CN110823242A - Path planning system applied to vehicle steering at road intersection - Google Patents
Path planning system applied to vehicle steering at road intersection Download PDFInfo
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- CN110823242A CN110823242A CN201911160338.2A CN201911160338A CN110823242A CN 110823242 A CN110823242 A CN 110823242A CN 201911160338 A CN201911160338 A CN 201911160338A CN 110823242 A CN110823242 A CN 110823242A
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- 230000000007 visual effect Effects 0.000 abstract description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention discloses a path planning system applied to vehicle steering at a road intersection, which is respectively arranged at the road intersection and a vehicle-mounted end of a vehicle, wherein the vehicle comprises an ECU (electronic control unit) and a bottom layer execution module; the path planning system is provided with a roadbed module at a road intersection, and a vehicle-mounted end is provided with a vehicle-mounted communication module; and the roadbed module is in signal connection with the vehicle-mounted communication module. By adopting the technical scheme, the simple roadbed equipment is the V2X roadbed equipment for making the turn path decision of the intersection, and the problems of unstable calculation, large calculation amount, large load on an ECU (electronic control unit) and high cost due to the adoption of a high-definition laser map and visual processing in path planning in the prior art can be solved.
Description
Technical Field
The invention belongs to the technical field of vehicle operation control. More particularly, the present invention relates to a path planning system applied to the turning of vehicles at road intersections.
Background
The intersection turning is mainly based on vision and by means of a laser high-definition map, the calculation amount is large, the cost is high, the requirement on an ECU calculation decision carrier is high, and the calculation cost of the automatic driving path decision is greatly increased.
The problems existing in the prior art are as follows:
1. the decision of the curve path needs to depend on strong visual processing capability, and the ECU load is large;
2. the processing errors of the curve path decision algorithm are continuously iterated and accumulated, periodic instability occurs, and the turning precision of a straight path decision cannot be guaranteed;
3. the decision of the curve path needs to be made by means of a high-precision laser map, so that the capital cost is greatly increased.
Disclosure of Invention
The invention provides a path planning system applied to vehicle steering at a road intersection, and aims to facilitate the planning and calculation of the intersection steering.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a path planning system applied to vehicle steering at a road intersection, which is respectively arranged at the road intersection and a vehicle-mounted end of the vehicle, wherein the vehicle comprises an ECU (electronic control unit) and a bottom layer execution module; and the roadbed module is in signal connection with the vehicle-mounted communication module.
The roadbed module sends a wireless signal to the vehicle-mounted communication module through the cloud server or directly; the vehicle-mounted communication module sends a signal to the ECU; and the ECU sends an execution signal to the bottom layer execution module.
The roadbed module is provided with a roadbed information input module, a roadbed information output module and an information transmitting module; and the roadbed module is in signal connection with the vehicle-mounted communication module through the information transmitting module.
The vehicle-mounted communication module is provided with a vehicle-mounted signal output module and a wireless signal receiving module; the vehicle-mounted communication module receives the information sent by the roadbed module through the wireless signal receiving module; and the vehicle-mounted communication module sends information to the ECU through the vehicle-mounted signal output module.
The signal sent by the roadbed module comprises lane width, lane number, coordinate information of each lane line and lane type information.
The vehicle-mounted communication module receives the intersection information sent by the roadbed module, performs coordinate conversion according to the intersection information, determines the distance between the roadbed module and the vehicle and the included angle between the roadbed module and the driving direction of the vehicle, and transmits signals to the ECU.
The ECU makes a decision for steering a target lane according to the distance and angle signals; and then calculating the turning curvature radius, and further controlling the bottom execution module to turn to the target lane by a smooth curve.
By adopting the technical scheme, the invention adopts simple roadbed equipment, is V2X roadbed equipment for making a turn path decision at an intersection, and can solve the problems of unstable calculation, large calculation amount, large load on an ECU (electronic control unit) and high cost due to the adoption of a high-definition laser map and visual processing in path planning in the prior art.
Drawings
The contents of the drawings and the reference numbers in the drawings are briefly described as follows:
fig. 1 is a diagram of the construction of the roadbed and the communication module of the present invention.
Fig. 2 is a layout diagram of the crossing roadbed equipment of the invention;
fig. 3 is a logic diagram of the signaling of the present invention.
Labeled as:
101. the system comprises a roadbed module 1011, a roadbed information input module 1012, a roadbed information output module 1013, an information transmitting module 201, a vehicle-mounted communication module 2011, a vehicle-mounted signal output module 2012, a wireless signal receiving module 301, an ECU 401 and a bottom layer execution mechanism.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The invention relates to V2X roadbed equipment, in particular to simple road bed equipment for path decision of intersection turning. As shown in fig. 1 to fig. 3, the present invention is a path planning system applied to a vehicle turning at a road intersection, and is respectively disposed at the road intersection and a vehicle-mounted end of the vehicle, where the vehicle includes an ECU301 and a bottom layer execution module 401.
In order to solve the problems in the prior art, overcome the defects and realize the purpose of the invention that the planning calculation of the intersection turning is convenient and easy, the invention adopts the technical scheme that:
as shown in fig. 1 to fig. 3, the path planning system applied to the turning of vehicles at a road intersection of the present invention is provided with a roadbed module 101 at the road intersection, and a vehicle-mounted communication module 201 at the vehicle-mounted end; the roadbed module 101 is in signal connection with the vehicle-mounted communication module 201.
The invention discloses simple road bed equipment for planning a path for turning at an intersection, which is mainly V2X road bed equipment for decision-making of the path for turning at the intersection, and can solve the problems of unstable calculation, large calculation amount, large load on an ECU (electronic control unit) and higher cost due to the adoption of a high-definition laser map and visual processing in path planning.
