An adaptive steering driving assistance method and system based on high-precision map

Abstract

The present invention discloses an adaptive steering driving assistance method based on a high-precision map, comprising the following steps: when a positioning device detects that the distance between the vehicle and the designated road ahead is less than or equal to a preset distance, a vehicle-mounted radar detects whether there is a vehicle ahead on the designated road ahead; when the detection result is that there is a vehicle ahead, the vehicle-mounted radar measurement angle is maintained; when the detection result is that there is no vehicle ahead, the vehicle-mounted radar measurement angle is continuously adjusted according to the road conditions of the designated road; until the detection result changes to the presence of the vehicle ahead, the vehicle-mounted radar measurement angle is maintained at this time; if the vehicle ahead is adjusted to a preset upper limit angle and the detection result is still that there is no vehicle ahead, the vehicle-mounted radar is adjusted back to the initial angle; when the vehicle leaves the designated road, the vehicle-mounted radar is adjusted back to the initial angle. The present invention timely uses mechanical driving to calculate and rotate the radar in the horizontal and pitch directions to increase the field of view angle corresponding to the road conditions to accurately detect the road conditions of the vehicle ahead, and enhances the radar's exploration performance of the vehicle conditions ahead of the lane.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle control, and in particular relates to an adaptive steering driving assistance method and system based on a high-precision map. Background Art

[0002] At present, adaptive follow-up steering technology is widely used in high-end cars. For example, in terms of headlights, when a car turns at night, there will be a lighting blind spot on the inside of the curve because the lighting angle cannot be adjusted. The headlight follow-up system automatically adjusts the low beam illumination center to deflect to the inside of the curve according to the steering wheel angle information, so that the light follows the direction of rotation, solves the traffic safety hazards caused by untimely lighting, and improves the safety performance of the car; another example is the rear wheel follow-up steering technology of the car. When the car is turning, the rear wheels can turn to a certain angle in time with the front wheels, so that the car can turn smoothly at high speed, not easy to swing the tail and reduce the side tilt, and ensure the comfort and safety of passengers. The application of follow-up steering improves the adaptability and flexibility of the mechanical structure of related parts of the car when turning, giving passengers a safer and more comfortable driving experience.

[0003] In the prior art, there is also a technology for adjusting the millimeter-wave radar's follow-up steering under the condition of a curve according to the car's turning information, that is, controlling the horizontal angle of the millimeter-wave radar to correspond to the road curvature to avoid the traffic safety hazard caused by the electromagnetic wave area emitted by the millimeter-wave radar failing to cover the front vehicle in the curve in time. However, the conditions where the millimeter-wave radar has a slow response are not limited to this. For example, when the vehicle goes uphill, affected by the road slope, the existing follow-up steering technology cannot control the corresponding relationship between the pitch angle and the slope of the millimeter-wave radar, and there is still a problem of not being able to timely identify the vehicle on the slope in front of the lane; and the turning information of the curve follow-up steering in the prior art comes from the car steering wheel angle sensor, and the angle provided by the steering wheel angle sensor is determined according to the driver's intention to manipulate the steering wheel. The safety improvement of the system is based on the driver's correct and timely response to the turn. If the driver fails to respond to the turn in time due to various reasons, the angle adjusted by the radar is insufficient according to the understeering angle information, and there is still a risk that the radar cannot detect the car in front of the curve in time, thereby increasing the safety hazard when the adaptive cruise system works under the turning condition. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive steering driving assistance method and system based on high-precision maps, which breaks the field of view angle limitation of millimeter-wave radar. On curves and slopes, the system uses the objective and accurate road condition values ​​provided by high-precision maps and positioning systems to make planning decisions and use mechanical motors to drive the radar to calculate and rotate in the horizontal and pitch directions according to the angle values ​​corresponding to the road conditions to increase the field of view and accurately detect the road conditions of the vehicle in front, thereby enhancing the radar's exploration performance of the vehicle conditions ahead in the lane.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: an adaptive steering driving assistance method based on a high-precision map, comprising the following steps:

[0006] When the positioning device detects that the vehicle is traveling on a horizontal road and the distance to the designated road ahead is less than or equal to the preset distance, the on-board radar continuously detects in real time whether there is a vehicle ahead on the designated road ahead; the designated road includes at least uphill and curved roads; when the detection result shows that there is a vehicle ahead, the on-board radar maintains its own posture measurement angle, and the on-board radar continuously detects the vehicle condition on the designated road ahead;

