CN116080646A - Adaptive cruising target vehicle cut-out detection method and system - Google Patents
Adaptive cruising target vehicle cut-out detection method and system Download PDFInfo
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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
- B60W30/14—Adaptive cruise control
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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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
- 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
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- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The embodiment of the invention relates to the technical field of automobiles, and particularly discloses a method and a system for detecting cutting-out of a target vehicle in a self-adaptive cruising manner. According to the embodiment of the invention, by analyzing the lane data, whether the front lane line is detected or not is judged, and whether the detection quality meets the standard or not is judged; when the front lane line is detected and the detection quality reaches the standard, cutting out detection of the target vehicle is carried out based on the compensation lane line; and when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path, carrying out lane compensation analysis by integrating distance data, motion parameters and driving data, determining a compensation lane line, and carrying out cut-out detection of the target vehicle. The accuracy and the efficiency of cutting out and judging the front target vehicle can be improved, the sudden braking and scratch accidents caused by inaccurate cutting out and judging are effectively avoided, the reliability of ACC is guaranteed, meanwhile, better performance is achieved in a curve, and the ACC can control the vehicle more comfortably and smoothly.
Description
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a method and a system for detecting cut-out of a target vehicle in a self-adaptive cruising manner.
Background
Along with the rapid development of automobile intellectualization, the intelligent configuration level of the automobile is higher and higher, in order to alleviate the driving fatigue of a driver, the proportion of the auxiliary driving technology matched on the automobile is also higher and higher, in the auxiliary driving function, the self-adaptive cruising function can provide great convenience for people, and the feet are unsealed, so that the proportion of application is higher when the automobile is driven at a high speed or for a long time, and the comfort of self-adaptive cruising is important for auxiliary driving. The definition of adaptive cruise ACC is: according to the cruising speed and the following distance set by the driver, when no vehicle is in front, the auxiliary driving system controls the vehicle to run according to the cruising speed set by the driver; when the front vehicle is in front and the speed of the front vehicle is less than or equal to the cruising speed set by the driver, the auxiliary driving control system controls the vehicle to run along with the front vehicle according to the following distance; when the speed of the front vehicle is greater than the cruising speed set by the driver, the auxiliary driving system controls the whole vehicle to run according to the cruising speed set by the driver. Therefore, accurate judgment of the front car has a great influence on the ACC, and the judgment algorithm is very critical to the whole control process of the ACC when the front car is cut out. The conventional ACC scheme for front car cutting mainly has the following two modes: 1. when the ACC with the lane line cruises, the front camera is used for judging, and when the front car detected by the front camera passes through the left lane line or the right lane line, the front car cut-out of the ACC following car is judged; 2. when the road condition without the lane line carries out ACC cruising, the auxiliary driving controller predicts the path of the vehicle according to the existing state of the vehicle, then detects the transverse position of the front vehicle according to the front millimeter wave radar and/or the front camera, and when judging that the transverse direction of the front vehicle exceeds the left lane line or the right lane line estimated by ACC, judges that the front vehicle is cut out.
However, the prior art has the following drawbacks:
1. when the camera has accumulated water on rain and snow, backlight or roads, certain errors exist in detection, and certain errors exist when the distance detected by the front camera exceeds a certain distance, and certain error characteristics exist in judgment of cutting out of the front car due to the characteristics of the cameras;
2. for the judgment of the cutting of the front vehicle, when the left turn or the right turn of the vehicle is not considered, the influence of some relatively large changes on the estimated path of the vehicle is not considered, and when the vehicle quickly enters a curve but the front vehicle already enters the curve, larger errors exist in the judgment of the front vehicle and the judgment of the cutting of the front vehicle.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a system for detecting the cut-out of a target vehicle in a self-adaptive cruising way, which aim to solve the problems in the background technology.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
the method for detecting the cut-out of the target vehicle in the self-adaptive cruise specifically comprises the following steps:
the method comprises the steps that lane data are collected through a front camera, distance data of a front target vehicle are detected through a front millimeter wave radar, motion parameters of the vehicle are obtained through a whole vehicle attitude sensor, and driving data are collected through a steering wheel and a combined switch;
analyzing the lane data, judging whether a front lane line is detected or not, and judging whether the detection quality meets the standard or not;
when a front lane line is detected and the detection quality reaches the standard, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the front lane line, determining a compensation lane line, and carrying out cut-out detection of a target vehicle based on the compensation lane line;
and when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path according to the motion parameters by the ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of the target vehicle based on the compensation lane line.
