WO2020103532A1 - 一种多轴电客车自导向方法 - Google Patents
一种多轴电客车自导向方法Info
- Publication number
- WO2020103532A1 WO2020103532A1 PCT/CN2019/104833 CN2019104833W WO2020103532A1 WO 2020103532 A1 WO2020103532 A1 WO 2020103532A1 CN 2019104833 W CN2019104833 W CN 2019104833W WO 2020103532 A1 WO2020103532 A1 WO 2020103532A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- control method
- pid control
- axis electric
- self
- Prior art date
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
- G06V20/38—Outdoor scenes
- G06V20/39—Urban scenes
Definitions
- the invention belongs to the field of urban transportation, and particularly relates to a multi-axis electric bus self-directing method.
- the multi-axis electric bus self-guiding system is divided into two types: contact type and non-contact type.
- Contact type guidance has curbs and guide rails.
- Non-contact type guidance has optical and electromagnetic methods.
- the physical guide systems that use guide rails include the Raul system and the Bombardier rail system.
- the Rail system in the Tianjin Development Zone Rail Line 1 and Shanghai Zhangjiang Tram are both used.
- Optical guidance requires the use of image processing technology, using the camera in front of the vehicle to scan the ground guidance marking line, and transmit the collected image data to the on-board computer in real time.
- the on-board computer transmits these data to dynamic parameters such as vehicle speed, deviation, wheel angle, etc. And analysis and processing, and then send instructions to the steering system to control the vehicle's driving direction, so that the actual running trajectory of the vehicle and the ground guide marking line basically match.
- the optical method mainly uses the lane line recognition technology, that is, the special track line on the road surface is recognized by the on-board camera, and the virtual track is intelligently controlled , So as to transmit the running information to the train "brain” (central control unit), according to the "brain” instructions, while ensuring that the train achieves normal actions such as traction, braking, steering, etc., it can accurately control the train to travel on the established "virtual track ", To achieve intelligent operation.
- the train "brain” central control unit
- the high stability optical method requires the camera to have a high shooting frequency and high resolution. Therefore, it also requires the storage capacity of the controller to be large enough, the arithmetic processing capability of the main controller is strong enough, and the data transmission capability of the ground transmission device is stable enough. At this stage, it is difficult to be commercialized on a large scale and has higher requirements on the controller.
- An object of the present invention is to provide a self-guided method for a multi-axis electric bus in view of the above-mentioned shortcomings in the prior art.
- the technical solutions adopted by the present invention are:
- a multi-axis electric bus self-guided method which is characterized by the following steps:
- Step A Input the original images captured by the cameras on the front and rear sides of the vehicle to the on-board equipment and preprocess the original images to obtain the preprocessed images;
- Step B For the pre-processed image, the vehicle driving area is locally enhanced
- Step C Extract the lane line
- Step D Determine the position of the vehicle according to the position of the camera and the lane line;
- Step E According to the vehicle travel constraints, the PID control method, fuzzy PID control method, predictive control method, and nonlinear control method are used to control the vehicle to run within the allowed trajectory.
- the method further includes using a satellite positioning system and / or an inertial navigation system installed in the intermediate vehicle to determine the position of the vehicle.
- the pre-processing process in step A includes image compression, gray-scale conversion, filtering processing, and equalization processing in this order.
- the control system of the through passage of the steering mechanism is designed according to the PID control method: Where K d is the differential factor of the PID control system, K p is the proportional factor of the PID control system, and K i is the integral factor of the PID control system.
- step E it also includes constructing a generation value function according to driving rules, comfort requirements, line length, noise limitation and other conditions to find the optimal vehicle running trajectory.
- the present invention can improve the accuracy and redundancy of the vehicle's self-guided system, and comprehensively use the optical and satellite inertial navigation system to realize the vehicle's lane keeping function and multi-wheel synchronous steering function, using electrical signal transmission
- the electronically controlled steering device is also easy to control the vehicle.
- Figure 1 is the control principle diagram of the present invention.
- Figure 2 is the layout of the camera and satellite antenna.
- Figure 3 is a schematic diagram of satellite system positioning.
- FIG. 4 is a schematic diagram of vehicle position recognition.
- FIG. 5 is a schematic diagram of a lane keeping method for finely adjusting the turning angle of a straight line segment.
- FIG. 6 is a schematic diagram of a vehicle crossing a curve.
