CN110834628A - Obstacle avoidance control method and system suitable for automobile - Google Patents

Obstacle avoidance control method and system suitable for automobile Download PDF

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CN110834628A
CN110834628A CN201810933079.1A CN201810933079A CN110834628A CN 110834628 A CN110834628 A CN 110834628A CN 201810933079 A CN201810933079 A CN 201810933079A CN 110834628 A CN110834628 A CN 110834628A
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control command
obstacle
steering
control
module
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CN110834628B (en
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程曦
周佳
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Chongqing Haode Translation Information Technology Co Ltd
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Priority to CN202110568464.2A priority patent/CN113085903A/en
Priority to CN202110568626.2A priority patent/CN113085904A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

An obstacle avoidance control method suitable for an automobile at least comprises the following steps: acquiring current speed information of the automobile based on a sensor module in a manual driving mode in an automobile driving mode; determining obstacle information in front of the automobile based on the obstacle detection module; the control module detects manual operation of a driver on the steering module and the braking module, generates a first steering control instruction and a first braking control instruction based on the manual operation of the driver on the steering module and the braking module, and generates a first control command according to the first steering control instruction and the first braking control instruction; the central processing unit generates a second control command based on the obstacle information and the current speed information of the automobile; and combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command.

Description

Obstacle avoidance control method and system suitable for automobile
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a method and a system for controlling an obstacle avoidance system suitable for an automobile.
Background
With the rapid development of economy, automobiles become necessities for life and enter each family, meanwhile, the incidence rate of traffic accidents is increased day by day, and the life safety of people is seriously threatened, so that the safety of vehicles enters the visual field of people and is concerned by people.
The operation of modern vehicles is becoming more and more automated and there is a growing trend towards providing driving control systems that can reduce the manual operation of the driver. According to the classification system for autonomous driving of SAE international society of Automotive Engineers (society of Automotive Engineers), the SAE autonomous driving is classified into L0-L5, which are classified into six grades in total from zero assistance to full automation according to different degrees. Among them, vehicle automation has started from level L0, which corresponds to full-human control non-automation, to level L5, which corresponds to full-human control automation. Various automatic driving assistance systems, such as cruise control, adaptive cruise control and parking assistance systems, correspond to a lower level of automation, while a true "driver-less" vehicle corresponds to a higher level of automation. At present, some automobile manufacturers have already provided relatively mature unmanned automobiles which can realize automatic driving without much human intervention according to road conditions.
However, many traffic accidents now result from drivers making incorrect driving maneuvers at critical times. For example, when a vehicle running at a high speed encounters an unexpected obstacle, an inexperienced driver can suddenly step on a brake and a steering wheel, and when the vehicle heavily steps on the brake, the steering wheel is thrown too much, so that the control of the head or the tail of the vehicle is lost, the rear wheels or the front wheels are locked, the steering of the head is affected, or the braking and the steering are not timely due to the inexperienced driver, so that accidents are caused. For a general unmanned system, when encountering an obstacle suddenly appearing on a road surface, safety factors are excessively considered, and under the condition of a large safety threshold, a brake is directly stepped on, so that bad driving experience is caused to drivers and passengers.
Chinese patent (publication No. CN203727351U) provides an emergency brake device for an obstacle and a vehicle. The emergency brake device comprises a vehicle front camera, an image processor, a calculator, a first comparator, a first controller and a vehicle brake pump; the front camera is used for acquiring a first image of a front obstacle at a first time point and a second image of the front obstacle at a second time point; the image processor generates a first closest distance between the automobile and the obstacle in front of the automobile at a first time point and a second closest distance between the automobile and the obstacle in front of the automobile at a second time point; the calculator calculates a first time length and a first difference absolute value, and calculates a first distance change speed between the automobile and an obstacle in front of the automobile; the first comparator generates a comparison result; the first controller generates a first control instruction according to the first comparison result; and the automobile brake pump works according to the first control instruction.
The above patent only takes braking measures before the collision is about to occur, and cannot effectively solve the problem that traffic accidents may be caused by the driver hiding the obstacle and subconsciously rotating the steering wheel too much when the automobile runs at high speed.
Therefore, a method for weakening the driving operation of the driver when encountering an obstacle is needed, so that the stable driving of the automobile is ensured on the premise of ensuring the safety of avoiding the obstacle.
Disclosure of Invention
The word "module" as used herein describes any type of hardware, software, or combination of hardware and software that is capable of performing the functions associated with the "module".
Aiming at the defects of the prior art, the invention provides a control method for avoiding obstacles, which is suitable for an automobile and at least comprises the following steps: acquiring current speed information of the automobile based on a sensor module in a manual driving mode in an automobile driving mode; determining obstacle information in front of the automobile based on the obstacle detection module; the control module detects manual operation of a driver on the steering module and the braking module, generates a first steering control instruction and a first braking control instruction which are matched with the manual operation based on the manual operation of the driver on the steering module and the braking module, and generates a first control command according to the first steering control instruction and the first braking control instruction; the central processing unit generates a second control command based on the obstacle information and the current speed information of the automobile; the control module generates a second steering control instruction and a second braking control instruction under the second control command based on the second control command; combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command; the obstacle information at least comprises the type of the obstacle, the shape and the volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
According to a preferred embodiment, the first control command and the second control command form a hybrid control command in a logically mixed manner and control the vehicle to avoid obstacles through the hybrid control command, wherein a first steering control command of the first control command and a second steering control command of the second control command form a hybrid steering control command in a control logic mixed ratio manner; a first brake control instruction in the first control command and a second brake control instruction in the second control command form a hybrid brake control instruction according to a control logic mixing proportion mode; and generating a hybrid control command according to the hybrid steering control command and the hybrid braking control command.
