TW201620751A - Drive control system and dynamic decision making control methodology thereof - Google Patents
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本發明係關於一種行車系統及其控制方法，尤指一種行車控制系統及其動態決策控制方法。The invention relates to a driving system and a control method thereof, in particular to a driving control system and a dynamic decision control method thereof.
近年來智慧車已逐漸成為市場的主流，而智慧車通常仰賴行車控制系統蒐集並分析車輛本身的行車狀態與周圍環境或前方車距等資料，目前屬於最新技術的是一種自動駕駛輔助系統（Autonomous Driving Assistant System），車主僅需透過電子配備下達指令，設置此系統的車輛就能自行前進、轉彎，若有行人闖入行車的路徑內還會暫停等待後再起步，行駛之後還能一路抵達預先設定的停車場，並自動停入指定停車格，而當再次收到呼叫命令時，可令車輛自動開回到車主面前；其中，該系統係利用GPS定位、雷達、影像等感測技術來進行路徑規劃並驅動車子行駛，再透過車身四周的感測器來收集現場訊號並偵測周遭的動態，因此即使遇到其他停偏的車輛也會立即傳訊通知輔助系統，修正行進方向避免碰撞，幫助車輛順利到達車位停車。In recent years, smart cars have gradually become the mainstream of the market, and smart cars usually rely on the driving control system to collect and analyze the driving status of the vehicle itself and the surrounding environment or the distance between the front, etc. Currently, the latest technology is an automatic driving assistance system (Autonomous Driving Assistant System), the owner only needs to send instructions through the electronic equipment. The vehicle with this system can make forward and turn by itself. If there is a pedestrian entering the driving path, it will pause and wait for the start, and then can reach the preset after driving. The parking lot automatically stops at the designated parking space, and when the call command is received again, the vehicle can be automatically opened back to the owner; wherein the system uses GPS, radar, video and other sensing technologies for path planning. And driving the car to drive, and then collecting the on-site signal through the sensors around the body and detecting the surrounding dynamics, so even if other vehicles with other vehicles are in the wrong direction, the auxiliary system will be notified immediately, the direction of travel will be corrected to avoid collision and help the vehicle to go smoothly. Arrived in the parking space.
現有的自動駕駛輔助系統在發展車輛動態控制技術時，僅著重於上述各種系統性能的開發，而忽略車輛在一定速度之下行駛的安全性、穩定性控制問題。如中國專利公開第CN100559211C號「用於提高機動車的行駛安全性和／或舒適性的方法」（以下簡稱前案），主要目的係透過使用最新的導航系統技術來提高行駛安全性和／或舒適性，由設置用於提高安全性功能的一車輛控制裝置或一組相關的控制裝置產生資料，並且該資料與一導航系統的資料或製圖資料在邏輯上結合，其中該導航系統包括製圖資料，所述製圖資料與通過車輛上的一感測器直接或間接檢測到一當前行駛條件的資訊一起使用，確定當前的危險值，並且根據所述危險值，對帶有提高安全性任務的一功能組執行干預；特別地，除了或替代所述干預，產生視覺的、聽覺的或觸覺的警告，以警告駕駛人。In the development of vehicle dynamic control technology, the existing automatic driving assistance system only focuses on the development of the above various system performances, and ignores the safety and stability control problems of the vehicle running under a certain speed. For example, Chinese Patent Publication No. CN100559211C "method for improving the driving safety and/or comfort of a motor vehicle" (hereinafter referred to as the previous case) mainly aims to improve driving safety by using the latest navigation system technology and/or Comfort, the data is generated by a vehicle control device or a group of related control devices provided for improving safety functions, and the data is logically combined with data or graphics data of a navigation system, wherein the navigation system includes cartographic data And the drawing data is used together with information that directly or indirectly detects a current driving condition by a sensor on the vehicle, determines a current dangerous value, and according to the dangerous value, a task with an improved safety task The functional group performs an intervention; in particular, in addition to or in lieu of the intervention, a visual, audible or tactile warning is generated to alert the driver.
