CN111976726A - Steering auxiliary system of intelligent rail vehicle and control method thereof - Google Patents

Steering auxiliary system of intelligent rail vehicle and control method thereof Download PDF

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Publication number
CN111976726A
CN111976726A CN202010871042.8A CN202010871042A CN111976726A CN 111976726 A CN111976726 A CN 111976726A CN 202010871042 A CN202010871042 A CN 202010871042A CN 111976726 A CN111976726 A CN 111976726A
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rail vehicle
steering
control module
information
steering auxiliary
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CN111976726B (en
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彭勇
王兴华
曲双
余伟锋
姚松
张成铭
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Central South University
CRRC Changchun Railway Vehicles Co Ltd
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Central South University
CRRC Changchun Railway Vehicles Co Ltd
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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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a steering auxiliary system of an intelligent rail vehicle and a control method thereof, wherein the steering auxiliary system comprises: a steering assist device; the track recognition device is used for collecting the image information of the preset marked lines on the road surface and sending the information to the steering auxiliary device; the obstacle recognition device is used for acquiring information of other road users and obstacles and sending the information to the steering auxiliary device; the vehicle body information acquisition device is used for acquiring the motion parameters of the intelligent rail vehicle and sending the motion parameters to the steering auxiliary device; and the collision risk early warning device sends out early warning information when the collision risk level of the intelligent rail vehicle reaches a preset level. The steering auxiliary system and the control method consider the intervention of the operation of the driver and the influence of potential collision risks, can avoid the conflict between the automatic tracking function and the operation of the driver on the vehicle according to the consciousness of the driver, can improve the traffic safety of the intelligent rail vehicle, and avoid traffic accidents caused by the fact that the driver does not take collision avoidance measures in time.

Description

Steering auxiliary system of intelligent rail vehicle and control method thereof
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a steering auxiliary system of an intelligent rail vehicle and a control method thereof.
Background
Urban traffic is a mark for measuring urban civilization progress and is a life pulse of urban life. With the development of social economy and the improvement of the living standard of people, the quantity of motor vehicles kept is increased rapidly, so that the urban traffic environment is deteriorated, the traffic efficiency of a road network is reduced, and the traffic of main/auxiliary roads is slow. The long-time and large-area congestion not only affects the daily life and work of people, but also causes the urban pollution to be more serious, and becomes a bottleneck restricting the urban economy and social development.
Nowadays, vehicle intelligent technology is developed vigorously, and unmanned driving provides a new idea for solving the problem. The smart rail vehicle, as a novel public transportation vehicle with large transport capacity, has the dual attributes of rail transportation and ground public transportation, and is driven on a specific line, so that interference sources are few, and the unmanned driving is relatively easy to realize technically, so that the smart rail vehicle has attracted extensive attention of many research institutions at home and abroad.
However, the level of automation of the current smart rail vehicle only reaches level L1, that is, the operation of the vehicle such as the stop can be realized only by means of the automatic tracking function, only the hands of the driver for operating the steering wheel are released to a certain extent, and the feet of the driver for operating the traction and the braking are not separated from the driving task. In addition, under the public road right, the intelligent rail vehicle is difficult to avoid conflict with other road users, and the current intelligent rail vehicle cannot identify potential collision risks so as to remind a driver to adopt corresponding collision avoidance operation, even replace the driver to complete a collision avoidance task.
Therefore, a more intelligent steering assist system is urgently needed to improve the automation level and traffic safety of the smart rail vehicle.
Disclosure of Invention
The invention mainly aims to provide a steering auxiliary system of an intelligent rail vehicle and a control method thereof, wherein the steering auxiliary system and the control method thereof take the intervention of the driving operation of a driver and the influence of potential collision risks into consideration in the process of adjusting the advancing of the intelligent rail vehicle, so that the conflict between the automatic tracking function and the operation of the vehicle performed by the driver according to the consciousness of the driver can be avoided, the traffic safety of the intelligent rail vehicle can be improved, and the traffic accident caused by the fact that the driver does not take collision avoidance measures in time can be avoided.
