CN113954866A - Method for realizing automatic driving under condition of no lane line - Google Patents
Method for realizing automatic driving under condition of no lane line Download PDFInfo
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- CN113954866A CN113954866A CN202111139815.4A CN202111139815A CN113954866A CN 113954866 A CN113954866 A CN 113954866A CN 202111139815 A CN202111139815 A CN 202111139815A CN 113954866 A CN113954866 A CN 113954866A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The invention discloses a method for realizing automatic driving under the condition of no lane line, which comprises a forward-looking module, a vehicle-mounted Ethernet module, an automatic driving control module, a high-precision six-axis module and a power supply module. By means of the provided forward view module: the automatic driving control system comprises a camera data acquisition module, an automatic driving control module, a high-precision six-axis module, an IIC module and a control instruction module, wherein the camera data acquisition module acquires current three-axis inclination data and three-axis acceleration data of a vehicle through an internal high-precision six-axis output module, the automatic driving control module acquires the camera data of a forward-looking module through the vehicle-mounted Ethernet and acquires the current three-axis inclination data, the current three-axis acceleration data and the like of the vehicle through the IIC module to obtain a control result, the control instruction is sent to an automobile gateway through the vehicle-mounted Ethernet module and is sent to each execution module, automatic driving control is achieved, a driver does not need to take over the control module, dangerous events are reduced, and bad experience cannot be brought to the driver.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a method for realizing automatic driving under the condition of no lane line.
Background
As users demand more and more vehicles, autonomous vehicles are in transit. At present, devices such as a camera and the like are generally configured for unmanned driving of an automatic driving vehicle so as to realize the perception of lane lines and identifiers and achieve the purpose of automatic driving.
The existing scheme generally adopts a method of following a vehicle to automatically drive a lane-free line section, but if the lane-free line section is used as a first vehicle, a driver needs to take over the lane-free line section, so that a dangerous event is probably caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for realizing automatic driving under the condition of no lane line, and solves the problems that the existing scheme generally adopts a method of following a vehicle to carry out automatic driving on a lane line section, but if the lane line section is used as a first vehicle, a driver is required to take over operation, dangerous events are possibly caused, the lane line following method is adopted to carry out automatic driving, and the driver is required to take over under certain conditions (such as when the automatic driving vehicle is used as a first vehicle), so that the lane line section is dangerous and bad experience is brought to the driver.
In order to achieve the purpose, the invention provides the following technical scheme: a method for realizing automatic driving under the condition of no lane line comprises the following steps:
s1: and the power supply module is started to supply power to the front-view module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module.
S2: the camera data is collected through the forward-looking module and transmitted to the automatic driving control module through the vehicle-mounted Ethernet.
S3: the high-precision six-axis module outputs current three-axis inclination data and three-axis acceleration data of the vehicle to the automatic driving control module through the internal high-precision six-axis module.
S4: the automatic driving control module obtains camera data of the forward-looking module through the vehicle-mounted Ethernet and obtains current three-axis inclination data, three-axis acceleration data and the like of the vehicle through the high-precision six-axis module to obtain control results through calculation, and control instructions are sent to the automobile gateway through the vehicle-mounted Ethernet module and are distributed to the execution modules, so that automatic driving control is achieved.
Preferably, the foresight module is in bidirectional connection with the vehicle-mounted Ethernet module, the vehicle-mounted Ethernet module is in bidirectional connection with the automatic driving control module, and the vehicle-mounted Ethernet is in bidirectional connection with an external automobile gateway.
Preferably, the vehicle-mounted ethernet module is 100BASE-T1/1000BASE-T1, and mainly comprises a switch chip + several paths of PHYs of T1, the switch chip is responsible for receiving and distributing each path of data to each module, and the vehicle-mounted ethernet module is used as a communication module of an automatic driving control module, a front view module and a car gateway.
Preferably, the power module is electrically connected with the forward-looking module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module respectively.
Preferably, the automatic driving control module is connected with the high-precision six-axis module in a bidirectional mode.
Compared with the prior art, the invention has the beneficial effects that:
the automatic driving control system comprises a front-view module, an automatic driving control module, an IIC (inter-integrated Circuit) module, a front-view module, a high-precision six-axis module and an automatic driving control module.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic illustration of an example of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, a method for implementing automatic driving without lane line includes the following steps:
s1: the power supply module is started to supply power to the front-view module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module, and the power supply module is electrically connected with the front-view module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module respectively.