According to a preferred embodiment, the first steering control command and the second steering control command are configured to mix a pattern of dynamic changes in ratio to form a hybrid steering control command; the first and second brake control commands are configured to blend the dynamically varying modes of proportions to form blended brake control commands.
According to a preferred embodiment, in an automatic driving mode among the driving modes of the automobile, it is determined whether the type of an obstacle in front of the automobile is a vehicle or a pedestrian based on the obstacle detection module; the central processing unit calculates and obtains the minimum braking time for avoiding the collision of the automobile with the obstacle and the minimum steering time for avoiding the collision of the automobile with the obstacle; and the control module generates a third steering control instruction and a third braking control instruction according to the type of the obstacle and the minimum steering time, and controls the braking and the steering of the automobile in sequence.
According to a preferred embodiment, when the type of the obstacle is a vehicle, the first moment LPS1 after the brake of the vehicle is controlled by the brake module in the control module executing a third brake control command to control the steering of the vehicle by the steering module in the control module executing a third steering control command; and when the type of the obstacle is a pedestrian, the brake module in the control module executes a third brake control command to control the second moment LPS2 after the automobile is braked, and the steering module in the control module executes a third steering control command to control the steering of the automobile.
According to a preferred embodiment, the control module controls the braking of the car only by the braking module executing the fourth braking control command, when an obstacle of the obstacle type vehicle is present after said first instant LPS1, and/or when an obstacle of the obstacle type pedestrian is present after said second instant LPS 2.
According to a preferred embodiment, the minimum braking time tLPBCalculated by the following formula:
Figure BDA0001765881820000031
wherein v isrelSpeed of the vehicle relative to the obstacle, dLPBFor a limited braking distance, axIs the longitudinal acceleration, mu is the friction coefficient and g is the gravitational acceleration.
According to a preferred embodiment, the minimum steering time tLPSCalculated by the following formula:
Figure BDA0001765881820000042
Figure BDA0001765881820000043
wherein d isLPSFor a limited steering distance, syThe amount of overlap of the vehicle with the obstacle, ayIs in the transverse directionAcceleration, μ is the coefficient of friction, and g is the acceleration of gravity.
The invention also provides an obstacle avoidance control system suitable for an automobile, at least comprising a sensor module, a control module, a central processing unit and an obstacle detection module, wherein the control module comprises a steering module and a braking module, and the control system is configured to: in an automatic driving mode, acquiring current speed information of the automobile based on a sensor module; determining obstacle information in front of the automobile based on the obstacle detection module; the control module detects manual operation of a driver on the steering module and the braking module, generates a first steering control instruction and a first braking control instruction which are matched with the manual operation based on the manual operation of the driver on the steering module and the braking module, and generates a first control command according to the first steering control instruction and the first braking control instruction; the central processing unit generates a second control command based on the obstacle information and the current speed information of the automobile; the control module generates a second steering control instruction and a second braking control instruction under the second control command based on the second control command; combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command; the obstacle information at least comprises the type of the obstacle, the shape and the volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
According to a preferred embodiment, the control module is configured to: the first control command and the second control command form a hybrid control command in a logic hybrid mode and control the automobile to avoid obstacles through the hybrid control command, wherein a first steering control command in the first control command and a second steering control command in the second control command form a hybrid steering control command in a control logic hybrid proportion mode; a first brake control instruction in the first control command and a second brake control instruction in the second control command form a hybrid brake control instruction according to a control logic mixing proportion mode; and generating a hybrid control command according to the hybrid steering control command and the hybrid braking control command.
The invention has the beneficial technical effects that:
(1) according to the invention, in the manual driving mode, the dynamic mixing proportion between the manual first control command and the second control command generated by the system is dynamically adjusted according to the relative distance and the relative speed between the vehicle speed and the obstacle, so that the driving stability of the automatic driving mode after the computer calculation can be kept, and the driving agility in the manual driving mode can be kept. The influence of the excessive reaction subconsciously sensed by the driver on the driving stability of the automobile is weakened in a dynamic mixing proportion mode, so that the aim of ensuring the stable driving of the automobile can be fulfilled on the premise of ensuring the safety of avoiding obstacles.
(2) In the automatic driving mode, the automatic emergency braking time and the automatic emergency steering time are set differently based on the type of the obstacle, so that the automatic braking and automatic steering time is optimized, the automatic emergency braking and the automatic emergency steering are simultaneously and sequentially carried out to avoid potential collision with the obstacle, the obstacle can be avoided more stably, and the driving safety is effectively improved.