- the present invention is applied to a multi-axle heavy-duty passenger vehicle.
- Cameras are provided on the front and rear sides of the vehicle to capture the front and rear pictures of the vehicle and pass them to the central processor.
- Image compression, grayscale conversion, image preprocessing, partial image enhancement, lane line detection and other methods directly extract the lane line, so as to determine the position of the vehicle on the current route according to the lane line.
- the image captured by the camera is input into the vehicle-mounted device and the image is compressed according to requirements, simplifying the calculation amount.
- the RGB color model is converted into a binary model for analysis to further simplify the calculation.
- Filtering methods such as mean filtering or histogram equalization are used to preprocess the image to remove possible optical noise.
- An operator that sets the threshold of the lane line according to weather conditions records the area that meets the threshold, and extracts the lane line.
- the lane line After extracting the lane line, lock the lane line, considering that there may be some clutter signals or factors such as obstacles, weather conditions, other vehicles covering the lane line, so the clutter signal is removed by the filter or the lane fitting method will be The lane line is complete.
- Areas of interest can be selected for road conditions, that is, areas where vehicles are driving for local enhancement.
- a 5 * 5 matrix can be used for straight lane lines.
- this method can be used for comparison. The characteristics are shown in the following table:
- the roads on which vehicles travel have lane lines, they are generally divided into special lane lines and ordinary lane lines.
- the special lane lines designed for heavy-duty electric buses are relatively easy to identify. Therefore, the general lane lines are mainly analyzed here.
- the position of the vehicle can be uniquely determined according to the position of the camera and the lane line in the image, thereby completing the lane line recognition.
- a satellite positioning system and an inertial navigation system are installed in the middle of the vehicle at the same time, and the position of the vehicle is determined by the satellite system and the inertial navigation system to ensure that the vehicle is driving in the area where the lane line can be recognized.
- a satellite can receive satellite signals and base station signals through an antenna
- a system composed of several satellites and base stations can be used to determine the time ⁇ t of the GPS signal reaching the receiver based on the instantaneous position of the satellite as a known value, and then determine the distance according to the propagation speed
- the geometric relationship is constructed according to the triangle rule. The more satellites, the more accurate the position.
- the description image is shown in Figure 3.
- the position of the vehicle can be uniquely determined according to the position of the lane line recognized by the camera, so that in the main controller, according to Vehicle constraints and PID control, fuzzy PID control, predictive control, nonlinear control and other methods to ensure that the vehicle runs within the allowed trajectory.
- this method can infer the position of the vehicle by comparing the lane line information and provide a basis for the main controller to execute the control command.
- the differential satellite signal system uses a differential satellite reference station with known accurate three-dimensional coordinates to obtain the pseudorange correction amount or position correction amount, and then sends this correction amount to the user in real time or afterwards to correct the user's measurement data to improve Satellite positioning accuracy.
- This system can completely capture the position information of the vehicle through the multi-satellite system installed in the head car and the middle car. The more satellites, the higher the accuracy. The current can reach the centimeter level, and the worst can reach the sub-meter level.
- the optical video system must be recognized under the condition of the lane line, and the recognition situation is also unstable. Therefore, the use of a differential satellite signal system can ensure that the vehicle runs within the lane line.
- the positioning signal and map information given by the satellite directly provide the basis for the steering, while the optical system will only serve as a feedback system to give the system a feedback signal to improve the robustness and stability of the system.
- An inertial navigation system (INS, hereinafter referred to as inertial navigation) is an autonomous navigation system that does not depend on external information or radiate energy to the outside.
- the basic working principle of inertial navigation is based on Newton's law of mechanics.
- you can get the Information such as speed, yaw angle and position, installed on the center axis of the vehicle can make up for the problem of vehicle satellite system errors, so as to ensure the accuracy of vehicle positioning, and consider the interference with the platform when installing the camera in the middle car .
- base station satellite heavy-duty vehicles can be interconnected and interconnected, the transmission time is fixed, the position can be measured according to the speed, and then connected according to the triangle rule, so as to uniquely determine the specific position, considering the more satellites, The more complex its shape, the polygon method can be used to solve it, thereby improving accuracy.