S2: the camera data is collected by the foresight module and transmitted to the automatic driving control module through the vehicle-mounted Ethernet, wherein the vehicle-mounted Ethernet module is 100BASE-T1/1000BASE-T1 and mainly comprises a switching chip and a plurality of PHY (physical layer) of T1, the switching chip is responsible for receiving and distributing each path of data to each module, the foresight module is in bidirectional connection with the vehicle-mounted Ethernet module, the vehicle-mounted Ethernet module is in bidirectional connection with the automatic driving control module, the vehicle-mounted Ethernet is in bidirectional connection with an external automobile gateway, the vehicle-mounted Ethernet module is used as a communication module of the automatic driving control module, the foresight module and the automobile gateway, the vehicle-mounted Ethernet is a new physical layer (PHY) communication protocol jointly developed by an automobile company, a leading Integrated Circuit (IC) manufacturer and a system developer, and 100BASE-T1 is a feasible solution, greater bandwidth requirements may be met with a single pair of unshielded twisted pair cables at 100Mbps communication speeds. By using techniques such as superposition, coding, and scrambling schemes (and some passive components), 100BASE-T1 may reduce electromagnetic interference (EMI), wiring weight, cost, and space usage compared to conventional fast ethernet (100BASE-TX) solutions.
S3: the high-precision six-axis module outputs current three-axis inclination data and three-axis acceleration data of a vehicle to the automatic driving control module through an internal high-precision six-axis, the automatic driving control module is connected with the high-precision six-axis module in a two-way mode, an acceleration sensor in the high-precision six-axis module is equivalent to a spring system with a heavy hammer in the middle, springs support the acceleration sensor on all sides, and when the acceleration changes, different springs are compressed differently, so that forces and accelerations in different directions are detected, the current three-axis acceleration data of the vehicle are obtained, the inclination data are mainly based on angular momentum conservation, and the gyroscope has fixed axis property. When the gyroscope starts to rotate, the direction of a rotor shaft is not changed, if the axial direction of an object for mounting the gyroscope is changed, an included angle is formed between the axial direction of the object and the direction of the gyroscope, and therefore the current three-axis inclination data of the vehicle is obtained.
S4: the automatic driving control module obtains camera data of the forward-looking module through a vehicle-mounted Ethernet and obtains current three-axis inclination data, three-axis acceleration data and the like of a vehicle through a high-precision six-axis module to obtain a control result, a control instruction is sent to the automobile gateway through the vehicle-mounted Ethernet module and is distributed to each execution module, so that automatic driving control is achieved, the automatic driving control module, namely a DCU, obtains current road data of the vehicle through obtaining the data of the camera, receives the automobile gateway through the vehicle-mounted Ethernet or directly receives the automobile CAN to obtain current driving state data (information such as vehicle speed and the like) of the vehicle, and receives the high-precision six-axis module through an IIC to obtain the current inclination data and acceleration data of the vehicle. The data are fused, the data such as the steering wheel rotation angle and the speed which need to be controlled at present can be calculated according to the lane line-free driving model, and then the data are transmitted to a vehicle body control unit through a vehicle-mounted Ethernet, so that the lane line-free driving control is completed.
The working principle and the using process of the invention are as follows: firstly, a power module front-view module, a vehicle-mounted Ethernet module, an automatic driving control module and a high-precision six-axis module are started to supply power, then camera data are collected through the front-view module and transmitted to the automatic driving control module through the vehicle-mounted Ethernet, then current three-axis inclination data and three-axis acceleration data of a vehicle are output to the automatic driving control module through the high-precision six-axis module through the internal high-precision six-axis module, finally the automatic driving control module obtains the camera data of the front-view module through the vehicle-mounted Ethernet and obtains current three-axis inclination data and three-axis acceleration data of the vehicle through the high-precision six-axis module to obtain control results through calculation, control instructions are sent to an automobile gateway through the vehicle-mounted Ethernet module and are distributed to each execution module, so that automatic driving control is realized, and the specific actual operation is shown in figure 2, when the vehicle is at the CAR1 position, a left turning mark is detected by a forward-looking camera, the forward-looking camera transmits information about the left turning to an automatic driving area controller through a vehicle-mounted Ethernet, the distance of a target position is detected by the forward-looking camera and is transmitted to the automatic driving area controller, and an included angle between a straight line and the target line is defined as alpha; when the position of CAR2 is reached, the initial value of alpha is close to 45 degrees, an arc line taking the intersection point of the extension lines of the lane lines before and after lane changing as the center of a circle is planned according to the initial position, the vehicle motion high-precision six-axis information of the high-precision six-axis sensor is sent to the automatic driving area controller, and the automatic driving area controller adjusts the vehicle advancing direction according to the target track, so that alpha gradually approaches 0 degree in the advancing process, and automatic driving without lane lines is realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A method for realizing automatic driving under the condition of no lane line is characterized in that: the method comprises the following steps:
s1: the power supply module is started to supply power to the front-view module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module;
s2: the camera data is collected through the forward-looking module and is transmitted to the automatic driving control module through the vehicle-mounted Ethernet;
s3: the high-precision six-axis module outputs current three-axis inclination data and three-axis acceleration data of the vehicle to the automatic driving control module through internal high-precision six axes;
s4: the automatic driving control module obtains camera data of the forward-looking module through the vehicle-mounted Ethernet and obtains current three-axis inclination data, three-axis acceleration data and the like of the vehicle through the high-precision six-axis module to obtain control results through calculation, and control instructions are sent to the automobile gateway through the vehicle-mounted Ethernet module and are distributed to the execution modules, so that automatic driving control is achieved.