Drawings
FIG. 1 is a schematic logical relationship diagram of a preferred embodiment of the control system of the present invention;
FIG. 2 is a schematic flow diagram of a preferred embodiment of the control system of the present invention; and
fig. 3 is a schematic view of collision avoidance in a preferred embodiment of the control system of the present invention.
List of reference numerals
11: the sensor module 12: the control module 13: central processing unit
14: obstacle detection module 121: the steering module 122: brake module
Detailed Description
The following detailed description is made with reference to fig. 1, 2, and 3.
Example 1
The embodiment provides an obstacle avoidance control method suitable for an automobile, wherein the automobile driving mode comprises a manual driving mode and an automatic driving mode, and the method at least comprises the following steps:
s1: acquiring current speed information of the automobile based on the sensor module 11, and determining obstacle information in front of the automobile based on the obstacle detection module 14;
s2: the control module 12 detects manual operation of the steering module 121 and the brake module 122 by a driver, and the control module 12 generates a first steering control command and a first brake control command which are matched with the manual operation based on the manual operation of the steering module and the brake module 122 by the driver, and generates a first control command according to the first steering control command and the first brake control command;
s3: the central processing unit 13 generates a second control command based on the obstacle information and the current speed information of the automobile, and the control module 12 generates a second steering control command and a second braking control command under the second control command based on the second control command;
s4: combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command; the obstacle information at least comprises the type of the obstacle, the shape volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
According to the invention, in the manual driving mode, the dynamic mixing proportion between the manual first control command and the second control command generated by the system is dynamically adjusted according to the relative distance and the relative speed between the vehicle speed and the obstacle, so that the driving stability of the automatic driving mode after the computer calculation can be kept, and the driving agility in the manual driving mode can be kept. The influence of the excessive reaction subconsciously sensed by the driver on the driving stability of the automobile is weakened in a dynamic mixing proportion mode, so that the aim of ensuring the stable driving of the automobile can be fulfilled on the premise of ensuring the safety of avoiding obstacles. Preferably, the first control command and the second control command can form a mixed control command in a manner of controlling a mixing ratio of the logic, wherein a control effect of the second control command can be enhanced in a manner of attenuating an execution feedback amount of the first control command, and a control effect of the first control command can be enhanced in a manner of attenuating an execution feedback amount of the second control command. In practice, when an obstacle is detected to approach, the driver can make an obstacle avoidance strategy based on the actual driving condition and the obstacle visually known by the driver, for example, the driver can suddenly turn the vehicle or accelerate the vehicle by turning the steering wheel or stepping on the accelerator. In the process of sudden steering or acceleration driving, a driver who lacks driving experience often cannot accurately grasp the steering angle and the driving speed required for avoiding the obstacle at the current speed and distance, and the obstacle avoidance is performed by adopting the maximum steering angle or the maximum driving speed which can be reached by the automobile, so that the increase of the steering angle or the driving speed can cause instability of driving and abrupt increase of the driving power required to be consumed. In this case, in the control system of the present invention, the steering angle and the traveling speed are configured by recognizing the obstacle information and calculating the influence factors such as the current speed of the vehicle with respect to the obstacle and the limited braking distance, and the feedback amount of the steering angle or the traveling speed required for the second control command is appropriately attenuated, that is, the steering angle or the traveling speed generated by the second control command is attenuated by a certain amount while ensuring that the obstacle avoidance is possible.
For ease of understanding, the above steps are discussed in detail below.
S1: the current speed information of the automobile is acquired based on the sensor module 11, and the obstacle information in front of the automobile is determined based on the obstacle detection module 14.
Preferably, in the manual driving mode, the obstacle detection module 14 obtains obstacle information in front of the vehicle, where the obstacle information at least includes an obstacle type, an obstacle shape volume, a distance between the obstacle and the vehicle, and a relative speed between the obstacle and the vehicle. The obstacle detection module includes one or more of a GPS, a radar, a laser radar, a light-sensing camera, a thermal-sensing camera, an ultrasonic sensor, and an infrared sensor. All can be through the mode of installation ultrasonic transmitter towards its corresponding direction transmission ultrasonic wave on the left and right, preceding and the rear direction of car to make the car can the omnidirectional monitoring barrier approach information. The sensor module 11 is, for example, a gyroscope, a velocity sensor, or an acceleration sensor. The central processing unit 13 and the brake module 122 include one or more of a physical operation processing chip, a big data chip, an AI chip, and an operation server integrated by packaging the above chips. The obstacle detection module 14 may determine the relative distance between the vehicle and the obstacle in front by recording the transmission and feedback reception times of the ultrasonic waves and calculating the time difference. Meanwhile, the relative speed of the obstacle and the automobile can be calculated by the central processing unit by combining the current speed of the automobile and the reduction value of the relative distance between the automobile and the obstacle in the designated time.
Preferably, the obstacle detection module 14 may be configured to identify or determine whether the obstacle is a vehicle or a pedestrian. In particular, the obstacle detection module 14 may be configured to detect a width of an obstacle, and when the width is less than about 1m, the obstacle may be identified as a pedestrian or otherwise, including: motorcycles, bicycles, strollers; and when the width is greater than about 1m, the obstacle may be recognized as a vehicle.