- the antenna position of each vehicle can be uniquely determined by the antenna position. If two antennas are used, when the satellite accuracy reaches the centimeter or even millimeter level, the plane attitude angle can also be determined according to the positions of the two antennas (Plane analysis with two points in line), if you use three antennas, you can determine the three-dimensional attitude angle (three-point plane analysis), the more antennas, the higher the recognition accuracy, and then according to the satellite system's own map system Accurately realize the positioning function. Therefore, the vehicle's position, attitude angle, etc. are determined according to the vehicle's position information and related systems.
- the information of the received vehicle is fed back to the main controller through the interactive device, the terminal and the network cable.
- the main controller comprehensively processes the information, the vehicle position is uniquely determined.
- the vehicle trajectory circuit diagram in the vehicle controller, it can be According to the line conditions and the lane lines identified by the integrated camera, under severe weather conditions, the positioning is mainly achieved through the satellite system. Under the tunnel and bridge and other places where the satellite signal is lost, the camera will be used to identify the positioning, and the inertial navigation is in the middle.
- the vehicle is positioned to provide a basis for controlling the vehicle's steering or fine-tuning the steering actuator to realize the lane keeping function.
- the information on the front of the vehicle can be captured synchronously, displayed on the image, and the relevant image data is transferred to the processor, which is converted into an image with multiple pixels to obtain image information ,
- the processor which is converted into an image with multiple pixels to obtain image information .
- the vehicle is connected through the through channel, and the head and tail vehicles are determined by the camera.
- the remaining steering mechanisms complete the wheel following function according to PID control, fuzzy PID control, predictive control, nonlinear control and other methods.
- the satellite system and inertial navigation system installed on the vehicle are integrated to achieve positioning within the sub-meter level of the vehicle, thereby keeping the vehicle within the lane line.
- the specific installation position is shown in Figure 2.
- the satellite and inertial navigation system are integrated Identify the position of the vehicle in the satellite plane through the positioning device, and ensure that the vehicle is within the lane line, and the camera captures the lane line information and gives a feedback signal to the position determined by the satellite system, so as to more accurately determine the vehicle's steering and fine-tuning.
- the optical recognition will be used as the basis to adjust Kp, Ki, Kd in PID in the algorithm, and Strengthen the proportion of non-linear algorithms, while using the inertial navigation system as a supplement, so that the positioning system can maintain the positioning at the submeter level or the centimeter level as much as possible, and when the satellite positioning is lost for too long or the satellite positioning system fails, the optical is directly switched
- the system and the inertial navigation system replace the function of the satellite system within a certain length through the inertial navigation system.
- the optical system continues to recognize the lane line to maintain the precise positioning of the vehicle.
- the weather and other bad weather cover the lane line then the positioning function is directly realized through the satellite system and the inertial navigation system, and assisted by the inertial navigation to obtain the complete vehicle position. Therefore, this method can obtain the vehicle position in all weather and under any conditions To provide a basis for steering by wire.
- the scenario analysis is as follows:
- FIG. 5 The schematic diagram of the lane keeping method for fine-tuning the turning angle of the straight line segment is shown in FIG. 5, and the schematic diagram of the vehicle crossing curve method is shown in FIG. 6.
- the main controller After calculating the running track, the main controller processes the running track as an electrical signal, and feeds back the calculated electrical signal to the actuator to complete the rotation requirements within the constraint line, so that the steering mechanism turns according to the predetermined track and performs according to the lane line.
- the actuator controls the wheel pairs separately according to the electrical signals, so as to realize the simultaneous steering of multi-axis wheels, and complete the lane keeping and steering functions.
- the actuator adopts an electronic control system, which directly transmits the electric signal to the electronically controlled steering mechanism.
- the position of the wheel at the next moment can be known according to the running track of the vehicle.
- it can still ensure that each wheel pair of the vehicle reaches the specified position according to the trajectory generated by the main controller at the next moment, so that Control multiple steering mechanisms, the steering mechanism adjusts according to the received electrical signals to complete the requirements of steering and lane keeping. Simplify or even eliminate the man-made steering operation, reduce the interference caused by human factors, thereby improving the efficiency of handling vehicle-related matters.
- the vehicle obtains the vehicle's position through the navigation system and the video system, and provides a basis for the vehicle's driving according to the position. Because of the existence of the satellite system and the inertial navigation system, the vehicle can directly detect the vehicle's displacement and speed through the system. Attitude angle, etc., avoid the design of the wheel mechanism to monitor the wheel steering system. Directly passing the vehicle's body position provides a basis for the steering system's steering. At the same time, compared with the current vehicle first-wheel steering and rear-wheel following scheme, this scheme can provide the vehicle position more quickly and directly control each wheel, improving the redundancy of the system. Since this method can synchronize vehicle position data in real time, errors can be avoided. At the same time, it is also possible to fine-tune the rotation angle of the wheelset to avoid the occurrence of tail flicking.