由上述現有技術可知，目前的行車控制系統僅著重於利用大量的定位、雷達、影像等感測技術達到自動停車、取車等系統功能的開發，而忽略車輛在快速行駛時的安全性、穩定性等控制問題，而前案雖利用導航資訊提供安全性／舒適性的警告系統，但是僅用於被動性地告知駕駛人其安全性，駕駛人的行為仍然與前案的系統無關，並非有效又主動的提供駕駛人輔助，因此現有的行車控制系統技術尚有不穩定、安全性不足等問題，確實有提出更佳方案的必要性。It can be seen from the above prior art that the current driving control system only focuses on the development of system functions such as automatic parking and picking up using a large number of sensing technologies such as positioning, radar, and image, while ignoring the safety and stability of the vehicle during fast driving. Sexuality and other control problems, while the former case uses navigation information to provide a security/comfort warning system, but only used to passively inform the driver of its safety, the driver's behavior is still independent of the previous system, not effective In addition, the driver assistance is provided on an active basis. Therefore, the existing driving control system technology is still unstable, and the safety is insufficient. It is indeed necessary to propose a better solution.
有鑑於上述現有技術之問題，本發明主要目的係提供一種行車控制系統及其動態決策控制方法，主要係令車輛在行駛的過程中，透過行車控制系統中的多數控制模組，提供主動又即時的方式採取自動化的動態決策，使得在無危險的情況時能後讓車輛控制更為穩定，在有危險的情況時立即規劃緊急閃避路徑，以提升車輛行駛安全性及穩定性。In view of the above problems of the prior art, the main object of the present invention is to provide a driving control system and a dynamic decision control method thereof, which mainly provide a vehicle to provide active and immediate control through a majority of control modules in a driving control system during driving. The way to take automated and dynamic decision making makes the vehicle control more stable in the absence of danger, and immediately plan the emergency dodging path in case of danger to improve the safety and stability of the vehicle.
為達成上述目的所採取的主要技術手段係令前述行車控制系統的動態決策控制方法，主要係於一車輛上設置一行車控制系統，並由該行車控制系統執行下列步驟： 接收多數環境資訊、行車狀態資訊； 根據收到的多數資訊執行一安全性分析； 判斷該安全性分析的結果是否為一行車危險訊息，若否，則執行一常態控制策略； 若是，則執行一碰撞分析； 判斷該碰撞分析的結果是否為一碰撞訊息，若否，則發送一使車速趨緩的應變指令； 若是，則執行相對應的一緊急控制策略。The main technical means adopted to achieve the above objectives is to make the dynamic decision control method of the above-mentioned driving control system mainly to set up a row of vehicle control system on a vehicle, and the driving control system performs the following steps: receiving most environmental information, driving Status information; perform a security analysis based on the received majority information; determine whether the result of the security analysis is a row of vehicle danger messages, if not, execute a normal state control strategy; if yes, perform a collision analysis; determine the collision Whether the result of the analysis is a collision message, if not, sending a strain command that slows down the vehicle speed; if so, executing a corresponding emergency control strategy.
在前述步驟中，係由該行車控制系統接收多數環境資訊、行車狀態資訊，並根據收到的多數資訊執行一安全性分析以預估是否有行車危險，通常在一般行車狀態下不會有行車危險，則執行該常態控制策略以適應不同路況達到行車穩定的效果，但是若經安全性分析的結果是該行車危險訊息時，則進一步執行該碰撞分析以判斷是否會撞上前方物體，通常與前方物體保持一定的安全距離時碰撞的機會較低，則僅需發送使車速趨緩的應變指令即可，但是當碰撞分析的結果是碰撞訊息時，則要立即地執行相對應的緊急控制策略以變換行徑，以達到提升車輛行駛安全性及穩定性的目的。In the foregoing steps, the driving control system receives most environmental information, driving status information, and performs a safety analysis based on the received majority information to estimate whether there is a driving danger, and generally does not have driving under normal driving conditions. If it is dangerous, the normal control strategy is implemented to adapt to different road conditions to achieve the stability of driving, but if the result of the safety analysis is the driving danger message, the collision analysis is further performed to determine whether it will hit the front object, usually with When the front object maintains a certain safe distance, the chance of collision is low. Only the strain command to slow down the vehicle speed needs to be sent. However, when the result of the collision analysis is a collision message, the corresponding emergency control strategy should be executed immediately. In order to improve the driving safety and stability of the vehicle, the path is changed.
