An intelligent driving vehicle system

Abstract

The present invention discloses an intelligent driving vehicle system, comprising: a vehicle and environment perception module, which is composed of perception sensors such as an on-board camera, a laser radar, a millimeter-wave radar, an ultrasonic radar, a combined inertial navigation, an on-board communication unit, and a computing system; a driver intention recognition module, which is composed of a turn signal, a steering wheel, a steering system, a parking system, an in-vehicle dashboard embedded camera, and a computing system; a decision-making planning module, which is composed of an on-board controller; a vehicle control execution module, which is composed of an electronic throttle assembly and a brake assembly; and a human-computer interaction module, which is composed of an instrument panel screen and a central control display screen. The intelligent driving vehicle system of the present invention can combine the advantages of human drivers in environmental perception and autonomous decision-making with the advantages of intelligent driving vehicle control technology in control accuracy, safety, and economy, thereby helping to comprehensively improve vehicle performance.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicles, and more particularly to an intelligent driving vehicle system. Background Art

[0002] As the number of cars in China continues to increase, traffic congestion is becoming more and more serious. Intelligent vehicle driving provides a new path to solving the problem of traffic congestion.

[0003] At present, some patents focus on intelligent driving vehicle control. For example, patent CN101823486A designs an intelligent driving system and its lateral control method, which optimizes the lateral control of the vehicle, so that the vehicle has a high degree of intelligent driving when overtaking and good safety. Patent CN103163886A designs an intelligent driving device for an intelligent vehicle, which includes an intelligent driving actuator and a control system, and the vehicle's lateral and longitudinal control accuracy is improved. Patent CN104002861A designs a steering device for an intelligent vehicle and its control method, which can realize the intelligent steering of an unmanned intelligent vehicle. During operation, intelligent steering and manual steering are executed in parallel, and can be switched freely between intelligent steering mode and manual steering mode without affecting each other.

[0004] Existing intelligent driving vehicle control technology is relatively mature. Compared with human drivers, it can effectively improve vehicle safety and economy. However, there are still many bottlenecks in intelligent driving environment perception and cognition and autonomous behavior decision-making technology. Its cost and reliability are difficult to meet actual needs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent driving vehicle system, specifically one without brakes or accelerator pedals. This system combines the advantages of human drivers in environmental perception and autonomous decision-making with the advantages of intelligent driving vehicle control technology in terms of control accuracy, safety, and economy, thereby improving overall vehicle performance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent driving vehicle system, characterized in that it includes:

[0007] The vehicle and environment perception module, which consists of on-board cameras, lidar, millimeter-wave radar, ultrasonic radar, combined inertial navigation, on-board communication units and other perception sensors and computing systems, is used to accurately measure the vehicle's surrounding environment and its own dynamic information;

[0008] The driver intention recognition module, which consists of the turn signal, steering wheel, steering system, parking system, dashboard embedded camera and computing system, is used to identify the driver's driving intention;

[0009] The decision-making and planning module, which consists of an onboard controller, obtains perception information from the vehicle and environment perception module and the driver's driving intention from the driver's intention recognition module, and then makes decisions on whether the vehicle speed needs to be adjusted. It also rationally plans the vehicle speed adjustment method under different driver driving modes;

[0010] The vehicle control execution module, which consists of an electronic throttle assembly and a brake assembly, is used to receive instructions from the decision-making and planning module and accurately adjust the vehicle speed using the electronic throttle and brake mechanism;

[0011] The human-computer interaction module consists of an instrument panel screen and a central control display screen, which displays vehicle-related driving status information to the driver while the vehicle is driving.

[0012] As a further improvement of the present invention, the dynamic information measured by the vehicle and environment perception module specifically includes the position and speed of surrounding vehicles, road marking lines, road signs, the position and speed of pedestrians and non-motorized vehicles, the position and speed of obstacles, and the vehicle's own driving status information.