S2: the control module 12 detects manual operations of the steering module 121 and the braking module 122 by the driver, and the control module 12 generates a first steering control command and a first braking control command matched with the manual operations based on the manual operations of the steering module and the braking module by the driver, and generates a first control command according to the first steering control command and the first braking control command.
Preferably, when the driver finds an obstacle in front of the vehicle within a certain distance while driving, a manual operation is applied to the steering module 121 and the braking module 122. In particular, in general, the control object of the steering module 121 is a steering wheel, and the control object of the braking module 122 is a brake or an accelerator. Specifically, the braking instruction can be linearly divided into 10, 9, 8, 7, 6, 5, 4, 3, 2 and 1 ten grades from the heaviest emergency brake to the lightest spot brake according to the braking effect, the steering instruction is divided into the rotating direction and the rotating angle, the rotating direction is divided into the left clockwise or anticlockwise rotating steering wheel, the rotating angle is divided into 360 degrees, 355 degrees, 345 degrees, 340 degrees, 335 degrees, 330 degrees, 325 degrees, 320 degrees, 315 degrees, 310 degrees, 305 degrees, 300 degrees, 295 degrees, 290 degrees, 285 degrees, 280 degrees, 275 degrees, 265 degrees, 260 degrees, 255 degrees, 250 degrees, 240 degrees, 235 degrees, 230 degrees, 225 degrees, 220 degrees, 215 degrees, 205 degrees, 200 degrees, 195 degrees, 190 degrees, 185 degrees, 180 degrees, 175 degrees, 170 degrees, 160 degrees, 155 degrees, 150 degrees, 145 degrees, 140 degrees, 135 degrees, 130 degrees, 125 degrees, 120 degrees from 360 degrees to 5 degrees by taking 5 degrees as the first grade, 115 °, 110 °, 105 °, 100 °, 95 °, 90 °, 85 °, 80 °, 75 °, 70 °, 65 °, 60 °, 55 °, 50 °, 45 °, 40 °, 35 °, 30 °, 25 °, 20 °, 215 °, 10 °, 05 °. After the driver applies manual operation to the steering module 121 and the braking module 122, the automobile does not perform corresponding steering and braking operations, but the control module generates a first steering control command and a first braking control command matched with the manual operation.
S3: the central processing unit 13 generates a second control command based on the obstacle information and the current speed information of the automobile, and the control module 12 generates a second steering control command and a second braking control command under the second control command based on the second control command.
Preferably, when the driver applies manual operation to the steering module 121 and the braking module 122, the central processing unit 13 generates a second steering control command and a second braking control command according to information such as the speed of the vehicle, the size of the obstacle, the distance between the vehicle and the obstacle, and the relative speed between the vehicle and the obstacle. The second steering control command and the second braking control command may be obtained by the central processing unit 13 by accessing the internet and accessing the uplink database. For example, when the obstacle is a pedestrian, the vehicle speed is 60km/h, and the distance from the vehicle when the obstacle appears is 50m, the second control command is to perform 8-stage braking for 2 seconds and then rotate the steering wheel 90 ° counterclockwise.
S4: combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command; the obstacle information at least comprises the type of the obstacle, the shape volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
Preferably, the first control command and the second control command form a hybrid control command in a logic hybrid manner and control the vehicle to avoid the obstacle through the hybrid control command, wherein a first steering control command in the first control command and a second steering control command in the second control command form a hybrid steering control command in a control logic hybrid proportion manner; forming a hybrid brake control instruction by a first brake control instruction in the first control instruction and a second brake control instruction in the second control instruction according to a control logic hybrid proportion mode; and generating a hybrid control command according to the hybrid steering control command and the hybrid braking control command. And the first steering control command and the second steering control command are configured to mix the dynamically varying pattern of proportions to form a hybrid steering control command; the first brake control command and the second brake control command are configured to mix the dynamically varying modes of proportions to form a blended brake control command.
Preferably, in the manual driving mode, when the vehicle speed reaches 80km/h, a large broken stone obstacle appears on the road surface 50m in front of the vehicle, and a driver can habitually and violently step on the brake and turn the steering wheel in a large direction to avoid the obstacle due to instinctive reaction. At this time, the control module 12 detects that the first control command of the driver is that the steering wheel is rotated clockwise by 60 degrees after 8-level braking, and under a general condition, when the driver steps on the brake suddenly, the vehicle head or the vehicle tail is easily out of control and the rear wheel or the front wheel is easily locked due to overlarge whipping of the steering wheel to influence steering because the vehicle speed is high, or accidents are caused when the driver is in short time with untimely braking and steering because the driver is inexperienced. At this time, the central processing unit 13 generates a second control command based on the relative distance between the obstacle and the vehicle, the relative speed and the current speed information of the vehicle, and whether there is a passing vehicle on the left and right sides, and the second brake control command and the first brake control command are mixed according to a logical proportion to form a hybrid brake control command, and the second steering control command and the first steering control command are mixed according to a logical proportion to form a hybrid control command, for example, at this time, the second brake control command is 6-stage brake, the second steering control command is that the steering wheel rotates clockwise by 30 °, the first control command is weakened by the second control command, and preferably, at 80km/h, the first control command and the second control command are in a ratio of 2: 8, the mixed control command is generated by mixing, the mixed control command is 6 × 0.8+8 × 0.2-6.4-stage braking and 30 ° × 0.8+60 ° × 0.2-36 ° of clockwise rotation reversing disc, and finally, the automobile is ensured to run in a stable mode on the premise of avoiding obstacles. Meanwhile, under the condition that the vehicle speed is higher, the mixing proportion of the first control command is weakened, and the mixing proportion of the second control command is improved, so that accidents caused by that a driver applies the first control command excessively subconsciously due to sudden encounter of an obstacle when the vehicle runs at a high speed are prevented.