為達成上述目的所採取的又一主要技術手段係令前述行車控制系統包括： 一車輛安全判定模組，用以接收多數環境資訊、行車狀態資訊，並經由一安全性分析、一碰撞分析預先估測是否有緊急事件； 一常態控制模組，係與該車輛安全判定模組連接，根據預設的多種道路狀況資訊及駕駛人行為，執行一含有適應性演算法的常態控制策略而產生一車輛動態控制訊號，以穩定控制車輛的動態軌跡； 一緊急控制模組，係與該車輛安全判定模組連接，當車輛遇到緊急事件時，將多數行車狀態資訊進行一緊急控制策略，並產生一不會造成車輛翻覆的避障軌跡控制訊號，以控制車輛的緊急動態軌跡。Another main technical means adopted to achieve the above objectives is that the driving control system includes: a vehicle safety determination module for receiving most environmental information, driving status information, and pre-estimating via a safety analysis and a collision analysis. Detecting whether there is an emergency; a normal state control module is connected with the vehicle safety determination module, and executes a normal control strategy with an adaptive algorithm to generate a vehicle according to a preset plurality of road condition information and driver behavior Dynamically controlling the signal to stably control the dynamic trajectory of the vehicle; an emergency control module is connected to the vehicle safety determination module, and when the vehicle encounters an emergency, the majority of the driving status information is subjected to an emergency control strategy, and a An obstacle avoidance trajectory control signal that does not cause the vehicle to overturn to control the vehicle's emergency dynamic trajectory.
本發明行車控制系統係可設置於一車輛上使用，透過該車輛安全判定模組接收多數環境資訊以及行車狀態資訊，並經由安全性、碰撞分析以預估是否有行車危險，若沒有危險事件，則該常態控制模組係根據預設的多種道路狀況資訊及駕駛人行為執行該含有適應性演算法的常態控制策略，並產生該車輛動態控制訊號以穩定控制車輛的動態軌跡，若車輛安全判定模組判斷有行車危險又有緊急事件，則該緊急控制模組將多數行車狀態資訊進行該緊急控制策略，並產生該避障軌跡控制訊號以控制車輛的緊急動態軌跡，使得安裝有行車控制系統的車輛能夠依緊急程度及碰撞危險而即時規劃閃避路徑，達到提升車輛行駛安全性及穩定性的目的。The driving control system of the present invention can be installed on a vehicle, and receives most environmental information and driving status information through the vehicle safety determining module, and predicts whether there is danger of driving through safety and collision analysis, if there is no dangerous event, The normal control module executes the normal control strategy with the adaptive algorithm according to the preset multiple road condition information and the driver behavior, and generates the vehicle dynamic control signal to stably control the dynamic trajectory of the vehicle, if the vehicle safety is determined. When the module determines that there is danger of driving and there is an emergency, the emergency control module performs most of the driving status information on the emergency control strategy, and generates the obstacle avoidance trajectory control signal to control the emergency dynamic trajectory of the vehicle, so that the driving control system is installed. The vehicle can plan the dodging path in time according to the urgency and the collision risk, so as to improve the driving safety and stability of the vehicle.