[0013] As a further improvement of the present invention, the information acquired by the driver intention recognition module includes the driver's turn signal information, the steering wheel angle and speed, and the driver's line of sight detected by the embedded camera.

[0014] As a further improvement of the present invention, the specific decision-making function flow of the decision-making planning module is as follows:

[0015] In step 1, the user enters a destination in the human-computer interaction interface. The decision-making and planning module uses the route planning algorithm to plan a route with the shortest commute time, the highest efficiency, and the best fuel economy based on the destination information entered by the user and the environmental information obtained by the vehicle and environmental perception module. The route planning is then sent to the driver to confirm the completion of the route planning.

[0016] Step 2: After the driving route is determined, the vehicle is triggered to start. During this process, the intelligent driving vehicle system takes over the longitudinal control of the vehicle, and the driver takes over the lateral control of the vehicle. The driving scenario in which the driver is in is then analyzed;

[0017] In step three, when the vehicle is about to reach the destination, the human-computer interaction module will remind the driver, and the driver will operate the steering wheel to control the vehicle's route. The driver's intention recognition module and the vehicle and environment perception module will pre-judge and monitor the driver's route and the vehicle's surrounding environment information respectively, and send the judgment and monitoring results to the decision-making and planning module in real time. The decision-making and planning module then sends the planning results to the vehicle control execution module. The vehicle control execution module accurately adjusts the speed according to the control instructions of the decision-making and planning module, and then completes parking.

[0018] As a further improvement of the present invention, the driving scenarios in step 2 include following a vehicle, avoiding a collision, driving at an intersection, merging on a ramp, changing lanes and overtaking, and pulling over.

[0019] As a further improvement of the present invention, the specific manner in which the driver intention recognition module determines the driving scene is as follows:

[0020] In step 1, the driver intention recognition module uses the steering wheel and the in-car camera to identify that the steering wheel angle has not changed, the driver's line of sight has not continuously shifted left or right, and the turn signal has not been turned on within a certain period of time, and then identifies it as a following vehicle driving scenario;

[0021] In step 2, the driver intention recognition module detects through the in-car camera that the driver's line of sight shifts to the left or right, the steering wheel angle changes, the turn signal is turned on by the driver, and the vehicle and environment perception module obtains information about the presence of obstacles ahead, then determines that the driver is performing obstacle avoidance driving.

[0022] Step 3: The driver intention recognition module detects through the steering wheel and the in-vehicle camera that the steering wheel angle has not changed, the driver's line of sight has not continuously shifted left or right, and the turn signal has not been engaged within a certain period of time. At the same time, the ego vehicle and environment perception module detects a traffic light and crossing vehicles on the road ahead. The driver intention recognition module combines the current driver status and the information detected by the ego vehicle and environment perception module to determine that the scene is an intersection.

[0023] Step 4: When the vehicle and environment perception module detects that the current driving direction is one-way and there is a merging entrance ahead, the driver intention recognition module determines that the driver is about to perform a ramp merging operation based on the perceived road condition information, and determines that it is a ramp merging scenario;

[0024] Step 5: The driver intention recognition module detects that the driver's gaze is continuously shifting to the left, the left turn signal is turned on, and the steering wheel angle is gradually increasing. The driver intention recognition module determines that it is a lane change and overtaking scenario;

[0025] Step 6: The driver intention recognition module detects that the driver continues to turn on the right turn signal and the steering wheel angle gradually increases, then the driver intention recognition module determines that it is a pull-over parking scenario.