As a further limitation of the technical solution of the embodiment of the present invention, the method further includes the following steps:
when the front camera function is in an unavailable state, estimating a future motion path according to the motion parameters through an ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of a target vehicle based on the compensation lane line.
As a further limitation of the technical solution of the embodiment of the present invention, the determining a compensated lane line, and performing the cut-out detection of the target vehicle based on the compensated lane line specifically includes the following steps:
acquiring a left lane line position value YLeft and a right lane line position value YRight;
calculating a left corrected lane line position value YLeftNew and a right corrected lane line position value YRightNew according to the left lane line position value YLeft and the right lane line position value YRight;
calculating a lane center line YInner according to the left corrected lane line position value YLeftNew and the right corrected lane line position value YRightNew;
and cutting out judgment of the target vehicle is performed based on the lane center line YInner.
As a further limitation of the technical solution of the embodiment of the present invention, the formula for calculating the left corrected lane line position value YLeftNew and the right corrected lane line position value yightnew is as follows:
YLeftNew＝YLeft+δe+δb+δz+δf
YRightNew＝YRight+δe+δb+δz+δf
wherein δe is a correction coefficient of the driving intention of the driver to the vehicle; δb is an offset value of the host vehicle from the center line of the lane at the origin; δz is a longitudinal distance correction parameter of the target vehicle and the host vehicle; δf is the correction coefficient of the driver's lateral control steering wheel.
As a further limitation of the technical solution of the embodiment of the present invention, the determining the cut-out of the target vehicle based on the lane center line Yinner specifically includes the following steps:
calculating an offset value offset of the target vehicle according to the lane center line Yinner;
when the offset is larger than YLeftNew and the derivative of the offset is not smaller than 0, judging that the target vehicle cuts out a left lane line;
when the offset is less than yightnew and the derivative of the offset is not greater than 0, it is determined that the target vehicle cuts out the right lane line.
As a further limitation of the technical solution of the embodiment of the present invention, the value of δe is related to the driving intention of the driver, specifically: when the driver turns on the left turn signal lamp, delta e is a positive value; when the driver turns on the right steering lamp, delta e is a negative value; the greater the longitudinal distance between the host vehicle and the target vehicle, the greater the absolute value of δe.
As a further limitation of the technical solution of the embodiment of the present invention, when the front lane line is not detected or the detection quality does not reach the standard, the δb value is 0.
As a further limitation of the technical solution of the embodiment of the present invention, the determining the cut-out of the target vehicle based on the lane center line Yinner further includes the following steps:
when it is determined that the target vehicle cuts out the left lane line or the right lane line, the ACC controller continues to take the target vehicle as a calculation target, followed by the target vehicle for 500ms.
The utility model provides a target vehicle cut-out detecting system that self-adaptation was cruised, the system includes preceding camera, preceding millimeter wave radar, whole car attitude sensor, steering wheel and combination switch and ACC controller, wherein:
the front camera is used for identifying front target information, classifying targets, identifying the confidence level of the lane lines and the confidence level of the lane lines, collecting lane data and sending the lane data to the ACC controller;
the front millimeter wave radar is used for identifying front target information, detecting distance data of a front target vehicle and sending the distance data to the ACC controller;
the whole vehicle attitude sensor is used for acquiring motion parameters of the whole vehicle and sending the motion parameters to the ACC controller;
the steering wheel and the combined switch are used for collecting driving data of a driver on the vehicle;
and the ACC controller is used for fusing the lane data, the distance data, the motion parameters and the driving data, screening and determining a target vehicle, performing ACC following control, performing lane compensation analysis, determining a compensation lane line, and performing cutting-out detection of the target vehicle based on the compensation lane line.
