target vehicle along the Y axis in a first time and acquiring the distance between the front target vehicle and the controlled vehicle in the Y axis direction;
and if the average speed change rate of the front target vehicle along the Y axis is greater than or equal to a seventh speed change rate in the first time and the distance between the front target vehicle and the controlled vehicle in the Y axis direction is less than the first distance, determining that the front target vehicle is in a state of decelerating and threatening the driving safety.
8. The method of controlling a vehicle according to claim 4, wherein the target vehicle includes a preceding target vehicle, and the determining the moving state of the target vehicle according to the speed and the speed change rate of the target vehicle along the Y-axis and the speed change rate of the target vehicle along the X-axis includes:
if the distance between the front target vehicle and the controlled vehicle in the X-axis direction is smaller than a second distance, and the speed change rate of the front target vehicle along the X-axis is smaller than an eighth speed change rate, acquiring the average speed change rate of the front target vehicle along the X-axis in a first time, and acquiring the speed change rate of the front target vehicle along the Y-axis;
determining that the front target vehicle is in a lateral-motion unstable state if an average rate of change of the speed of the front target vehicle along the X-axis is less than a ninth rate of change of the speed and a rate of change of the speed of the front target vehicle along the Y-axis is greater than a tenth rate of change of the speed during a first time.
9. The control method of the vehicle according to claim 5, wherein the controlling the controlled vehicle in accordance with the moving state of the target vehicle and the state of the controlled vehicle includes:
and if the controlled vehicle runs forwards and the rear target vehicle is in a state of accelerating lane change and overtaking, forbidding the controlled vehicle to change lanes to the lane where the rear target vehicle is located, and sending out warning information.
10. The control method of the vehicle according to claim 6, wherein the controlling the controlled vehicle in accordance with the moving state of the target vehicle and the state of the controlled vehicle includes:
and if the controlled vehicle runs forwards and the rear target vehicle is in a transverse movement unstable state, sending out warning information when the controlled vehicle changes the lane.
11. The control method of the vehicle according to claim 7, wherein the controlling the controlled vehicle in accordance with the moving state of the target vehicle and the state of the controlled vehicle includes:
and if the controlled vehicle runs forwards and the front target vehicle is in a state of decelerating and threatening the running safety, controlling a braking system of the controlled vehicle in a pre-filling mode to reduce or eliminate the distance between a brake caliper and a brake pad and sending out warning information.
12. The control method of the vehicle according to claim 8, wherein the controlling the controlled vehicle in accordance with the moving state of the target vehicle and the state of the controlled vehicle includes:
and if the controlled vehicle runs forwards and the front target vehicle is in a transverse movement unstable state, sending out warning information when the controlled vehicle accelerates or changes lanes.
13. A vehicle comprising a memory, a processor, and a control program of the vehicle stored on the memory and executable on the processor, the processor implementing the control method of the vehicle according to any one of claims 1 to 12 when executing the control program of the vehicle.
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| CN201911023928.0A CN110696824A (en) | 2019-10-25 | 2019-10-25 | Vehicle and control method thereof |
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| CN201911023928.0A CN110696824A (en) | 2019-10-25 | 2019-10-25 | Vehicle and control method thereof |
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