關於本發明一較佳實施例的系統架構，請參考圖1所示，主要係令一行車控制系統包括一狀態感知模組10、一車輛安全判定模組20、一常態控制模組30、一緊急控制模組40以及一車輛控制模組50；該車輛安全判定模組20係分別連接該狀態感知模組10、該常態控制模組30、該緊急控制模組40以及該車輛控制模組50，該車輛控制模組50又分別與該常態控制模組30、該緊急控制模組40連接。For a system architecture of a preferred embodiment of the present invention, please refer to FIG. 1 , which mainly relates to a line control system including a state sensing module 10 , a vehicle safety determination module 20 , a normal control module 30 , and a The emergency control module 40 and a vehicle control module 50 are connected to the state sensing module 10, the normal control module 30, the emergency control module 40, and the vehicle control module 50, respectively. The vehicle control module 50 is further connected to the normal control module 30 and the emergency control module 40.
本實施例中，該狀態感知模組10可對車輛前方環境進行偵測擷取多種道路狀況資訊、環境資訊，以及對車輛的車身動態進行預估以取得狀態資訊，更可進一步的取得多數導航定位資訊並進行訊號分析；該狀態感知模組10係可包括一影像擷取裝置（Camera）、一雷達裝置（Radar）、一激光雷達裝置（Lidar）、一定位裝置（GPS）、一慣性測量裝置（Inertial Measurement Unit, IMU）。In this embodiment, the state sensing module 10 can detect a variety of road condition information, environmental information, and estimate the vehicle body dynamics to obtain status information, and further obtain most navigation. Positioning information and performing signal analysis; the state sensing module 10 can include an image capturing device (Camera), a radar device (Radar), a laser radar device (Lidar), a positioning device (GPS), and an inertial measurement. Inertial Measurement Unit (IMU).
該車輛安全判定模組20係用以接收該狀態感知模組10提供的多數環境資訊、行車狀態資訊，並經由一安全性分析、一碰撞分析分別預先估測是否有一危險事件、一碰撞事件將發生，若該車輛安全判定模組20判斷沒有危險事件發生時則啟動該常態控制模組30，該常態控制模組30係根據已預設的多種道路狀況資訊及駕駛人行為，執行一含有適應性演算法的常態控制策略而產生一車輛動態控制訊號，並發送相對應的控制訊號至該車輛控制模組50，以令該車輛控制模組50穩定控制車輛的動態軌跡；本實施例中，該安全性分析係透過一前方物體距離資訊、一相對速度、一加速度、一環境資訊等資訊進行判斷分析，該碰撞分析係透過一剎車距離或一車輛的狀態資訊進行判斷分析。The vehicle safety determination module 20 is configured to receive most of the environmental information and driving status information provided by the state sensing module 10, and pre-estimate whether there is a dangerous event or a collision event through a safety analysis and a collision analysis. If the vehicle safety determination module 20 determines that no dangerous event occurs, the normal control module 30 is activated, and the normal control module 30 performs an adaptation according to the preset plurality of road condition information and driver behavior. The normal control strategy of the performance algorithm generates a vehicle dynamic control signal, and sends a corresponding control signal to the vehicle control module 50 to enable the vehicle control module 50 to stably control the dynamic trajectory of the vehicle. In this embodiment, The safety analysis is based on a front object distance information, a relative speed, an acceleration, an environmental information and the like. The collision analysis is performed by a braking distance or a vehicle status information.
若該車輛安全判定模組20判斷有危險事件，但是沒有碰撞事件將發生時，則由對該車輛安全判定模組20對該車輛控制模組50發送使車速趨緩的一代表控制訊號的應變指令，透過該車輛控制模組50控制車輛進行較和緩的煞車、減速，當該車輛安全判定模組20判斷有碰撞事件將發生時則啟動該緊急控制模組40，該緊急控制模組40係將根據多數行車狀態資訊以進行一緊急控制策略，並產生一不會造成車輛翻覆的避障軌跡控制訊號，並發送相對應的控制訊號至該車輛控制模組50，以令該車輛控制模組50控制車輛的緊急動態軌跡，以閃避即將碰撞上的前方物體。If the vehicle safety determination module 20 determines that there is a dangerous event, but no collision event will occur, the vehicle safety determination module 20 transmits to the vehicle control module 50 a strain of a representative control signal that slows down the vehicle speed. The vehicle control module 50 controls the vehicle to perform a relatively slow braking and deceleration. When the vehicle safety determination module 20 determines that a collision event will occur, the emergency control module 40 is activated. The emergency control module 40 is activated. An emergency control strategy is to be performed according to the majority of driving status information, and an obstacle avoidance trajectory control signal that does not cause the vehicle to overturn is generated, and a corresponding control signal is sent to the vehicle control module 50 to make the vehicle control module 50 Controls the vehicle's emergency dynamic trajectory to evade the object in front of the collision.