By further limiting the technical scheme of the embodiment of the invention, the front camera, the front millimeter wave radar, the whole vehicle attitude sensor, the steering wheel and the combined switch are all in communication connection with the ACC controller through CAN lines.
Compared with the prior art, the invention has the beneficial effects that:
according to the embodiment of the invention, by analyzing the lane data, whether the front lane line is detected or not is judged, and whether the detection quality meets the standard or not is judged; when the front lane line is detected and the detection quality reaches the standard, cutting out detection of the target vehicle is carried out based on the compensation lane line; and when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path, carrying out lane compensation analysis by integrating distance data, motion parameters and driving data, determining a compensation lane line, and carrying out cut-out detection of the target vehicle. The accuracy and the efficiency of cutting out and judging the front target vehicle can be improved, the sudden braking and scratch accidents caused by inaccurate cutting out and judging are effectively avoided, the reliability of ACC is guaranteed, meanwhile, better performance is achieved in a curve, and the ACC can control the vehicle more comfortably and smoothly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 shows a flowchart of a method provided by an embodiment of the present invention.
Fig. 2 shows an application architecture diagram of a system provided by an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It can be appreciated that the prior art has the following drawbacks: 1. when the camera has accumulated water on rain and snow, backlight or roads, certain errors exist in detection, and certain errors exist when the distance detected by the front camera exceeds a certain distance, and certain error characteristics exist in judgment of cutting out of the front car due to the characteristics of the cameras; 2. for the judgment of the cutting of the front vehicle, when the left turn or the right turn of the vehicle is not considered, the influence of some relatively large changes on the estimated path of the vehicle is not considered, and when the vehicle quickly enters a curve but the front vehicle already enters the curve, larger errors exist in the judgment of the front vehicle and the judgment of the cutting of the front vehicle.
In order to solve the problems, the embodiment of the invention judges whether the front lane line is detected or not and judges whether the detection quality reaches the standard or not by analyzing the lane data; when the front lane line is detected and the detection quality reaches the standard, cutting out detection of the target vehicle is carried out based on the compensation lane line; and when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path, carrying out lane compensation analysis by integrating distance data, motion parameters and driving data, determining a compensation lane line, and carrying out cut-out detection of the target vehicle. The accuracy and the efficiency of cutting out and judging the front target vehicle can be improved, the sudden braking and scratch accidents caused by inaccurate cutting out and judging are effectively avoided, the reliability of ACC is guaranteed, meanwhile, better performance is achieved in a curve, and the ACC can control the vehicle more comfortably and smoothly.
Fig. 1 shows a flowchart of a method provided by an embodiment of the present invention.
Specifically, the method for detecting the cut-out of the target vehicle in the self-adaptive cruise specifically comprises the following steps:
step one, lane data are collected through a front camera, distance data of a front target vehicle are detected through a front millimeter wave radar, motion parameters of the vehicle are obtained through a whole vehicle attitude sensor, and driving data are collected through a steering wheel and a combined switch.
And step two, analyzing the lane data, judging whether a front lane line is detected or not, and judging whether the detection quality meets the standard or not.
And thirdly, when the front lane line is detected and the detection quality reaches the standard, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the front lane line, determining a compensation lane line, and carrying out cutting-out detection of the target vehicle based on the compensation lane line.
And fourthly, when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path according to the motion parameters through an ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of the target vehicle based on the compensation lane line.
Further, in yet another preferred embodiment provided by the present invention, the method further comprises the steps of:
and fifthly, when the function of the front camera is in an unavailable state, estimating a future motion path according to the motion parameters through an ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of the target vehicle based on the compensation lane line.