[0026] The beneficial effects of the present invention are as follows: 1. The system eliminates the traditional brake and accelerator pedals, and the longitudinal control of the vehicle is completed by the intelligent driving vehicle system, which reduces the driving burden and avoids the risks caused by the driver's misoperation of the accelerator and pedals; 2. The longitudinal speed of the vehicle is controlled by the intelligent driving vehicle system, which can achieve more precise regulation and effectively improve the safety, smoothness and economy of the vehicle during driving; 3. The vehicle steering wheel, steering and parking systems are retained, and the lateral control of the vehicle is taken over by the driver. The organic combination of man and machine makes the vehicle driving safer and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the system architecture of the present invention;

[0028] Figure 2 It is a schematic diagram of the intelligent decision-making model of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0030] Reference Figures 1 to 2 As shown, an intelligent driving vehicle system of this embodiment is mainly composed of the following modules:

[0031] Module 1: Vehicle and Environment Perception Module: This module consists of sensors such as onboard cameras, lidar, millimeter-wave radar, ultrasonic radar, integrated inertial navigation, and an onboard communication unit, as well as a computing system. It accurately measures dynamic information about the vehicle's surroundings and the vehicle itself, including the position and speed of surrounding vehicles, road markings and signs, the position and speed of pedestrians and non-motorized vehicles, the position and speed of obstacles, and the vehicle's own driving status. This information is transmitted to the driver intention recognition module and the decision-making and planning module, providing a basis for driver intention recognition and appropriate speed adjustment.

[0032] Module 2: Driver Intention Recognition Module: This module consists of a turn signal, steering wheel, steering system, parking system, dashboard-embedded camera, and computing system. It is used to identify the driver's driving intentions, facilitating efficient and safe human-machine integration to complete driving tasks. This module acquires information including the driver's turn signal activation, steering wheel angle, and speed, while an embedded camera detects the driver's line of sight. This module calculates and processes the monitored information, as well as the perception information provided by the vehicle and environmental perception modules, to predict the driver's driving intentions, including the driver's driving thoughts and driving route. This information is then passed to the decision-making and planning module, providing the driver's intentions as a basis for vehicle speed planning.

[0033] Module 3, Decision Planning Module: This module consists of the onboard controller. It receives sensory information from the vehicle and environment perception module and the driver's driving intention from the driver's intention recognition module. It then determines whether the vehicle's speed needs to be adjusted and plans the appropriate speed adjustment method for different driver modes. The results of the decision-making and planning are transmitted to the vehicle control execution module, which executes the vehicle's longitudinal control.

[0034] Module 4, vehicle control execution module: This module consists of an electronic throttle assembly and a brake assembly. This module eliminates the traditional brake and accelerator pedals. By receiving instructions from the decision-making and planning module, it uses the electronic throttle and brake mechanism to accurately adjust the vehicle speed, making the vehicle more fuel-efficient and safer during driving.

[0035] Module 5, Human-computer interaction module: This module consists of the instrument panel screen and the central control display screen. It displays the vehicle's driving status information to the driver during driving so that the driver has a full understanding of the current driving status. At the same time, the driver can make reasonable arrangements for the vehicle's subsequent driving through this module, making the human-computer co-driving mode more efficient.

[0036] In order to improve the energy efficiency and safety of the system during vehicle movement, the present invention proposes an intelligent decision-making model with an interactive architecture, as shown in the schematic diagram. Figure 2 As shown. Different from the decision-making architecture of traditional intelligent driving vehicle systems, this new architecture comprehensively considers the driving scenarios and driving intentions of drivers on a daily basis, and calculates a safe, efficient, and economical speed planning method through a rigorous decision-making algorithm. The specific decision-making function process is as follows:

[0037] Step 1: Driving route planning: The user enters the vehicle and enters the destination in the human-computer interaction interface. The decision-making planning module plans a driving route with the shortest commuting time, the highest efficiency, and the best fuel economy based on the destination information entered by the user and the environmental information obtained by the vehicle and environmental perception module according to the route planning algorithm, and sends it to the driver for confirmation.

[0038] Step 2: Scenario Analysis During Driving: After the driver determines the route, the vehicle starts and departs. During this process, the intelligent driving system takes over longitudinal control of the vehicle, while the driver takes over lateral control. Intelligent driving vehicles may encounter the following driving scenarios during driving.