關於本發明另一較佳實施例的系統架構，請參考圖2所示，本實施例中所使用的主要技術與前一實施例大致相同，惟本實施例中該常態控制模組30進一步包括一任務設計單元31、一駕駛行為資料單元32、一學習性演算單元33，該緊急控制模組40進一步包括一緊急軌跡計算單元41；其中，該駕駛行為資料單元32係分別與該任務設計單元31、該學習性演算單元33連接，該任務設計單元31係與該車輛安全判定模組20連接，該學習性演算單元33係與該車輛控制模組50連接，再者，該緊急軌跡計算單元41係分別與該車輛安全判定模組20、該車輛控制模組50連接。For the system architecture of another preferred embodiment of the present invention, please refer to FIG. 2, the main technology used in this embodiment is substantially the same as that of the previous embodiment, but in the embodiment, the normal control module 30 further includes a task design unit 31, a driving behavior data unit 32, and a learning calculation unit 33, the emergency control module 40 further includes an emergency trajectory computing unit 41; wherein the driving behavior data unit 32 is associated with the task design unit 31. The learning calculation unit 33 is connected to the vehicle safety determination module 20, and the learning calculation unit 33 is connected to the vehicle control module 50. Furthermore, the emergency trajectory calculation unit The 41 system is connected to the vehicle safety determination module 20 and the vehicle control module 50, respectively.
該任務設計單元31係用以預設多種道路狀況資訊及對應的駕駛人行為資訊，並可接收該狀態感知模組10擷取的影像、車身訊號等，用以判斷車輛行駛之道路狀況，並將多數資訊（含駕駛人行為資訊）傳送給該駕駛行為資料單元32，由該駕駛行為資料單元32儲存駕駛人面對不同道路狀況時的多種駕駛人行為資訊，該駕駛人行為資訊包括一駕駛速度資訊、一方向盤轉角資訊、一油門深度資訊、一煞車深度資訊、一檔位資訊等，再由該學習性演算單元33執行一含有適應性演算法的常態控制策略，以產生一車輛動態控制訊號，並發送相對應的控制訊號至該車輛控制模組50，以令該車輛控制模組50穩定控制車輛的動態軌跡。The task design unit 31 is configured to preset a plurality of road condition information and corresponding driver behavior information, and receive the image captured by the state sensing module 10, the body signal, etc., to determine the road condition of the vehicle, and A majority of the information (including driver behavior information) is transmitted to the driving behavior data unit 32, and the driving behavior data unit 32 stores various driver behavior information when the driver faces different road conditions, the driver behavior information including a driving Speed information, a steering wheel angle information, a throttle depth information, a vehicle depth information, a gear position information, etc., and the learning calculation unit 33 executes a normal control strategy with an adaptive algorithm to generate a vehicle dynamic control. Signaling and transmitting a corresponding control signal to the vehicle control module 50 to enable the vehicle control module 50 to stably control the dynamic trajectory of the vehicle.