In the embodiment of the invention, in the driving process of a driver on the vehicle, lane data are collected through a front camera, distance data of a front target vehicle are detected through a front millimeter wave radar, motion parameters of the vehicle are obtained through a vehicle posture sensor, driving data are collected through a steering wheel and a combination switch, then the lane data are analyzed to judge whether a front lane line is detected, judge whether the detection quality meets the standard, and then different cutting judgment processes are carried out according to different conditions, and the method is specific:
(1) When the front lane line is detected and the detection quality reaches the standard, the front lane line detected by the front camera is used as a basis, and then the distance between the front vehicle and the vehicle is far or near (the detection quality of the lane line can be reduced along with the increase of the shooting distance of the front camera) according to the motion parameters of the vehicle and the transverse driving intention of a driver, the lane line is correspondingly compensated, the compensated lane line is updated to be a compensated lane line, the offset value of the current distance between the vehicle and the lane is considered according to the compensated lane line, and finally whether the target vehicle cuts out the lane is calculated according to the parameters;
(2) When the front lane line is not detected or the detection quality does not reach the standard, if the ACC function is started, the ACC controller is required to calculate and estimate a future motion path of the vehicle in a future period according to the current motion parameters of the vehicle, then the future motion path is taken as a basis, a certain correction parameter is added to compensate the path to a certain extent (the farther the distance is, the wider the compensated lane line is, because the estimation of the running track of the vehicle based on the current motion parameters of the vehicle is, the deviation is larger and the driver operates the driving intention of the vehicle, such as steering or transversely controlling the vehicle, and the compensation is also required to be carried out in the motion path of the vehicle), the compensation lane line is determined, the basis is taken as the basis, and the fused front camera and the front vehicle motion data of the front radar are taken as the basis, and whether the front vehicle is cut out is estimated or not is estimated;
(3) When the front camera function is in an unavailable state (street lamps are not used in sky, accumulated water exists on roads, snow covers lane lines, the lane lines are fuzzy, the lane lines are irregular, new lane lines and old lane lines are staggered, sunlight directly irradiates the camera, the camera shields, glass dirt at the camera and the like are all in the unavailable state), the self-movement track of the vehicle needs to be considered to estimate the subsequent movement track of the vehicle, and whether the front vehicle is cut out is calculated based on the movement track.
Aiming at determining the compensating lane line, then, cutting out detection of the target vehicle is carried out based on the compensating lane line, and related correction parameters are required to be acquired for calculation, analysis and judgment, in particular: .
δe is a correction coefficient of the driving intention of the driver for the vehicle: when a driver operates the left turn light switch or the right turn light switch, the value of delta e is positive when the driver turns on the left turn light switch, the value of delta e is negative when the driver turns on the right turn light switch, and the values of delta e are different according to the longitudinal distance between a front vehicle and the vehicle (the farther the longitudinal distance is, the larger the absolute value of delta e is, mainly because the farther the vehicle is from the vehicle, the larger the calculated error is, and the larger the absolute value of delta e is required);
δb is an offset value of the host vehicle from the lane center line at the origin: when the lane line is effective, the offset value of the vehicle at the origin point needs to be considered, and when the lane line is ineffective, the δb can be set to 0, and the motion path of the vehicle can be calculated by directly using the motion parameters of the vehicle;
δz is a longitudinal distance correction parameter between the target vehicle and the host vehicle: as the longitudinal distance increases, the accuracy of detection by the front camera itself decreases, and at the same time, the error of the motion of the host vehicle and the front target vehicle in the distance is relatively larger, so that δz is used to correct the error, and the absolute value of δz increases with the increase of the longitudinal distance;
δf is the correction factor for the driver to control the steering wheel laterally: when the left or right turn of the steering wheel is detected, judging that a driver has the intention of operating the transverse direction of the vehicle, correcting a front lane line by adopting δf, wherein the value of δf has a relation with the vehicle speed and the longitudinal distance of a front vehicle upright car, and the absolute value of δf increases along with the increase of the vehicle speed and the steering wheel rotation angle, and the left turn value is positive and the right turn value is negative;
the values of a certain position of the left lane line and the right lane line detected by the camera are a left lane line position value YLeft and a right lane line position value YRight, and then the left correction lane line position value YLeftNew and the right correction lane line position value YRightNew can be calculated according to the left lane line position value YLeft and the right lane line position value YRight, wherein the formula is as follows:
YLeftNew＝YLeft+δe+δb+δz+δf
YRightNew＝YRight+δe+δb+δz+δf
calculating a lane center line YInner according to the left corrected lane line position value YLeftNew and the right corrected lane line position value YRightNew, calculating an offset value offset of the target vehicle according to the lane center line YInner, and performing cutting judgment of the target vehicle by using the offset value offset, wherein the method specifically comprises the following steps of: when the offset is larger than YLeftNew and the derivative of the offset is not smaller than 0, judging that the target vehicle cuts out a left lane line; when the offset is less than yightnew and the derivative of the offset is not greater than 0, it is determined that the target vehicle cuts out the right lane line.