[0039] Driving Scenario 1: Following a Vehicle: If the Driver Intention Recognition Module detects through the steering wheel and in-vehicle camera that the steering wheel angle has not changed, the driver's gaze has not continuously shifted left or right, and the turn signal has not been engaged for a certain period of time, the module's computing system determines that the driver intends the vehicle to maintain following mode. Based on the driver's intention information and vehicle status information provided by the Driver Intention Recognition Module and the vehicle and environment perception module, the decision-making and planning module optimizes the vehicle speed while maintaining a safe following distance. The results are sent to the vehicle control execution module for speed control to improve fuel economy.

[0040] Driving Scenario 2: Collision Avoidance: If the driver's intention recognition module detects, through the in-vehicle camera, the driver's gaze shifting to the left or right, the steering wheel angle changing, the driver engaging the turn signal, and information about an obstacle ahead is obtained from the ego vehicle and environmental perception modules, the driver's intention recognition module calculates and determines that the driver is maneuvering to avoid the obstacle based on this information. The driver's intention recognition module transmits this driver's intention information, as well as information about surrounding road conditions and obstacle motion obtained from the ego vehicle and environmental perception modules, to the decision-making and planning modules. The decision-making and planning module then optimizes the vehicle's obstacle avoidance speed based on this information. The planned speed is then sent to the vehicle control execution module, which precisely adjusts the speed to safely and efficiently avoid collisions. During this process, the driver receives a collision warning from the human-machine interaction module, reminding the driver to hold the steering wheel and, if necessary, apply emergency braking.

[0041] Driving Scenario 3: Intersection Driving: If the driver intention recognition module detects through the steering wheel and in-vehicle camera that the steering wheel angle has not changed, the driver's gaze has not shifted left or right continuously, and the turn signal has not been engaged for a certain period of time, and the ego vehicle and environmental perception modules detect a traffic light and oncoming vehicles ahead, the driver intention recognition module, combined with the current driver status and information detected by the ego vehicle and environmental perception modules, processes the information through the computing system and determines that the driver is about to enter an intersection. The driver intention recognition module feeds this information, along with information such as the status of traffic lights and road conditions perceived by the ego vehicle and environmental perception modules, to the decision-making and planning module. Based on this information, the decision-making and planning module determines whether to slow down and pass through the intersection or stop and wait. If conditions permit, the vehicle will proceed safely and smoothly through the intersection according to the intersection speed limit. The decision-making and planning module then optimizes the vehicle speed based on the driver's intention and perception information and sends the results to the vehicle control execution module. The vehicle control execution module then precisely adjusts the vehicle speed according to the instructions, ensuring a smooth and secure intersection passage. During this process, the driver receives speed adjustment information from the human-machine interaction module. Because intersection conditions are complex and changeable, this intelligent driving vehicle system manages longitudinal control by the system, while the driver controls lateral control. This collaborative approach allows the vehicle to navigate intersections efficiently, safely, and economically.

[0042] Driving Scenario 4: Ramp Merging: When the ego vehicle and environmental perception module detects a one-way direction and a merging point ahead, the driver intention recognition module, based on the perceived road conditions, determines that the driver is about to merge onto the ramp. The driver intention recognition module predicts the driver's driving trajectory based on steering wheel angle changes. The ego vehicle and environmental perception module uses sensors to monitor the vehicle's status, position, and distance to the merging point in real time. Simultaneously, relevant status information from vehicles on the main road is transmitted to the merging vehicle via the onboard communication unit. The decision-making and planning module, based on the received main road vehicle status information and the ego vehicle's driving status information, combines the driver's driving trajectory predicted by the driver intention recognition module to calculate a safe and economical speed adjustment. The vehicle control execution module, based on the control commands transmitted by the decision-making module, adjusts the electronic throttle and brake mechanisms, ensuring a safe, efficient, and energy-efficient merging process. In this driving mode, accurate acquisition of ego vehicle driving status information and real-time reception of main road vehicle motion information are crucial for a safe and efficient merging process.