本實施例中，該學習性演算單元33係接收該駕駛行為資料單元32傳送多數駕駛人行為資訊，並透過專業駕駛人進行一人因工程以建立專業駕駛人的多種操控資訊（如前左轉、直走、前右轉等）並執行最佳的常態控制策略，該常態控制策略係根據多數道路資訊及其多數駕駛人行為資訊分別與專業駕駛人的多種操控資訊進行比對分析，以提供可適應不同路況之駕駛行為資訊，再執行一適應性演算法而得到對駕駛人而言最舒適的一組駕駛行為資訊的控制參數，將執行完演算法後的控制參數進行回饋、持續進行比對分析及執行適應性演算法，最後產生並發送一最佳化常態控制訊號以控制車輛的動態軌跡，因此透過該學習性演算單元33即可依據不同的行車環境與駕駛操控行為估算出最佳常態控制策略。In this embodiment, the learning calculation unit 33 receives the driving behavior data unit 32 to transmit most driver behavior information, and performs a human factor engineering through a professional driver to establish various manipulation information of the professional driver (such as front left turn, Go straight, turn right, etc.) and perform the best normal control strategy. The normal control strategy is based on the majority of road information and most of the driver behavior information to compare with the professional driver's various control information to provide Adapting to the driving behavior information of different road conditions, and then performing an adaptive algorithm to obtain the control parameters of a group of driving behavior information that is most comfortable for the driver, and feedback and continuous comparison of the control parameters after the execution of the algorithm The adaptive algorithm is analyzed and executed, and finally an optimized normal control signal is generated and sent to control the dynamic trajectory of the vehicle. Therefore, the learning calculus unit 33 can estimate the optimal normal state according to different driving environments and driving manipulation behaviors. Control Strategy.
本實施例中，該適應性演算法可為一參考模型適應性控制（Model Reference Adaptive Control, MRAC）、一類神經網路（Neural Network）、一分群演算法或一自組織映射圖（Self-organization Mapping, SOM）等演算法；該組駕駛行為資訊的控制參數包括一駕駛速度資訊、一方向盤轉角資訊、一油門深度資訊、一煞車深度資訊、一檔位資訊等。In this embodiment, the adaptive algorithm may be a Model Reference Adaptive Control (MRAC), a neural network (Neural Network), a grouping algorithm, or a self-organizing map (Self-organization). Mapping, SOM) and other algorithms; the control parameters of the driving behavior information include a driving speed information, a steering wheel angle information, a throttle depth information, a vehicle depth information, and a gear position information.
該緊急軌跡計算單元41接收多數行車狀態資訊，多數行車狀態資訊包括本車車速以及車速與最大可旋轉半徑，該緊急軌跡計算單元41根據該等行車狀態資訊之關聯性進行該緊急控制策略，該緊急控制策略係接收含有車速的狀態資訊，根據車速與可旋轉半徑計算出不造成車輛翻覆的最大半徑避障軌跡資訊，並產生一避障軌跡控制訊號，令該車輛控制模組50控制車輛的緊急動態軌跡；再者，該緊急軌跡計算單元41還可以透過該狀態感知模組10取得的多數資訊計算車速，再利用預先建立的車速與最大旋轉半徑關係，經由該緊急軌跡計算單元41計算出不造成車輛翻覆、最佳化的最大半徑避障軌跡，並產生一避障軌跡控制訊號，令該車輛控制模組50控制車輛的緊急動態軌跡，以精準又即時的閃避將要碰撞的前方物體。The emergency trajectory calculation unit 41 receives a plurality of driving status information, and the majority of the driving status information includes the vehicle speed and the vehicle speed and the maximum rotatable radius, and the emergency trajectory calculating unit 41 performs the emergency control strategy according to the relevance of the driving status information, The emergency control strategy receives the state information including the vehicle speed, calculates the maximum radius obstacle avoidance trajectory information that does not cause the vehicle to overturn according to the vehicle speed and the rotatable radius, and generates an obstacle avoidance trajectory control signal, so that the vehicle control module 50 controls the vehicle. The emergency trajectory calculation unit 41 can calculate the vehicle speed through the majority information obtained by the state sensing module 10, and then calculate the relationship between the previously established vehicle speed and the maximum rotation radius, and calculate the trajectory calculation unit 41. The maximum radius avoidance trajectory does not cause the vehicle to be overturned and optimized, and an obstacle avoidance trajectory control signal is generated, so that the vehicle control module 50 controls the emergency dynamic trajectory of the vehicle to accurately and immediately evade the front object to be collided.