2. The method for implementing automatic driving under the condition of no lane line according to claim 1, wherein the method comprises the following steps: the front-view module is in bidirectional connection with the vehicle-mounted Ethernet module, the vehicle-mounted Ethernet module is in bidirectional connection with the automatic driving control module, and the vehicle-mounted Ethernet is in bidirectional connection with an external automobile gateway.
3. The method for implementing automatic driving under the condition of no lane line according to claim 1, wherein the method comprises the following steps: the vehicle-mounted Ethernet module is 100BASE-T1/1000BASE-T1 and mainly comprises a switching chip and a plurality of paths of PHYs of T1, the switching chip is responsible for receiving and distributing each path of data to each module, and the vehicle-mounted Ethernet module is used as a communication module of an automatic driving control module, a forward-looking module and an automobile gateway.
4. The method for implementing automatic driving under the condition of no lane line according to claim 1, wherein the method comprises the following steps: the power module is respectively and electrically connected with the forward-looking module, the vehicle-mounted Ethernet module, the automatic driving control module and the high-precision six-axis module.
5. The method for implementing automatic driving under the condition of no lane line according to claim 1, wherein the method comprises the following steps: and the automatic driving control module is in bidirectional connection with the high-precision six-axis module.
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| CN202111139815.4A CN113954866A (en) | 2021-09-28 | 2021-09-28 | Method for realizing automatic driving under condition of no lane line |
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| CN202111139815.4A CN113954866A (en) | 2021-09-28 | 2021-09-28 | Method for realizing automatic driving under condition of no lane line |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9933781B1 (en) * | 2016-11-23 | 2018-04-03 | Denso International America, Inc. | Data-driven planning for automated driving |
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| WO2020207504A1 (en) * | 2019-04-30 | 2020-10-15 | 奥特酷智能科技(南京)有限公司 | Distributed centralized automatic driving system |
| CN112339741A (en) * | 2020-11-06 | 2021-02-09 | 西南大学 | Automatic driving implementation method |
| CN112429012A (en) * | 2020-10-30 | 2021-03-02 | 北京新能源汽车技术创新中心有限公司 | Automobile electric control system, automatic driving control method and automobile |
| CN113212453A (en) * | 2021-05-13 | 2021-08-06 | 北京信息职业技术学院 | Automatic driving vehicle fusion navigation decision method in internet environment |
-
2021
- 2021-09-28 CN CN202111139815.4A patent/CN113954866A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9933781B1 (en) * | 2016-11-23 | 2018-04-03 | Denso International America, Inc. | Data-driven planning for automated driving |
| CN109634263A (en) * | 2018-12-29 | 2019-04-16 | 深圳市易成自动驾驶技术有限公司 | Based on data synchronous automatic Pilot method, terminal and readable storage medium storing program for executing |
| WO2020207504A1 (en) * | 2019-04-30 | 2020-10-15 | 奥特酷智能科技(南京)有限公司 | Distributed centralized automatic driving system |
| CN112429012A (en) * | 2020-10-30 | 2021-03-02 | 北京新能源汽车技术创新中心有限公司 | Automobile electric control system, automatic driving control method and automobile |
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| CN113212453A (en) * | 2021-05-13 | 2021-08-06 | 北京信息职业技术学院 | Automatic driving vehicle fusion navigation decision method in internet environment |
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Application publication date: 20220121 |