[0043] Driving Scenario 5: Lane Changing and Overtaking: If the driver's intention recognition module detects that the driver's gaze is continuously shifting to the left, the left turn signal is engaged, and the steering wheel angle is gradually increasing, the driver's intention recognition module determines that the driver is changing lanes to overtake. The driver's intention recognition module transmits this driver's intention information to the decision-making and planning module. The decision-making and planning module further determines whether the overtaking lane change is feasible based on the surrounding road and vehicle status information detected by the vehicle and the environmental perception module. If the overtaking lane change is dangerous, the decision-making and planning module will notify the driver through the display and sound through the human-computer interaction module. If the overtaking lane change is feasible, the decision-making and planning module calculates an energy-saving and safe speed adjustment method and sends this speed adjustment command to the vehicle control execution module to accurately control the vehicle speed and complete the overtaking lane change.

[0044] Driving Scenario 6: Pull Over: If the driver's intention recognition module detects that the driver is continuously using the right turn signal and the steering wheel angle is gradually increasing, the module calculates and determines that the driver intends to pull over to the right. This information, along with surrounding environmental information collected by the ego vehicle and environmental perception modules through various sensors, is sent to the decision-making and planning module. Based on the driver's intention and surrounding road conditions, the decision-making and planning module calculates a safe and efficient speed adjustment method and sends the control instructions to the vehicle control execution module for execution. In this mode, vehicle control must be effectively and organically integrated with the driver's intention. The system's unique driver intention recognition module identifies the driver's actions and steering wheel angle changes. Combined with surrounding road information detected by the ego vehicle and environmental perception modules, the decision-making and planning module determines whether the lane change is feasible and adjusts the speed. The driver controls the vehicle's direction and route, resulting in improved fuel efficiency during the lane change and parking process.

[0045] Step 3: Arrival at the destination: When the vehicle is about to reach its destination, the human-computer interaction module alerts the driver. The driver controls the vehicle's route by steering the wheel. The driver's intention recognition module and the vehicle and environment perception module respectively pre-judge and monitor the driver's route and the vehicle's surrounding environment. These judgments and monitoring results are sent in real time to the decision-making and planning module, which calculates and plans the vehicle's speed. The planning results are then sent to the vehicle control execution module. The vehicle control execution module precisely adjusts the speed according to the control instructions of the decision-making and planning module, allowing the driver to park efficiently and economically and reach the destination.

[0046] Due to the adoption of the above solution, the system has the following advantages: 1. The system eliminates the traditional brake and accelerator pedals, and the vehicle's longitudinal control is completed by the intelligent driving vehicle system, which reduces the driving burden and avoids the risks brought by the driver's misoperation of the accelerator and pedals; 2. The vehicle's longitudinal speed is controlled by the intelligent driving vehicle system, which can achieve more precise regulation and effectively improve the vehicle's safety, smoothness and economy during driving; 3. The vehicle's steering wheel, steering, and parking systems are retained, and the vehicle's lateral control is taken over by the driver. The organic combination of man and machine makes the vehicle driving safer and more efficient.