In order to achieve the above object, the present invention provides a steering assist system for a smart rail vehicle, comprising:
the steering auxiliary device is connected with a steering mechanism, a braking mechanism and an accelerating mechanism of the intelligent rail vehicle, and is also connected with a steering switch, an automatic tracking switch, a braking sensor and a steering wheel torque sensor;
the track recognition device is connected with the steering auxiliary device and used for collecting road surface preset marking image information and sending the road surface preset marking image information to the steering auxiliary device;
the obstacle recognition device is connected with the steering auxiliary device and used for acquiring information of other road users and obstacles and sending the information of the other road users and the obstacles to the steering auxiliary device;
the intelligent rail vehicle comprises a vehicle body information acquisition device, a steering auxiliary device and a vehicle body information processing device, wherein the vehicle body information acquisition device is connected with the steering auxiliary device and is used for acquiring the motion parameters of the intelligent rail vehicle and sending the motion parameters to the steering auxiliary device;
the collision risk early warning device is connected with the steering auxiliary device and used for sending early warning information when the intelligent rail vehicle has collision risk;
the steering auxiliary device is used for controlling the intelligent rail vehicle to automatically track according to preset marking line image information of the road surface, other road users, obstacle information and motion parameters, and evaluating the driving safety of the intelligent rail vehicle; when the collision risk level of the intelligent rail vehicle reaches a preset level, sending corresponding early warning information through a collision risk early warning device; and when a turning switch opening signal, an automatic tracking switch closing signal, a vehicle braking signal or a steering wheel torque signal is received, automatic tracking is closed.
Further, the steering assist device includes:
a steering assist control module;
the automatic tracking module is used for processing image information of preset road markings, calculating the offset corner of the advancing direction of the intelligent rail vehicle and the preset road markings and the distance between the central axis of the intelligent rail vehicle and the preset road markings, and sending the calculation result to the steering auxiliary control module;
the track prediction module is connected with the track prediction module, and is used for processing information of other road users and obstacles, predicting future tracks of the other road users and the obstacles, and sending a prediction result to the steering auxiliary control module;
the operation switching signal detection module is used for detecting an automatic tracking switch closing signal, a steering switch opening signal, a vehicle braking signal and steering wheel torque and generating an operation switching signal;
the operation signal processing module is connected with the operation signal detection module and the steering auxiliary control module and is used for closing automatic tracking when receiving an operation switching signal sent by the operation switching signal detection module;
the voice control module is connected with the steering auxiliary control module and is also connected with a player, and the voice control module is used for sending out early warning voice information through the player when the intelligent rail vehicle has collision risk;
the display control module is connected with the steering auxiliary control module and is also connected with a display, and the display control module is used for displaying information of other road users or obstacles with potential conflicts with the intelligent rail vehicle through the display when the intelligent rail vehicle has collision risks;
and the vehicle body control module is connected with the steering auxiliary control module, is also connected with a steering mechanism, a braking mechanism and an accelerating mechanism of the intelligent rail vehicle, and is used for sending an operation instruction to the steering mechanism, the braking mechanism and the accelerating mechanism.
Further, the track recognition device comprises a track recognition camera, the track recognition camera is connected with the automatic tracking module, and the track recognition camera is installed at the center of the bottom of each section of the intelligent rail vehicle.
Further, obstacle recognition device includes obstacle recognition camera and radar, and obstacle recognition camera and radar all are connected with the orbit prediction module, and obstacle recognition camera is installed in the front windshield top of intelligent rail vehicle and controls first windshield top, and the radar is installed in intelligent rail vehicle front bumper middle part.
Further, the vehicle body information acquisition device comprises a vehicle speed sensor, a rotating speed sensor and a yaw rate sensor, and the vehicle speed sensor, the rotating speed sensor and the yaw rate sensor are all connected with the steering auxiliary control module.
According to another aspect of the present invention, there is provided a steering assist control method for a smart rail vehicle, using the above-described steering assist system, the steering assist control method including:
the steering auxiliary device receives an opening signal of the automatic tracking switch;
the steering auxiliary device instructs the track recognition device to collect the image information of preset marked lines on the road surface, instructs the obstacle recognition device to collect the information of other road users and obstacles, and instructs the vehicle body information collection device to collect the motion parameters of the intelligent rail vehicle;
the steering auxiliary device automatically tracks the advancing of the intelligent rail vehicle according to the received road preset marking line image information, other road users, obstacle information and motion parameters, evaluates the driving safety of the intelligent rail vehicle, and closes the automatic tracking when the steering auxiliary control module receives an operation switching signal.