- the satellite system is mainly used to provide positioning and complete the path planning function in the main controller, and the camera is mainly used to achieve close-range lane line recognition and environment detection.
- the integrated use of the positioning device of the satellite and the inertial navigation system can identify the position of the vehicle in the satellite plane and can ensure that the vehicle is within the lane line. To determine the vehicle's steering and fine-tuning.
- the optical recognition will be mainly used as the basis to adjust the K p , K i , K in the PID of the algorithm d , and strengthen the proportion of the nonlinear algorithm, while using the inertial navigation system as a supplement, so that the positioning system can maintain the positioning accuracy at the centimeter level as much as possible, and when the satellite positioning is lost for too long or the satellite positioning system fails, the optical is directly switched
- the system and the inertial navigation system replace the function of the satellite system within a certain length through the inertial navigation system.
- the optical system continues to recognize the lane line to maintain the precise positioning of the vehicle.
- the positioning function is directly realized through the satellite system and the inertial navigation system, and assisted by the inertial navigation to obtain the complete vehicle position.
- K p , K i , K d can be adjusted , And adjust the algorithm of the non-linear system according to the climatic conditions, thus ensuring the requirement that both day and night conditions can be used.
- this method can return to the original lane through the satellite system and continue to complete the operation after encountering the problem of sudden lane changes such as obstacles on the road, which has high redundancy, stability and robustness. Therefore, this method is less affected by the weather and the day and night environment, and can obtain the position of the vehicle in all weather and most extreme conditions, thereby providing a basis for steering by wire.
- the invention is suitable for multi-axis heavy-duty electric passenger cars, which can improve the accuracy and redundancy of the vehicle's self-guided system, and comprehensively uses optical and satellite inertial navigation systems to realize the vehicle's lane keeping function and multi-wheel synchronous steering function.
- the signal transmission to the electronically controlled steering device is also easy to control the vehicle; it provides a human-machine interaction interface to facilitate the driver to understand the vehicle information, and can also improve the driver's maneuverability during the assisted driving phase.
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
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- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
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Claims (5)
- 一种多轴电客车自导向方法,其特征在于,包括以下步骤:步骤A.将车辆前后两侧摄像头捕获的原始图像输入到车载设备并对原始图像进行预处理,得到预处理后的图像;步骤B.针对预处理后的图像,对车辆行驶区域进行局部增强;步骤C.提取出车道线;步骤D.根据摄像头和车道线的位置确定车辆位置;步骤E.根据车辆行驶约束条件,运用PID控制方法、模糊PID控制方法、预测控制方法、非线性控制方法控制车辆在允许的轨迹内运行。
- 如权利要求1所述的多轴电客车自导向方法,其特征在于,所述步骤D中,还包括利用安装在中间车的卫星定位***和/或惯导***确定车辆位置。
- 如权利要求1所述的多轴电客车自导向方法,其特征在于,所述步骤A中的预处理过程依次包括:图像压缩、灰度转化、滤波处理、均衡处理。
- 如权利要求1所述的多轴电客车自导向方法,其特征在于,所述步骤E中,还包括根据驾驶规则、舒适性要求、线路长度、噪音限制构建代价值函数,找到最佳车辆运行轨迹。
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CN112224203A (zh) * | 2019-06-28 | 2021-01-15 | 北汽福田汽车股份有限公司 | 车辆控制的方法、装置和汽车 |
CN110472578B (zh) * | 2019-08-15 | 2020-09-18 | 宁波中车时代传感技术有限公司 | 基于车道弯曲度的车道线保持方法 |
CN110597252B (zh) * | 2019-09-03 | 2021-01-05 | 安徽江淮汽车集团股份有限公司 | 自动驾驶汽车融合定位控制方法、装置、设备及存储介质 |
CN113064344B (zh) * | 2021-03-19 | 2022-06-07 | 中山大学 | 一种多轴无人重载车辆的轨迹跟踪控制方法 |
CN113942522A (zh) * | 2021-05-31 | 2022-01-18 | 重庆工程职业技术学院 | 一种智能驾驶行车安全保护*** |
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