由上述本發明較佳實施例的說明可進一步歸納出一行車控制系統的動態決策控制方法，如圖3所示，主要係於一車輛上設置上述行車控制系統，並由該行車控制系統執行下列步驟： 由該行車控制系統的車輛安全判定模組20接收多數環境資訊、行車狀態資訊（S31）； 該車輛安全判定模組20根據收到的多數資訊執行一安全性分析（S32）； 判斷該安全性分析的結果是否為一行車危險訊息（S33），若否，則由該常態控制模組30執行一常態控制策略（S34）； 若是，則繼續由該車輛安全判定模組20執行一碰撞分析（S35）； 判斷該碰撞分析的結果是否為一碰撞訊息（S36），若否，則發送一使車速趨緩的應變指令（S37）至該車輛控制模組50，進行車輛減速； 若是，則由該緊急控制模組40執行相對應的一緊急控制策略（S38）。The dynamic decision control method of the line control system can be further summarized by the above description of the preferred embodiment of the present invention. As shown in FIG. 3, the above-mentioned driving control system is mainly disposed on a vehicle, and the following control system performs the following: Step: receiving, by the vehicle safety determination module 20 of the driving control system, most environmental information and driving status information (S31); the vehicle safety determining module 20 performs a security analysis according to the received majority information (S32); Whether the result of the safety analysis is a one-way vehicle danger message (S33), if not, a normal state control strategy is executed by the normal state control module 30 (S34); if so, the vehicle safety determination module 20 continues to perform a collision. Analysis (S35); determining whether the result of the collision analysis is a collision message (S36), and if not, transmitting a strain command (S37) that slows the vehicle speed to the vehicle control module 50 to perform vehicle deceleration; if yes, Then, the emergency control module 40 executes a corresponding emergency control strategy (S38).
由上述可知該行車控制系統接收多數環境資訊、行車狀態資訊，並根據收到的多數資訊執行一安全性分析以預估是否有行車危險，通常在一般行車狀態下不會有行車危險，則執行該常態控制策略以適應不同路況達到行車穩定的效果，於本實施例中當上述步驟執行至「執行一常態控制策略（S34）」步驟時，如圖4所示，該方法進一步包括下列步驟： 由該常態控制模組30的任務設計單元31提供多數道路資訊與駕駛行為資訊，並由該駕駛行為資料單元32根據多數道路資訊與駕駛行為資訊進行比對分析（S341）； 由該駕駛行為資料單元32提供適應不同路況之多數駕駛行為資訊（S342）； 再以該學習性演算單元33執行一適應性演算法（S343），並且回饋多數控制參數至「根據多數道路資訊與駕駛行為資訊進行比對分析（S341）」步驟（S344）； 發送一最佳化常態控制訊號（S345）至該車輛控制模組50，以令該車輛控制模組50穩定控制車輛的動態軌跡。It can be seen from the above that the driving control system receives most environmental information and driving status information, and performs a safety analysis based on the received majority information to estimate whether there is a driving danger, and generally does not have a driving danger under normal driving conditions, and then executes In the embodiment, when the step is executed to the “execute a normal control strategy (S34)” step, as shown in FIG. 4, the method further includes the following steps: The majority of road information and driving behavior information is provided by the task design unit 31 of the normal state control module 30, and the driving behavior data unit 32 performs comparison analysis based on the majority of road information and driving behavior information (S341); The unit 32 provides most driving behavior information adapted to different road conditions (S342); the learning performance unit 33 performs an adaptive algorithm (S343), and returns most control parameters to "based on most road information and driving behavior information. Pair analysis (S341) step (S344); sending an optimized normal control Number (S345) to the vehicle control module 50, enabling the vehicle to the control module 50 dynamic trajectory of the vehicle stability control.