Further, the motion parameters comprise a vehicle speed signal, a rotating speed signal and a yaw rate signal of the intelligent rail vehicle.
Further, the steering assisting device automatically tracks the advancing of the intelligent rail vehicle according to the received road surface preset marking line image information, other road users, obstacle information and motion parameters, and specifically comprises the following steps:
the automatic tracking module processes the road surface preset marking image information fed back by the track recognition device, and calculates the deviation corner between the traveling direction of each section of the intelligent-rail vehicle and the preset marking and the distance between the central axis of each section of the intelligent-rail vehicle and the preset marking;
sending the offset corner and the offset distance to a steering auxiliary control module;
the steering auxiliary control module is used for calculating the optimal offset corner and the optimal adjusting speed to be adjusted by combining the offset corner, the distance and the motion parameters of the intelligent rail vehicle;
sending the optimal offset corner and the optimal adjustment speed to be adjusted to a vehicle body control module;
and the vehicle body control module controls the steering mechanism, the accelerating mechanism and the braking mechanism to control the intelligent rail vehicle to advance according to the optimal offset rotation angle and the adjustment speed which are to be adjusted.
Further, the driving safety of the intelligent rail vehicle is evaluated, and the method specifically comprises the following steps:
the track prediction module processes other road users and barrier information fed back by the barrier recognition device and predicts future motion tracks of the other road users and the barriers based on the deep artificial neural network model;
sending future movement tracks of other road users and obstacles to a steering auxiliary control module;
and the steering auxiliary control module is used for calculating the potential collision risk level of the intelligent rail vehicle by combining the future movement tracks of other road users and obstacles and the movement parameters of the intelligent rail vehicle.
Further, when the steering assist control module receives the operation switching signal, the automatic tracking is turned off, specifically:
in the process of automatically tracking the intelligent rail vehicle, if an automatic tracking switch closing signal, a steering switch opening signal, a vehicle braking signal or a steering wheel torque signal is received, the steering auxiliary device closes automatic tracking, and a driver operates the intelligent rail vehicle;
in the process of automatically tracking the smart rail vehicle, if the collision risk level of the smart rail vehicle reaches a preset level, the collision risk early warning device sends out corresponding early warning information, and after the early warning information is sent out, if a torque signal or a braking signal of a driver for steering or braking the smart rail vehicle is received, the steering auxiliary device closes automatic tracking, and the driver controls the smart rail vehicle to avoid collision.
Compared with the prior art, the invention has the following beneficial effects:
according to the steering assist system and the control method thereof, the intervention of the driving operation of the driver and the influence of potential collision risks are considered in the process of adjusting the advancing of the intelligent rail vehicle; if the operation switching signal is received, the situation shows that the driver expects to operate the intelligent rail vehicle independently and does not expect the function from the automatic tracking function, and the automatic tracking function is directly closed at the moment; if collision risk information is received, the intelligent rail vehicle is indicated to have potential collision risk, at this time, firstly, a warning is sent to a driver through a collision risk early warning device, if a torque signal or a braking signal of the driver for steering or braking the intelligent rail vehicle is received, the driver is indicated to be aware of danger, an automatic tracking function is closed, and the intelligent rail vehicle is operated by the driver to complete collision avoidance. The steering auxiliary system and the control method of the intelligent rail vehicle not only avoid the conflict between the automatic tracking function and the operation of the driver on the vehicle according to the consciousness of the driver, but also improve the traffic safety of the intelligent rail vehicle and avoid traffic accidents caused by the fact that the driver does not adopt collision avoidance operation in time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram showing a configuration of a steering assist system according to an embodiment of the present invention.
Fig. 2 is a schematic view of the installation position and the detection range of the obstacle recognition device in the steering assist system according to the embodiment of the present invention.