[0047] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent driving vehicle system, characterized in that: include: The vehicle and environment perception module, which consists of on-board cameras, lidar, millimeter-wave radar, ultrasonic radar, combined inertial navigation, on-board communication units and other perception sensors and computing systems, is used to accurately measure the vehicle's surrounding environment and its own dynamic information; The driver intention recognition module, which consists of the turn signal, steering wheel, steering system, parking system, dashboard embedded camera and computing system, is used to identify the driver's driving intention; The decision-making and planning module, which consists of an onboard controller, obtains perception information from the vehicle and environment perception module and the driver's driving intention from the driver's intention recognition module, and then makes decisions on whether the vehicle speed needs to be adjusted. It also rationally plans the vehicle speed adjustment method under different driver driving modes; The vehicle control execution module, which consists of an electronic throttle assembly and a brake assembly, is used to receive instructions from the decision-making and planning module and accurately adjust the vehicle speed using the electronic throttle and brake mechanism; The human-computer interaction module, which consists of the instrument panel screen and the central control display screen, displays the vehicle's driving status information to the driver during driving; The specific decision-making function flow of the decision-making planning module is as follows: In step 1, the user enters a destination in the human-computer interaction interface. The decision-making and planning module uses the route planning algorithm to plan a route with the shortest commute time, the highest efficiency, and the best fuel economy based on the destination information entered by the user and the environmental information obtained by the vehicle and environmental perception module. The route planning is then sent to the driver to confirm the completion of the route planning. Step 2: After the driving route is determined, the vehicle is triggered to start. During this process, the intelligent driving vehicle system takes over the longitudinal control of the vehicle, and the driver takes over the lateral control of the vehicle. The driving scenario in which the driver is in is then analyzed; In step three, when the vehicle is about to reach the destination, the human-computer interaction module will remind the driver, and the driver will operate the steering wheel to control the vehicle's route. The driver's intention recognition module and the vehicle and environment perception module will pre-judge and monitor the driver's route and the vehicle's surrounding environment information respectively, and send the judgment and monitoring results to the decision-making and planning module in real time. The decision-making and planning module then sends the planning results to the vehicle control execution module. The vehicle control execution module accurately adjusts the speed according to the control instructions of the decision-making and planning module, and then completes parking.

2. The intelligent driving vehicle system according to claim 1, characterized in that: The dynamic information measured by the vehicle and environment perception module specifically includes the position and speed of surrounding vehicles, road marking lines, road signs, the position and speed of pedestrians and non-motorized vehicles, the position and speed of obstacles, and the vehicle's own driving status information.

3. The intelligent driving vehicle system according to claim 2, characterized in that: The information obtained by the driver intention recognition module includes the driver's turn signal information, steering wheel angle and speed, and the driver's line of sight detected by the embedded camera.

4. The intelligent driving vehicle system according to claim 3, characterized in that: The driving scenarios in step 2 include following a vehicle, avoiding a collision, crossing an intersection, merging on a ramp, changing lanes and overtaking, and pulling over.

5. The intelligent driving vehicle system according to claim 4, characterized in that: The specific method of the driver intention recognition module to judge the driving scene is as follows: In step 1, the driver intention recognition module uses the steering wheel and the in-car camera to identify that the steering wheel angle has not changed, the driver's line of sight has not continuously shifted left or right, and the turn signal has not been turned on within a certain period of time, and then identifies it as a following vehicle driving scenario; In step 2, the driver intention recognition module detects through the in-car camera that the driver's line of sight shifts to the left or right, the steering wheel angle changes, the turn signal is turned on by the driver, and the vehicle and environment perception module obtains information about the presence of obstacles ahead, then determines that the driver is performing obstacle avoidance driving. Step 3: The driver intention recognition module detects through the steering wheel and the in-vehicle camera that the steering wheel angle has not changed, the driver's line of sight has not continuously shifted left or right, and the turn signal has not been engaged within a certain period of time. At the same time, the ego vehicle and environment perception module detects a traffic light and crossing vehicles on the road ahead. The driver intention recognition module combines the current driver status and the information detected by the ego vehicle and environment perception module to determine that the scene is an intersection. Step 4: When the vehicle and environment perception module detects that the current driving direction is one-way and there is a merging entrance ahead, the driver intention recognition module determines that the driver is about to perform a ramp merging operation based on the perceived road condition information, and determines that it is a ramp merging scenario; Step 5: The driver intention recognition module detects that the driver's gaze is continuously shifting to the left, the left turn signal is turned on, and the steering wheel angle is gradually increasing. The driver intention recognition module determines that it is a lane change and overtaking scenario; Step 6: The driver intention recognition module detects that the driver continues to turn on the right turn signal and the steering wheel angle gradually increases, then the driver intention recognition module determines that it is a pull-over parking scenario.

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