The V2X roadbed equipment can greatly reduce the calculation amount of path decision, and the calculation stability and precision are also guaranteed.
The roadbed module 101 sends a wireless signal to the vehicle-mounted communication module 201 through a cloud server or directly; the vehicle-mounted communication module 201 sends a signal to the ECU 301; the ECU301 sends an execution signal to the bottom layer execution module 401.
The simple road bed equipment for planning the turning path of the intersection covers a certain working area range, and only after the vehicle reaches a specified turning place, the information is sent to the intersection at the vehicle end in real time.
The roadbed module 101 is provided with a roadbed information input module 1011, a roadbed information output module 1012 and an information transmitting module 1013; the roadbed module 101 is in signal connection with the vehicle-mounted communication module 201 through the information transmitting module 1013.
The vehicle-mounted communication module 201 is provided with a vehicle-mounted signal output module 2011 and a wireless signal receiving module 2012; the vehicle-mounted communication module 201 receives the information sent by the roadbed module 101 through the wireless signal receiving module 2012; the vehicle-mounted communication module 201 sends information to the ECU301 through the vehicle-mounted signal output module 2011.
The signal sent by the roadbed module 101 includes lane width, lane number, coordinate information of each lane line, and lane type information.
The intersection information is obtained by using the roadbed equipment as an origin and transmitting information such as lane width, the number of lanes, coordinate information of each lane line, lane type and the like.
The vehicle-mounted communication module 201 receives the intersection information sent by the road-based module 101, performs coordinate conversion according to the intersection information, determines the distance between the road-based module 101 and the vehicle and the included angle between the road-based module 101 and the driving direction of the vehicle, and transmits signals to the ECU 301.
The vehicle end is provided with a receiving module which can perform coordinate conversion according to the intersection information to determine the distance and the angle between the roadbed equipment and the vehicle.
The ECU301 makes a decision for steering a target lane according to the distance and angle signals; then, the turning curvature radius is calculated, and the bottom layer execution module 401 is controlled to turn, so that the target lane is turned in a smooth curve.
And the vehicle end decides to turn to the lane according to the distance angle, calculates the turning curvature radius, further controls the bottom layer to turn, and turns to the target lane in a smooth curve.
According to the technical scheme, the simple intersection signal sending equipment is used for sending the intersection position and the lane information in real time according to the vehicle position range, wherein the lane information mainly comprises lane width, lane number, lane type and lane line position to the vehicle end; and the vehicle makes a decision to turn to a lane of several numbers according to the relative position, calculates the turning radius and then turns.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (7)
1. The utility model provides a be applied to vehicle at road junction route planning system that turns to, set up respectively at road junction and the on-vehicle end of vehicle, the vehicle include ECU (301) and bottom execution module (401), its characterized in that: the path planning system is provided with a roadbed module (101) at a road intersection, and the vehicle-mounted end is provided with a vehicle-mounted communication module (201); the roadbed module (101) is in signal connection with the vehicle-mounted communication module (201).
2. A path planning system for use in a vehicle turning at a road intersection as claimed in claim 1, wherein: the roadbed module (101) sends a wireless signal to the vehicle-mounted communication module (201) through a cloud server or directly; the vehicle-mounted communication module (201) sends a signal to the ECU (301); the ECU (301) sends an execution signal to the bottom layer execution module (401).
3. A path planning system for use in a vehicle turning at a road intersection as claimed in claim 2, wherein: the roadbed module (101) is provided with a roadbed information input module (1011), a roadbed information output module (1012) and an information transmitting module (1013); the roadbed module (101) is in signal connection with the vehicle-mounted communication module (201) through the information transmitting module (1013).
4. A path planning system for use in a vehicle turning at a road intersection as claimed in claim 2, wherein: the vehicle-mounted communication module (201) is provided with a vehicle-mounted signal output module (2011) and a wireless signal receiving module (2012); the vehicle-mounted communication module (201) receives the information sent by the roadbed module (101) through the wireless signal receiving module (2012); the vehicle-mounted communication module (201) sends information to the ECU (301) through the vehicle-mounted signal output module (2011).
5. A path planning system for use in a vehicle turning at a road intersection as claimed in claim 2, wherein: the signal sent by the roadbed module (101) comprises lane width, lane number, coordinate information of each lane line and lane type information.
6. A path planning system for use in a vehicle turning at a road intersection as claimed in claim 2, wherein: the vehicle-mounted communication module (201) receives the intersection information sent by the road foundation module (101), performs coordinate conversion according to the intersection information, determines the distance between the road foundation module (101) and the vehicle and the included angle between the road foundation module and the driving direction of the vehicle, and transmits signals to the ECU (301).
7. The path planning system as claimed in claim 6, applied to a vehicle turning at a road intersection, wherein: the ECU (301) makes a decision for steering a target lane according to the distance and angle signals; and then, calculating the turning curvature radius, and further controlling the bottom layer execution module (401) to steer the target lane in a smooth curve.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911160338.2A CN110823242B (en) | 2019-11-23 | 2019-11-23 | Path planning system applied to vehicle steering at road intersection |
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| CN201911160338.2A CN110823242B (en) | 2019-11-23 | 2019-11-23 | Path planning system applied to vehicle steering at road intersection |
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| CN110390835A (en) * | 2018-04-20 | 2019-10-29 | 睿鑫科技（天津）有限公司 | A kind of method for guiding vehicles, device and related system |
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2019
- 2019-11-23 CN CN201911160338.2A patent/CN110823242B/en active Active
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| JP2009037462A (en) * | 2007-08-02 | 2009-02-19 | Toshiba Corp | Traffic information providing system and method |
| CN102542804A (en) * | 2012-02-06 | 2012-07-04 | 王海舟 | Method for monitoring running state of vehicle, roadside beacon and intelligent traffic monitoring system |
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