Fig. 3 is a flowchart of a steering assist control method according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating an automatic tracking process of the smart car in the steering assist control method according to the embodiment of the present invention.
Fig. 5 is a flowchart for evaluating driving safety of a smart rail vehicle in a steering assist control method according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of the deviation angle and the distance of the smart rail vehicle from the preset marked line in the steering assist control method according to the embodiment of the invention (in the drawing, α is the deviation angle, and d is the distance).
Detailed Description
In order to facilitate an understanding of the invention, the invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Unless otherwise defined, all terms of art used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art.
Example 1:
referring to fig. 1 and 2, a steering assist system of an intelligent rail vehicle according to an embodiment of the present invention mainly includes a steering assist device, a trajectory recognition device, an obstacle recognition device, a vehicle body information acquisition device, and a collision risk early warning device. The intelligent rail vehicle comprises a steering auxiliary device, a steering switch, an automatic tracking switch, a brake sensor and a steering wheel torque sensor, wherein the steering auxiliary device is connected with the steering mechanism, the brake mechanism and the acceleration mechanism of the intelligent rail vehicle, the steering auxiliary device is also connected with the steering switch, the automatic tracking switch, the brake sensor and the steering wheel torque sensor, the brake sensor is used for detecting a brake signal of the intelligent rail vehicle, and the steering wheel torque sensor is used for detecting the steering wheel torque of the intelligent rail vehicle; the track recognition device is connected with the steering auxiliary device and is used for collecting road surface preset marking image information and sending the road surface preset marking image information to the steering auxiliary device; the obstacle recognition device is connected with the steering auxiliary device and is used for acquiring information of other road users and obstacles and sending the information of the other road users and the obstacles to the steering auxiliary device; the intelligent rail vehicle comprises a vehicle body information acquisition device, a steering auxiliary device and a vehicle body information processing device, wherein the vehicle body information acquisition device is connected with the steering auxiliary device and is used for acquiring the motion parameters of the intelligent rail vehicle and sending the motion parameters to the steering auxiliary device; the collision risk early warning device is connected with the steering auxiliary device and used for sending out early warning information when the collision risk level of the intelligent rail vehicle reaches a preset level; the steering auxiliary device is used for controlling the intelligent rail vehicle to automatically track according to the preset marking image information of the road surface, the information of other road users and obstacles and the motion parameters, and evaluating the driving safety of the intelligent rail vehicle; when the collision risk level of the intelligent rail vehicle reaches a preset level, sending early warning information through a collision risk early warning device; and when a turning switch opening signal, an automatic tracking switch closing signal, a vehicle braking signal or a steering wheel torque signal is received, automatic tracking is closed.
The steering auxiliary system of the intelligent rail vehicle considers the intervention of the driving operation of the driver and the influence of potential collision risks in the process of adjusting the running of the intelligent rail vehicle; if an operation switching signal (such as a steering switch opening signal, an automatic tracking switch closing signal, a vehicle braking signal or a steering wheel torque signal) is received, the situation that a driver expects to operate the intelligent rail vehicle autonomously is shown, the action from the automatic tracking function is not expected, and the automatic tracking function is directly closed at the moment; if collision risk information is received, the intelligent rail vehicle is indicated to have potential collision risk, at this time, firstly, a warning is sent to a driver through a collision risk early warning device, if a torque signal or a braking signal of the driver for steering or braking the intelligent rail vehicle is received, the driver is indicated to be aware of danger, an automatic tracking function is closed, and the intelligent rail vehicle is operated by the driver to complete collision avoidance. The steering auxiliary system of the intelligent rail vehicle not only avoids conflict between an automatic tracking function and operation of a driver on the vehicle according to own consciousness, but also improves traffic safety of the intelligent rail vehicle, and avoids traffic accidents caused by the fact that the driver does not adopt collision avoidance operation in time.
Specifically, in the present embodiment, the steering assist device includes a steering assist control module, an automatic tracking module, a trajectory prediction module, an operation switching signal detection module, an operation signal processing module, a voice control module, a display control module, and a vehicle body control module.