Preferably, the first brake control command and the second brake control command are configured to mix a dynamically changing proportion mode to form a hybrid brake control command, and specifically, the first steering control command in the first control command and the second steering control command in the second control command form the hybrid steering control command in a control logic mixing proportion mode; and forming a hybrid brake control instruction by a first brake control instruction in the first control command and a second brake control instruction in the second control command according to a control logic mixing ratio mode.
Preferably, in the manual driving mode, when the vehicle speed reaches 20km/h, and a current person suddenly appears in front of the automobile by 50m, because the first control command manually executed at this time has stronger accuracy, the first control command and the second control command are in accordance with the following ratio of 9: the mixing is performed at a ratio of 1 to generate a mixing control command.
Preferably, in the manual driving mode, when the central processing unit 13 detects that the first control command and the second control command have opposite commands, more specifically, the first steering control command is 45 ° for left-turning steering wheel, and the second steering control command is 30 ° for right-turning steering wheel, specifically, the central processing unit 13 detects that the left rear adjacent lane vehicle is passing from the left side based on the obstacle detection module 14, and when the first steering control command and the second steering control command are in accordance with 0: 10 to form a mixed control command, completely eliminating the influence of the left turn of the first steering control command and avoiding accidents caused by the left lane change of the vehicle.
Preferably, in the manual driving mode, when the central processing unit 13 detects that the first control command and the second control command have opposite commands, more specifically, the first brake control command is 9-step accelerator acceleration, and the second brake control command is 8-step braking, in order to avoid the dangerous situation, the first brake control command and the second brake control command are in accordance with a ratio of 0: the 10 proportion is mixed to form a mixed control command, so that accidents caused by the fact that a driver uses the accelerator as a brake in a hurry are avoided.
Example 2
This embodiment is a further improvement of embodiment 1, and repeated contents are not described again.
The control method comprises the following steps in an automatic driving mode: determining whether the type of obstacle in front of the automobile is a vehicle or a pedestrian based on the obstacle detection module 14; the central processing unit 13 calculates and obtains the minimum braking time for avoiding the collision of the automobile with the obstacle and the minimum steering time for avoiding the collision of the automobile with the obstacle; the control module 12 generates a third steering control command and a third braking control command according to the type of the obstacle and the minimum steering time, and controls braking and steering of the vehicle in sequence.
Preferably, the obstacle detection module 14 may be configured to identify or determine whether the obstacle is a vehicle or a pedestrian. In particular, the obstacle detection module 14 may be configured to detect a width of an obstacle, and when the width is less than about 1m, the obstacle may be identified as a pedestrian or otherwise, including: motorcycles, bicycles, strollers; and when the width is greater than about 1m, the obstacle may be recognized as a vehicle.
Preferably, the central processor 13 may be configured to calculate the minimum braking time, the minimum steering time required and to calculate the time to collision TTC of the vehicle.
Preferably, when the type of the obstacle is a vehicle, the brake module 122 in the control module 12 executes a third brake control command to control the first moment LPS1 after the vehicle brakes to control the steering of the vehicle by the steering module 121 in the control module 12 executing a third steering control command; and when the type of the obstacle is a pedestrian, the brake module 122 in the control module 12 executes a third brake control command to control the second moment LPS2 after the vehicle brakes to control the steering of the vehicle by the steering module 121 in the control module 12 executing a third steering control command. Preferably, the control module 12 includes one or more of an electronic/Engine Control Module (ECM), a Powertrain Control Module (PCM), a Transmission Control Module (TCM), a brake control module (BCM or EBCM), and a Central Control Module (CCM). Preferably, the steering module 121 may be an inverter.
Preferably, the control module 12 controls braking of the automobile only by the brake module 122 executing the fourth brake control command when the obstacle of the obstacle type vehicle occurs after the first instant LPS1, and/or when the obstacle of the obstacle type pedestrian occurs after the second instant LPS 2.
Preferably, the central processor 13 may be configured to calculate the minimum braking time tLPBMinimum steering time tLPSAnd calculating the time to collision TTC of the automobile. Where TTC may be a value determined by dividing the distance between the vehicle and the obstacle by the relative speed of the two. The central processing unit 13 calculates the time TTC from the vehicle to the collision through the relevant information detected by the obstacle detection module 14. Wherein the minimum braking time tLPBCalculated by the following formula:
Figure BDA0001765881820000111
wherein v isrelSpeed of the vehicle relative to the obstacle, dLPBLimited braking distance, axIs the longitudinal acceleration, mu is the friction coefficient and g is the gravitational acceleration. Minimum steering time tLPSCalculated by the following formula:
Figure BDA0001765881820000112
Figure BDA0001765881820000113
wherein d isLPSFor a limited steering distance, syThe amount of overlap of the vehicle with the obstacle, ayIn the case of lateral acceleration, μ is the coefficient of friction, and g is the acceleration of gravity. Specifically, the friction coefficient μ refers to a friction coefficient on a paved road, and is constant. The amount of overlap of the car with the obstacle may be measured by the obstacle detection module 14 based on the width of the vehicle and the amount covered by the obstacle.