承上所述，若前述安全性分析的結果是該行車危險訊息時，則進一步執行該碰撞分析以判斷是否會撞上前方物體，當碰撞分析的結果是碰撞訊息時，則要立即地執行相對應的緊急控制策略以變換行徑，於本實施例中當上述步驟執行至「執行相對應的一緊急控制策略（S38）」步驟時，如圖5所示，該方法進一步包括下列步驟： 由該緊急控制模組40的緊急軌跡計算單元41接收一組含有車速的狀態資訊（S381）； 根據車速與一可旋轉半徑，產生最佳的一避障軌跡資訊（S382）； 依據該避障軌跡資訊，發送相應的一緊急控制訊號（S383），令該車輛控制模組50控制車輛的緊急動態軌跡。As described above, if the result of the foregoing safety analysis is the driving danger message, the collision analysis is further performed to determine whether it will hit the front object, and when the result of the collision analysis is a collision message, the phase is immediately executed. Corresponding emergency control strategy is used to change the path. In the embodiment, when the above step is performed to the “execute a corresponding emergency control strategy (S38)” step, as shown in FIG. 5, the method further includes the following steps: The emergency trajectory calculation unit 41 of the emergency control module 40 receives a set of state information including the vehicle speed (S381); generates an optimal obstacle avoidance trajectory information according to the vehicle speed and a rotatable radius (S382); Sending a corresponding emergency control signal (S383), so that the vehicle control module 50 controls the emergency dynamic trajectory of the vehicle.
但是當駕駛人在行駛的過程中有與前方物體保持一定的安全距離，其發生碰撞的機會較低，故碰撞分析的結果若不是碰撞訊息，則僅需發送使車速趨緩的應變指令即可，透過本發明的行車控制系統及其動態決策控制方法，確實能夠提升車輛於一定速度行駛時的安全性及穩定性。However, when the driver has a certain safe distance from the object in front while driving, the chance of collision is low. Therefore, if the result of the collision analysis is not a collision message, only the strain command to slow down the vehicle speed can be sent. Through the driving control system and the dynamic decision control method thereof of the present invention, it is possible to improve the safety and stability of the vehicle when driving at a certain speed.
10‧‧‧狀態感知模組
20‧‧‧車輛安全判定模組
30‧‧‧常態控制模組
31‧‧‧任務設計單元
32‧‧‧駕駛行為資料單元
33‧‧‧學習性演算單元
40‧‧‧緊急控制模組
41‧‧‧緊急軌跡計算單元
50‧‧‧車輛控制模組10‧‧‧State Sensing Module
20‧‧‧Vehicle Safety Judgment Module
30‧‧‧Normal Control Module
31‧‧‧Task Design Unit
32‧‧‧ Driving Behavior Data Unit
33‧‧‧Learning calculus
40‧‧‧Emergency Control Module
41‧‧‧Emergency Trajectory Calculation Unit
50‧‧‧Vehicle Control Module
圖1 係本發明一較佳實施例的系統架構方塊圖。 圖2 係本發明另一較佳實施例的系統架構方塊圖。 圖3 係本發明一較佳實施例的動態決策控制方法流程圖。 圖4 係本發明一較佳實施例的常態控制策略流程圖。 圖5 係本發明一較佳實施例的緊急控制策略流程圖。1 is a block diagram of a system architecture in accordance with a preferred embodiment of the present invention. 2 is a block diagram of a system architecture of another preferred embodiment of the present invention. 3 is a flow chart of a dynamic decision control method in accordance with a preferred embodiment of the present invention. 4 is a flow chart of a normal control strategy in accordance with a preferred embodiment of the present invention. FIG. 5 is a flow chart of an emergency control strategy according to a preferred embodiment of the present invention.
10‧‧‧狀態感知模組 10‧‧‧State Sensing Module
20‧‧‧車輛安全判定模組 20‧‧‧Vehicle Safety Judgment Module
30‧‧‧常態控制模組 30‧‧‧Normal Control Module
40‧‧‧緊急控制模組 40‧‧‧Emergency Control Module
50‧‧‧車輛控制模組 50‧‧‧Vehicle Control Module
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