The track recognition device is connected with the automatic tracking module, the automatic tracking module is connected with the steering auxiliary control module, the automatic tracking module is used for processing image information of the preset road mark, calculating the offset rotation angle of each section of intelligent rail vehicle in the traveling direction and the preset road mark on the road surface and the distance between the central axis of the intelligent rail vehicle and the preset road mark on the road surface, and sending the calculation result to the steering auxiliary control module through a Controller Area Network (CAN).
The obstacle recognition device is connected with the track prediction module, the track prediction module is connected with the steering auxiliary control module, and the track prediction module is used for processing information of other road users and obstacles, predicting future tracks of the other road users and the obstacles based on the deep artificial neural network model, and sending a prediction result to the steering auxiliary control module through the CAN.
The steering switch, the automatic tracking switch, the brake sensor and the steering wheel torque sensor are all connected with an operation switching signal detection module, the operation switching signal detection module is used for detecting an automatic tracking switch closing signal, a steering switch opening signal, a vehicle brake signal and steering wheel torque, when the signals are detected, the operation switching signal is sent out, and the operation switching signal is sent to the operation signal processing module.
The operation switching signal detection module is connected with the operation signal processing module, the operation signal processing module is connected with the steering auxiliary control module, and the operation signal processing module is used for closing automatic tracking when receiving an operation switching signal sent by the operation switching signal detection module.
The voice control module is connected with the steering auxiliary control module, the voice control module is further connected with a player, and the voice control module is used for sending out early warning voice information through the player when the intelligent rail vehicle has collision risks, calling corresponding preset warning voice information according to collision risk grades and sending the warning to the player to send out voice collision risk warning to a driver.
And the display control module is connected with the steering auxiliary control module and is also connected with a display, and the display control module is used for displaying information of other road users or obstacles with potential conflicts with the intelligent rail vehicle to a driver through the display when the intelligent rail vehicle has collision risks.
The vehicle body control module is connected with the steering auxiliary control module, is also connected with a steering mechanism, a braking mechanism and an accelerating mechanism of the intelligent rail vehicle, and is used for sending an operation instruction to the steering mechanism, the braking mechanism and the accelerating mechanism.
The steering auxiliary control module is used for calculating the optimal deflection angle and the adjustment speed which are required to be adjusted by each section of intelligent rail vehicle by combining the information sent by the vehicle body information acquisition device and the automatic tracking module, and sending the calculation result to the vehicle body control module to adjust the advancing of the intelligent rail vehicle; and calculating the collision risk level of the intelligent rail vehicle by combining the information sent by the vehicle body information acquisition device, the automatic tracking module and the track prediction module, sending the calculation result to the voice control module to call corresponding preset warning voice prompt information, and sending the calculation result to the display control module to display information of other road users and obstacles with potential collision with the intelligent rail vehicle.
Specifically, in the present embodiment, the track recognition device includes a track recognition camera, and the track recognition camera is connected to the automatic tracking module; the track recognition camera is installed at the center of the bottom of each section of intelligent rail vehicle and used for collecting road surface preset marking image information and sending the road surface preset marking image information to the automatic tracking module.
The obstacle identification device comprises an obstacle identification camera and a radar, and the obstacle identification camera and the radar are both connected with the track prediction module; the obstacle recognition camera is installed above a front windshield of the intelligent rail vehicle and above a left first windshield and a right first windshield, and the radar is installed in the middle of a front bumper of the intelligent rail vehicle. The obstacle identification camera is a high-definition monocular camera, and the radar is a forward millimeter wave radar of 76 GHz; the obstacle identification camera and the radar are used for collecting information of other road users and obstacles in front of the intelligent rail vehicle and sending the information to the track prediction module.
The vehicle body information acquisition device comprises a vehicle speed sensor, a rotating speed sensor and a yaw rate sensor, wherein the vehicle speed sensor, the rotating speed sensor and the yaw rate sensor are all connected with the steering auxiliary control module and are respectively used for acquiring the real-time vehicle speed, the wheel rotating speed and the yaw rate of the intelligent rail vehicle.