Preferably, the central processor 13 is configured to periodically calculate TTC, then compare the minimum braking time and the minimum steering time, and operate the braking module 122 and the steering module 121 to brake and steer accordingly.
Preferably, the central processor 13 may be configured to respond to reaching the minimum braking time tLPBAnd the vehicle is stopped or braked. When a collision with an obstacle due to the sudden appearance of the obstacle may not be avoided by braking, in this case, when the minimum braking time has been calculated, it has passed, that is, the minimum braking time tLPBIn the past, the central processor 13 may be configured to first control vehicle braking via the brakes 122, and then control vehicle steering via the control steering module 121 to deviate the vehicle from the driving lane when a minimum steering time is reached.
Preferably, the moment when the obstacle appears is greater than the minimum steering time tLPSIn this case, since a collision with an obstacle may be unavoidable, the above method can minimize damage due to the collision by operating the brake of the vehicle. Further, the moment when the obstacle appears is the minimum steering time tLPSInstead, the steering module 121 may be controlled directly without controlling the brake module 122. Thus, at the minimum braking time tLPBWhen an obstacle occurs after the past, the present invention can prevent the vehicle from colliding with the obstacle by appropriately performing braking and steering.
Preferably, as shown in fig. 3, LPB denotes a time required to avoid a collision of a car with an obstacle by braking, LPS1 denotes a first time required to avoid a collision of a car with a front vehicle by steering when the obstacle is the front vehicle, and LPS2 denotes a second time required to avoid a collision of a car with a pedestrian by steering when the obstacle is the pedestrian. In particular, since the vehicle is also traveling forward when the obstacle is a vehicle so that the relative speed of the obstacle to the vehicle is smaller, the first timing LPS1 may be later than the timing LPS 2. In other words, when the obstacle is a vehicle, the running vehicle may turn at a time later than the case where the obstacle is a pedestrian to avoid a collision.
Further, the control module 12 may be configured to identify or determine the type of obstacle, e.g., vehicle, pedestrian; the braking and steering of the vehicle is then controlled in sequence based on the minimum steering time according to the results. That is, the control module 12 may be configured to operate the steering of the vehicle at a first time LPS1 after operating the brakes of the vehicle when the obstacle is the vehicle, and to operate the steering of the vehicle at a second time LPS2 after operating the brakes of the vehicle when the obstacle is the pedestrian. In particular, when the vehicle occurs after the first moment LPS1, and when the pedestrian occurs after the second moment LPS2, damage caused by a potential collision may be reduced by operating only the brakes of the vehicle.
Preferably, the present invention more smoothly avoids an obstacle by differently setting a time of automatic emergency braking and a time of automatic emergency steering based on a type of the obstacle in an automatic driving mode, thereby optimizing the times at which the automatic braking and the automatic steering occur, while sequentially performing the automatic emergency braking and the automatic emergency steering to avoid a potential collision with the obstacle.
Example 3
This embodiment is a further improvement on embodiments 1 and 2, and repeated details are not repeated.
The invention also provides an obstacle avoidance control system suitable for the automobile, which at least comprises a sensor module 11, a control module 12, a central processing unit 13 and an obstacle detection module 14. The control module 12 includes a steering module 121 and a braking module 122, the control system configured to: in the automatic driving mode, acquiring current speed information of the automobile based on the sensor module 11; determining obstacle information in front of the vehicle based on the obstacle detection module 14; the control module 12 detects manual operation of the steering module 121 and the brake module 122 by a driver, and the control module 12 generates a first steering control command and a first brake control command which are matched with the manual operation based on the manual operation of the steering module and the brake module 122 by the driver, and generates a first control command according to the first steering control command and the first brake control command; the central processing unit 13 generates a second control command based on the obstacle information and the current speed information of the automobile; the control module 12 generates a second steering control command and a second braking control command under the second control command based on the second control command; combining the current speed information and the obstacle information of the automobile, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacle through the hybrid control command; the obstacle information at least comprises the type of the obstacle, the shape volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
Preferably, the control module 12 is configured to: the first control command and the second control command form a hybrid control command according to a logic hybrid mode, and the automobile is controlled to avoid obstacles through the hybrid control command. And forming a mixed steering control instruction by a first steering control instruction in the first control command and a second steering control instruction in the second control command according to a control logic mixing ratio. And forming a hybrid brake control instruction by a first brake control instruction in the first control command and a second brake control instruction in the second control command according to a control logic mixing ratio mode. And generating a hybrid control command according to the hybrid steering control command and the hybrid braking control command. Wherein preferably, the first steering control command and the second steering control command are configured to mix the dynamically varying pattern of proportions to form a hybrid steering control command. The first brake control command and the second brake control command are configured to mix the dynamically varying modes of proportions to form a blended brake control command.