It will be appreciated that for reliability of calculation, it is also generally required that, when the preceding vehicle is just detected to cut the own lane, it is generally required to follow the target for about 500ms, during which time the ACC controller needs to continue to take the just cut target as the calculation target, preventing the just cut target from immediately cutting back to the own lane, and it is generally required to track 500ms.
It will be appreciated that when the current lane is not available, the ACC controller is required to estimate the path of the host vehicle according to the motion parameters of the host vehicle (steering wheel angle, yaw angle and speed of the host vehicle), and then give the left lane value YLeft and the right lane value yight of the motion path of the host vehicle.
Further, fig. 2 shows an application architecture diagram of the system provided by the embodiment of the present invention.
In another preferred embodiment of the present invention, a target vehicle cut-out detection system for adaptive cruise includes:
the front camera is used for identifying front target information, classifying targets, identifying the confidence level of the lane lines and the confidence level of the lane lines, collecting lane data and sending the lane data to the ACC controller;
the front millimeter wave radar is used for identifying front target information, detecting distance data of a front target vehicle and sending the distance data to the ACC controller;
the whole vehicle attitude sensor is used for acquiring motion parameters of the whole vehicle and sending the motion parameters to the ACC controller;
the steering wheel and the combined switch are used for collecting driving data of a driver on the vehicle;
and the ACC controller is used for fusing the lane data, the distance data, the motion parameters and the driving data, screening and determining a target vehicle, performing ACC following control, performing lane compensation analysis, determining a compensation lane line, and performing cutting-out detection of the target vehicle based on the compensation lane line.
In the embodiment of the invention, a front camera, a front millimeter wave radar whole vehicle attitude sensor, a steering wheel and a combination switch are all in communication connection with an ACC controller through CAN lines.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The method for detecting the cut-out of the target vehicle in the self-adaptive cruise is characterized by comprising the following steps of:
the method comprises the steps that lane data are collected through a front camera, distance data of a front target vehicle are detected through a front millimeter wave radar, motion parameters of the vehicle are obtained through a whole vehicle attitude sensor, and driving data are collected through a steering wheel and a combined switch;
analyzing the lane data, judging whether a front lane line is detected or not, and judging whether the detection quality meets the standard or not;
when a front lane line is detected and the detection quality reaches the standard, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the front lane line, determining a compensation lane line, and carrying out cut-out detection of a target vehicle based on the compensation lane line;
and when the front lane line is not detected or the detection quality does not reach the standard, estimating a future motion path according to the motion parameters by the ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of the target vehicle based on the compensation lane line.
2. The adaptive cruise target vehicle cut-out detection method according to claim 1, characterized in that the method further comprises the steps of:
when the front camera function is in an unavailable state, estimating a future motion path according to the motion parameters through an ACC controller, carrying out lane compensation analysis by integrating the distance data, the motion parameters and the driving data based on the future motion path, determining a compensation lane line, and carrying out cut-out detection of a target vehicle based on the compensation lane line.
3. The adaptive cruise target vehicle cut-out detection method according to claim 1, wherein the determining a compensated lane line and the cut-out detection of the target vehicle based on the compensated lane line specifically include the steps of:
acquiring a left lane line position value YLeft and a right lane line position value YRight;
calculating a left corrected lane line position value YLeftNew and a right corrected lane line position value YRightNew according to the left lane line position value YLeft and the right lane line position value YRight;
calculating a lane center line YInner according to the left corrected lane line position value YLeftNew and the right corrected lane line position value YRightNew;
and cutting out judgment of the target vehicle is performed based on the lane center line YInner.