Example 2:
referring to fig. 3 to 6, a steering assist control method of an intelligent rail vehicle, which employs the steering assist system of the above embodiment 1 of the present invention, includes:
the steering auxiliary device receives an opening signal of the automatic tracking switch;
the steering auxiliary device instructs the track recognition device to collect the image information of preset marked lines on the road surface, instructs the obstacle recognition device to collect the information of other road users and obstacles, and instructs the vehicle body information collection device to collect the motion parameters of the intelligent rail vehicle;
the track recognition device feeds back preset road marking image information to the steering auxiliary device, the obstacle recognition device feeds back other road users and obstacle information to the steering auxiliary device, and the vehicle body information acquisition device feeds back motion parameters of the intelligent rail vehicle to the steering auxiliary device; specifically, the motion parameters comprise a vehicle speed signal, a rotating speed signal and a yaw rate signal of the intelligent rail vehicle;
the steering auxiliary device automatically tracks the advancing of the intelligent rail vehicle according to the received road preset marking line image information, other road users, obstacle information and motion parameters, evaluates the driving safety of the intelligent rail vehicle, and closes the automatic tracking when the steering auxiliary control module receives an operation switching signal.
Referring to fig. 4 and 6, in the present embodiment, the steering assist device automatically tracks the traveling of the smart car according to the received road surface preset marking image information, other road users and obstacles information and motion parameters, and specifically includes the following steps:
the automatic tracking module processes the road surface preset marking image information fed back by the track recognition device, and calculates the deviation corner between the traveling direction of each section of the intelligent-rail vehicle and the preset marking and the distance between the central axis of each section of the intelligent-rail vehicle and the preset marking;
sending the offset corner and the offset distance to a steering auxiliary control module;
the steering auxiliary control module is used for calculating the optimal offset corner and the optimal adjusting speed to be adjusted by combining the offset corner, the distance and the motion parameters of the intelligent rail vehicle;
specifically, the optimal offset rotation angle and the optimal adjustment speed to be adjusted are calculated by an optimization algorithm, and the calculation method can be described as follows:
Figure BDA0002651118710000081
wherein alpha iskAn offset corner between the kth vehicle and a preset mark line is formed; djSequentially setting the distance between the central axis of each section of the vehicle and a preset mark line; thetaiThe steering angle of the ith wheel; thetaallowThe maximum steering angle allowed to be adjusted for the intelligent rail vehicle wheels; v is the vehicle speed; v. oflimitLimiting the maximum vehicle speed for the intelligent rail vehicle;
sending the optimal offset corner and the optimal adjustment speed to be adjusted to a vehicle body control module;
and the vehicle body control module controls the steering mechanism, the accelerating mechanism and the braking mechanism to control the intelligent rail vehicle to advance according to the optimal offset rotation angle and the adjustment speed which are to be adjusted.
Specifically, referring to fig. 5, in the present embodiment, evaluating driving safety of the smart rail vehicle specifically includes the following steps:
the track prediction module processes other road users and barrier information fed back by the barrier recognition device, and predicts future motion tracks of the other road users and the barriers based on the deep artificial neural network model;
sending the future movement tracks of the other road users and the obstacles to a steering auxiliary control module;
and the steering auxiliary control module is used for calculating the potential collision risk level of the intelligent rail vehicle by combining the future movement tracks of other road users and obstacles and the movement parameters of the intelligent rail vehicle.
Specifically, the potential collision risk level of the intelligent rail vehicle is controlled by the steering auxiliary control module according to the expected deceleration areqTo evaluate the risk, the evaluation method is as follows:
Figure BDA0002651118710000082
in this embodiment, when the steering assist control module receives the operation switching signal, the automatic tracking is turned off, specifically:
in the process of automatically tracking the intelligent rail vehicle, if an automatic tracking switch closing signal, a steering switch opening signal, a vehicle braking signal or a steering wheel torque signal is received, the steering auxiliary device closes automatic tracking, and a driver operates the intelligent rail vehicle;
in the process of automatically tracking the smart rail vehicle, if the collision risk level of the smart rail vehicle reaches a preset level, the collision risk early warning device sends out corresponding early warning information, and after the early warning information is sent out, if a torque signal or a braking signal of a driver for steering or braking the smart rail vehicle is received, the steering auxiliary device closes automatic tracking, and the driver controls the smart rail vehicle to avoid collision.