Preferably, the control system is further configured to: in the automatic driving mode among the car driving modes, it is determined whether the type of an obstacle in front of the car is a vehicle or a pedestrian based on the obstacle detection module 14. At the centerThe processor 13 calculates the calculated minimum braking time t for avoiding the collision between the automobile and the obstacleLPBAnd minimum steering time t for avoiding collision of automobile with obstacleLPS. The control module 12 generates a third steering control command and a third braking control command according to the type of the obstacle and the minimum steering time, and controls braking and steering of the vehicle in sequence.
Preferably, the braking module 122 and the steering module 121 are configured to: when the type of the obstacle is a vehicle, the brake module 122 executes a third brake control command to control the steering of the vehicle by the steering module 121 executing a third steering control command at a first time LPS1 after the braking of the vehicle, and when the type of the obstacle is a pedestrian, the brake module 122 executes the third brake control command to control the steering of the vehicle by the steering module 121 executing the third steering control command at a second time LPS2 after the braking of the vehicle. Wherein, preferably, the control module 12 controls the braking of the car only by the braking module 122 executing the fourth braking control command when the obstacle of the obstacle type vehicle occurs after the first instant LPS1, and/or when the obstacle of the obstacle type pedestrian occurs after the second instant LPS 2. Preferably, the control object of the steering module 121 is a steering wheel, and the control object of the braking module 122 is a brake or an accelerator.
Where LPB denotes a timing required to avoid a collision of a car with an obstacle by braking, LPS1 denotes a first timing required to avoid a collision of a car with a front vehicle by steering when the obstacle is the front vehicle, and LPS2 denotes a second timing required to avoid a collision of a car with a pedestrian by steering when the obstacle is the pedestrian. In particular, since the vehicle is also traveling forward when the obstacle is a vehicle so that the relative speed of the obstacle to the vehicle is smaller, the first timing LPS1 may be later than the timing LPS 2. In other words, when the obstacle is a vehicle, the running vehicle may turn at a time later than the case where the obstacle is a pedestrian to avoid a collision.
Preferably, the central processor 13 is configured to: when the driver applies manual operation to the steering module 121 and the braking module 122, the central processing unit 13 generates a second steering control command and a second braking control command according to information such as the speed of the vehicle, the size of the obstacle, the distance between the vehicle and the obstacle, and the relative speed between the vehicle and the obstacle. The second steering control command and the second braking control command may be obtained by the central processing unit 13 by accessing the internet and accessing the uplink database.
Further, preferably, the control module 12 may be configured to: the type of obstacle, e.g. vehicle, pedestrian, is identified or determined by the obstacle detection module 14, and then the braking and steering of the vehicle are controlled in sequence based on the minimum steering time according to the result. That is, when the obstacle is a vehicle, the steering of the vehicle is operated at a first timing LPS1 after the brake of the vehicle is operated, and when the obstacle is a pedestrian, the steering of the vehicle is operated at a second timing LPS2 after the brake of the vehicle is operated. In particular, when the vehicle occurs after the first moment LPS1, and when the pedestrian occurs after the second moment LPS2, damage caused by a potential collision may be reduced by operating only the brakes of the vehicle.
Preferably, the obstacle detection module 14 is configured to: in the manual driving mode, the obstacle detection module 14 obtains obstacle information in front of the vehicle, where the obstacle information at least includes an obstacle type, an obstacle shape and volume, a distance between the obstacle and the vehicle, and a relative speed between the obstacle and the vehicle. The obstacle detection module includes one or more of a GPS, a radar, a laser radar, a light-sensing camera, a thermal-sensing camera, an ultrasonic sensor, and an infrared sensor. All can be through the mode of installation ultrasonic transmitter towards its corresponding direction transmission ultrasonic wave on the left and right, preceding and the rear direction of car to make the car can the omnidirectional monitoring barrier approach information. The sensor module 11 is, for example, a gyroscope, a velocity sensor, or an acceleration sensor. The central processing unit 13 and the brake module 122 include one or more of a physical operation processing chip, a big data chip, an AI chip, and an operation server integrated by packaging the above chips. The control module 12 includes one or more of an electronic/Engine Control Module (ECM), a Powertrain Control Module (PCM), a Transmission Control Module (TCM), a brake control module (BCM or EBCM), and a Central Control Module (CCM). The steering module 121 may be an inverter. The obstacle detection module 14 may determine the relative distance between the vehicle and the obstacle in front by recording the transmission and feedback reception times of the ultrasonic waves and calculating the time difference. Meanwhile, the relative speed of the obstacle and the automobile can be calculated by the central processing unit by combining the current speed of the automobile and the reduction value of the relative distance between the automobile and the obstacle in the designated time.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. An obstacle avoidance control method suitable for an automobile, characterized by at least comprising the steps of:
in a manual driving mode among the driving modes of the automobile:
acquiring current speed information of the automobile based on a sensor module (11);
determining obstacle information in front of the vehicle based on an obstacle detection module (14);
the control module (12) detects manual operation of a steering module (121) and a braking module (122) by a driver, the control module (12) generates a first steering control command and a first braking control command matched with the manual operation based on the manual operation of the steering module (121) and the braking module (122) by the driver, and generates a first control command according to the first steering control command and the first braking control command;
the central processing unit (13) generates a second control command based on the obstacle information and the current speed information of the automobile, and the control module (12) generates a second steering control command and a second braking control command under the second control command based on the second control command;
combining the current speed information of the automobile and the information of the obstacles, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacles through the hybrid control command;
the obstacle information at least comprises the type of the obstacle, the shape volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
2. The obstacle avoidance control method of claim 1, wherein the first control command and the second control command form a hybrid control command in a logically hybrid manner and control the vehicle to avoid an obstacle by the hybrid control command;
the first steering control instruction in the first control command and the second steering control instruction in the second control command form a hybrid steering control instruction in a control logic mixing ratio manner;
a first brake control instruction in the first control command and a second brake control instruction in the second control command form a hybrid brake control instruction according to a control logic mixing proportion mode;
and generating the hybrid control command according to the hybrid steering control command and the hybrid braking control command.