4. The adaptive cruise control target vehicle cut-out detection method according to claim 3, wherein the formula for calculating the left corrected lane line position value YLeftNew and the right corrected lane line position value yightnew is:
YLeftNew＝YLeft+δe+δb+δz+δf
YRightNew＝YRight+δe+δb+δz+δf
wherein δe is a correction coefficient of the driving intention of the driver to the vehicle; δb is an offset value of the host vehicle from the center line of the lane at the origin; δz is a longitudinal distance correction parameter of the target vehicle and the host vehicle; δf is the correction coefficient of the driver's lateral control steering wheel.
5. The adaptive cruise control target vehicle cut-out detection method according to claim 3, wherein the target vehicle cut-out determination based on the lane center line Yinner specifically includes the steps of:
calculating an offset value offset of the target vehicle according to the lane center line Yinner;
when the offset is larger than YLeftNew and the derivative of the offset is not smaller than 0, judging that the target vehicle cuts out a left lane line;
when the offset is less than yightnew and the derivative of the offset is not greater than 0, it is determined that the target vehicle cuts out the right lane line.
6. The adaptive cruise control target vehicle cut-out detection method according to claim 4, wherein the value of δe is related to the driving intention of the driver, specifically: when the driver turns on the left turn signal lamp, delta e is a positive value; when the driver turns on the right steering lamp, delta e is a negative value; the greater the longitudinal distance between the host vehicle and the target vehicle, the greater the absolute value of δe.
7. The adaptive cruise control target vehicle cut-out detection method according to claim 4, wherein the value of δb is 0 when a preceding lane line is not detected or the detection quality does not reach the standard.
8. The adaptive cruise control target vehicle cut-out detection method according to claim 5, wherein the determination of the cut-out of the target vehicle based on the lane center line Yinner further comprises the steps of:
when it is determined that the target vehicle cuts out the left lane line or the right lane line, the ACC controller continues to take the target vehicle as a calculation target, followed by the target vehicle for 500ms.
9. The utility model provides a target vehicle cut-out detecting system that self-adaptation was cruised, its characterized in that, the system includes preceding camera, preceding millimeter wave radar, whole car attitude sensor, steering wheel and combination switch and ACC controller, wherein:
the front camera is used for identifying front target information, classifying targets, identifying the confidence level of the lane lines and the confidence level of the lane lines, collecting lane data and sending the lane data to the ACC controller;
the front millimeter wave radar is used for identifying front target information, detecting distance data of a front target vehicle and sending the distance data to the ACC controller;
the whole vehicle attitude sensor is used for acquiring motion parameters of the whole vehicle and sending the motion parameters to the ACC controller;
the steering wheel and the combined switch are used for collecting driving data of a driver on the vehicle;
and the ACC controller is used for fusing the lane data, the distance data, the motion parameters and the driving data, screening and determining a target vehicle, performing ACC following control, performing lane compensation analysis, determining a compensation lane line, and performing cutting-out detection of the target vehicle based on the compensation lane line.
10. The adaptive cruise target vehicle cut-out detection system according to claim 9, wherein the front camera, the front millimeter wave radar, the whole vehicle attitude sensor, and the steering wheel and combination switch are all in communication connection with the ACC controller through CAN lines.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116721400A (en) * | 2023-08-07 | 2023-09-08 | 博世汽车部件(苏州)有限公司 | Method and device for controlling vehicle transverse direction, controller, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116721400A (en) * | 2023-08-07 | 2023-09-08 | 博世汽车部件(苏州)有限公司 | Method and device for controlling vehicle transverse direction, controller, vehicle and storage medium |
| CN116721400B (en) * | 2023-08-07 | 2023-10-27 | 博世汽车部件(苏州)有限公司 | Method and device for controlling vehicle transverse direction, controller, vehicle and storage medium |
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