The steering auxiliary control method considers the intervention of the driving operation of the driver and the influence of potential collision risks in the process of adjusting the advancing of the intelligent rail vehicle, avoids the conflict between the automatic tracking function and the operation of the driver on the vehicle according to the consciousness of the driver, improves the traffic safety of the intelligent rail vehicle, and avoids traffic accidents caused by the fact that the driver does not take collision avoidance measures in time.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A steering assist system for a smart rail vehicle, comprising:
the intelligent rail vehicle steering system comprises a steering auxiliary device, a steering switch, an automatic tracking switch, a brake sensor and a steering wheel torque sensor, wherein the steering auxiliary device is connected with a steering mechanism, a brake mechanism and an acceleration mechanism of the intelligent rail vehicle, and is also connected with the steering switch, the automatic tracking switch, the brake sensor and the steering wheel torque sensor;
the track recognition device is connected with the steering auxiliary device and used for collecting road surface preset marking image information and sending the road surface preset marking image information to the steering auxiliary device;
the obstacle recognition device is connected with the steering auxiliary device and used for acquiring information of other road users and obstacles and sending the information of the other road users and the obstacles to the steering auxiliary device;
the vehicle body information acquisition device is connected with the steering auxiliary device and is used for acquiring the motion parameters of the intelligent rail vehicle and sending the motion parameters to the steering auxiliary device;
the collision risk early warning device is connected with the steering auxiliary device and used for sending early warning information when the intelligent rail vehicle has collision risk;
the steering auxiliary device is used for controlling the intelligent rail vehicle to automatically track according to the preset marked line image information of the road surface, the information of other road users and obstacles and the motion parameters, and evaluating the driving safety of the intelligent rail vehicle; when the collision risk level of the intelligent rail vehicle reaches a preset level, sending corresponding early warning information through the collision risk early warning device; and when a turning switch opening signal, an automatic tracking switch closing signal, a vehicle braking signal or a steering wheel torque signal is received, automatic tracking is closed.
2. The steering assist system for a smart rail vehicle according to claim 1, characterized in that the steering assist device comprises:
a steering assist control module;
the automatic tracking module is connected with the track recognition device and the steering auxiliary control module; the automatic tracking module is used for processing the image information of the preset road mark, calculating the offset corner between the advancing direction of the intelligent rail vehicle and the preset road mark and the distance between the central axis of the intelligent rail vehicle and the preset road mark, and sending the calculation result to the steering auxiliary control module;
the obstacle identification device is connected with the track prediction module, and the track prediction module is connected with the steering auxiliary control module; the track prediction module is used for processing the information of other road users and obstacles, predicting the future tracks of the other road users and the obstacles and sending the prediction result to the steering auxiliary control module;
the steering switch, the automatic tracking switch, the brake sensor and the steering wheel torque sensor are all connected with the operation switching signal detection module, and the operation switching signal detection module is used for detecting an automatic tracking switch closing signal, a steering switch opening signal, a vehicle brake signal and steering wheel torque to generate an operation switching signal;
the operation signal processing module is connected with the operation signal detection module and the steering auxiliary control module, and is used for closing automatic tracking when receiving the operation switching signal sent by the operation switching signal detection module;
the voice control module is connected with the steering auxiliary control module and is also connected with a player, and the voice control module is used for sending out early warning voice information through the player when the intelligent rail vehicle has collision risk;
the display control module is connected with the steering auxiliary control module and is also connected with a display, and when the intelligent rail vehicle has collision risk, the display control module displays information of other road users or obstacles with potential conflict with the intelligent rail vehicle through the display;
and the vehicle body control module is connected with the steering auxiliary control module, is also connected with a steering mechanism, a braking mechanism and an accelerating mechanism of the intelligent rail vehicle, and is used for sending an operation instruction to the steering mechanism, the braking mechanism and the accelerating mechanism.
3. The steering auxiliary system of the smart rail vehicle as claimed in claim 2, wherein the track recognition device comprises a track recognition camera, the track recognition camera is connected with the automatic tracking module, and the track recognition camera is mounted at the center of the bottom of each section of the smart rail vehicle.