3. An obstacle avoidance control method as claimed in claim 2, wherein said first steering control command and said second steering control command are configured to mix modes of dynamically varying proportions to form said hybrid steering control command;
the first and second brake control commands are configured to mix a pattern of proportional dynamic changes to form the blended brake control command.
4. Obstacle avoidance control method according to any of the preceding claims, characterized by at least the steps of:
in an autonomous driving mode in a driving mode of a vehicle:
determining whether a type of obstacle in front of the automobile is a vehicle or a pedestrian based on the obstacle detection module (14);
the central processing unit (13) calculates and obtains the minimum braking time for avoiding the collision of the automobile with the obstacle and the minimum steering time for avoiding the collision of the automobile with the obstacle;
and the control module (12) generates a third steering control command and a third braking control command according to the type of the obstacle and the minimum steering time, and controls the braking and the steering of the automobile in sequence.
5. An obstacle avoidance control method according to any of the preceding claims, wherein, when the type of obstacle is vehicle, LPS1 controls steering of the vehicle by said steering module (121) executing said third steering control command at a first time instant after said brake module (122) executes said third brake control command to control braking of the vehicle, and wherein steering of the vehicle is controlled by said third steering control command executed by said steering module (121)
When the type of the obstacle is a pedestrian, the brake module (122) executes the third brake control command to control the LPS2 at the second moment after the automobile is braked, and the steering module (121) executes the third steering control command to control the steering of the automobile.
6. An obstacle avoidance control method according to any of the preceding claims, wherein the control module (12) controls the braking of the vehicle by only the braking module (122) executing a fourth brake control command when an obstacle of the type vehicle is present after the first time LPS1 and/or when an obstacle of the type pedestrian is present after the second time LPS 2.
7. An obstacle avoidance control method as claimed in claim 6, wherein said minimum braking time tLPBCalculated by the following formula:
Figure FDA0001765881810000031
wherein v isrelSpeed of the vehicle relative to the obstacle, dLPBFor a limited braking distance, axIs the longitudinal acceleration, mu is the friction coefficient and g is the gravitational acceleration.
8. An obstacle avoidance control method according to claim 7, wherein said minimum turn-around time tLPSCalculated by the following formula:
wherein d isLPSFor a limited steering distance, syThe amount of overlap of the vehicle with the obstacle, ayIn the case of lateral acceleration, μ is the coefficient of friction, and g is the acceleration of gravity.
9. An obstacle avoidance control system for a vehicle, comprising at least a sensor module (11), a control module (12), a central processing unit (13) and an obstacle detection module (14), characterized in that the control module (12) comprises a steering module (121) and a braking module (122), the control system being configured to:
in an automatic driving mode, acquiring current speed information of the automobile based on the sensor module (11);
determining obstacle information in front of the vehicle based on the obstacle detection module (14);
the control module (12) detects manual operation of the steering module (121) and the brake module (122) by a driver, and the control module (12) generates a first steering control command and a first brake control command matched with the manual operation based on the manual operation of the steering module (121) and the brake module (122) by the driver and generates a first control command according to the first steering control command and the first brake control command;
the central processing unit (13) generates a second control command based on the obstacle information and the current speed information of the automobile, and the control module (12) generates a second steering control command and a second braking control command under the second control command based on the second control command;
combining the current speed information of the automobile and the information of the obstacles, forming a hybrid control command by the first control command and the second control command according to a logic hybrid mode, and controlling the automobile to avoid the obstacles through the hybrid control command;
the obstacle information at least comprises the type of the obstacle, the shape and the volume of the obstacle, the distance between the obstacle and the automobile and the relative speed between the obstacle and the automobile.
10. An obstacle avoidance control system according to claim 9, wherein the control module (12) is configured to:
the first control command and the second control command form a hybrid control command according to a logic hybrid mode and control the automobile to avoid the obstacle through the hybrid control command, wherein,
a first steering control instruction in the first control command and a second steering control instruction in the second control command form a hybrid steering control instruction according to a control logic mixing proportion mode;
a first brake control instruction in the first control command and a second brake control instruction in the second control command form a hybrid brake control instruction according to a control logic mixing proportion mode;
and generating a hybrid control command according to the hybrid steering control command and the hybrid braking control command.
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