4. The steering assist system for a smart rail vehicle according to claim 2, wherein the obstacle recognition device comprises an obstacle recognition camera and a radar, the obstacle recognition camera and the radar are connected to the trajectory prediction module, the obstacle recognition camera is mounted above a front windshield glass and above left and right first windshield glasses of the smart rail vehicle, and the radar is mounted in the middle of a front bumper of the smart rail vehicle.
5. The steering assist system of a smart rail vehicle as claimed in claim 2, wherein the vehicle body information collecting means comprises a vehicle speed sensor, a rotation speed sensor and a yaw rate sensor, and the vehicle speed sensor, the rotation speed sensor and the yaw rate sensor are all connected with the steering assist control module.
6. A steering assist control method of a smart rail vehicle, characterized by employing the steering assist system according to any one of claims 2 to 5, the steering assist control method comprising:
the steering auxiliary device receives an opening signal of the automatic tracking switch;
the steering auxiliary device instructs the track recognition device to collect road surface preset marking line image information, instructs the obstacle recognition device to collect other road users and obstacle information, and instructs the vehicle body information collection device to collect motion parameters of the intelligent rail vehicle;
the steering auxiliary device automatically tracks the advancing of the intelligent rail vehicle according to the received road surface preset marking line image information, the information of other road users and obstacles and the motion parameters, evaluates the driving safety of the intelligent rail vehicle, and closes automatic tracking when the steering auxiliary control module receives an operation switching signal.
7. The steering assist control method of a smart rail vehicle according to claim 6, wherein the motion parameters include a vehicle speed signal, a rotational speed signal, and a yaw rate signal of the smart rail vehicle.
8. The steering assist control method for a smart car according to claim 6, wherein the steering assist device automatically tracks the progress of the smart car according to the received road surface preset reticle image information, the other road users and obstacles information and the motion parameters, and comprises the following steps:
the automatic tracking module processes the road surface preset marking image information fed back by the track recognition device, and calculates the deviation corner between the traveling direction of each section of the intelligent-track vehicle and the preset marking and the distance between the central axis of each section of the intelligent-track vehicle and the preset marking;
sending the offset corner and the distance to the steering auxiliary control module;
the steering auxiliary control module is used for calculating the optimal offset corner and the optimal adjusting speed to be adjusted according to the offset corner, the distance and the motion parameters of the intelligent rail vehicle;
sending the optimal offset corner and the optimal adjustment speed to be adjusted to the vehicle body control module;
and the vehicle body control module controls the steering mechanism, the accelerating mechanism and the braking mechanism to control the intelligent rail vehicle to advance according to the optimal offset corner and the adjustment speed which are to be adjusted.
9. The steering assist control method for the smart rail vehicle according to claim 6, wherein the evaluating of the driving safety of the smart rail vehicle specifically comprises the steps of:
the track prediction module processes the information of the other road users and the obstacles fed back by the obstacle recognition device and predicts the future motion tracks of the other road users and the obstacles based on a deep artificial neural network model;
sending future movement tracks of the other road users and the obstacles to the steering auxiliary control module;
and the steering auxiliary control module is used for calculating the potential collision risk level of the intelligent rail vehicle by combining the future motion tracks of other road users and obstacles and the motion parameters of the intelligent rail vehicle.
10. The steering assist control method for the smart rail vehicle according to claim 9, wherein the steering assist control module turns off the automatic tracking when receiving the operation switching signal, specifically:
in the process of automatically tracking the intelligent rail vehicle, if an automatic tracking switch closing signal, a steering switch opening signal, a vehicle braking signal or a steering wheel torque signal is received, the steering auxiliary device closes automatic tracking, and a driver operates the intelligent rail vehicle;
in the process of automatically tracking the smart rail vehicle, if the collision risk level of the smart rail vehicle reaches a preset level, the collision risk early warning device sends out corresponding early warning information, and after the early warning information is sent out, if a torque signal or a braking signal of a driver for steering or braking the smart rail vehicle is received, the steering auxiliary device closes automatic tracking, and the driver controls the smart rail vehicle to avoid collision.
CN202010871042.8A 2020-08-26 2020-08-26 Steering auxiliary system of intelligent rail vehicle and control method thereof Active CN111976726B (en)

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