[0007] When the detection result is that there is no vehicle ahead, the vehicle radar will continue to adjust its own posture measurement angle according to the specified road conditions; until the detection result changes to the presence of a vehicle ahead, the vehicle radar will maintain its own posture measurement angle at this time, and the vehicle radar will continue to detect the vehicle conditions on the specified road ahead; if it is adjusted to the preset upper limit angle and the detection result is still that there is no vehicle ahead, the vehicle radar will be adjusted back to the initial angle, and the vehicle radar will continue to detect the vehicle conditions on the specified road ahead;

[0008] When the vehicle drives out of the designated road, the on-board radar returns to its initial position angle, and the positioning device continues to detect the vehicle's position.

[0009] When the designated road is uphill, the vehicle-mounted radar's own posture measurement angle is adjusted in the direction of vertical upwards, and the preset upper limit angle is the slope at this time.

[0010] When the designated road is a curve, the vehicle-mounted radar's own posture measurement angle adjustment direction is horizontal and the specific direction of the curve is adjusted to the left or right. The preset upper limit angle is the maximum deflection angle when turning. The initial adjustment angle when turning is the preset deflection angle α, which is calculated as follows:

[0011]

[0012]

[0013] α=arcsin(l·k0)

[0014] In the formula, r is the turning radius, k0 is the real-time curvature of the lane line, and l is the axle length of the vehicle;

[0015] When the preset deflection angle is adjusted and the on-board radar detection result still shows that there is no vehicle in front, it will continue to adjust to the maximum deflection angle when turning and the detection result still shows that there is no vehicle in front. The on-board radar will call back to the initial angle and continue to detect the vehicle condition on the specified road ahead.

[0016] The default distance is 200 meters.

[0017] It also provides a posture angle adjustment scheme for the vehicle-mounted radar itself when a vehicle ahead is detected, including:

[0018] The positioning device combines the high-precision map and the road feature information provided by the self-positioning to obtain the necessary parameters for calculating and adjusting the posture angle of the vehicle-mounted radar, such as slope, turning radius, real-time curvature of the lane line, etc.

[0019] On-vehicle radar, used to detect the vehicle condition in front of the vehicle;

[0020] Steering motor, used to control the rotation of the vehicle-mounted radar according to the controller command and adjust the measurement angle of the vehicle-mounted radar;

[0021] The controller is used to control the planning motor to adjust the specific rotation direction and angle of the radar according to the vehicle-mounted radar monitoring result of the vehicle condition in front of the vehicle when the vehicle-mounted radar detects that the vehicle is traveling on a horizontal road and the distance to the designated road ahead is less than or equal to the preset distance; the designated road includes at least an uphill road and a curve;

[0022] When the detection result shows that there is a vehicle ahead, the vehicle-mounted radar maintains its own posture measurement angle and controls the vehicle-mounted radar to continuously detect the vehicle condition on the designated road ahead;

[0023] When the designated road is uphill, the vehicle-mounted radar's own posture measurement angle is adjusted in the direction of vertical upwards, and the preset upper limit angle is the slope at this time.

[0024] When the designated road is a curve, the measurement angle of the on-board radar is adjusted to the horizontal direction and to the left or right to adapt to the specific direction of the curve. The preset upper limit angle is the maximum deflection angle when turning.

[0025] The initial adjustment angle when turning is the preset deflection angle α, which is calculated as follows:

[0026]

[0027]

[0028] α=arcsin(l·k0)

[0029] In the formula, r is the turning radius, k0 is the real-time curvature of the lane line, and l is the axle length of the vehicle;

[0030] The default distance is 200 meters.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention breaks the limitation of the field of view angle of the millimeter-wave radar. On curves and ramps, the system uses the objective and accurate road condition values ​​provided by the high-precision map to make planning decisions and mechanically drive the radar to calculate and rotate in the horizontal and pitch directions at angles corresponding to the road conditions to increase the field of view angle and accurately detect the road condition of the vehicle ahead, thereby enhancing the radar's ability to explore the condition of the vehicle ahead in the lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The figure is a schematic diagram of a method flow of an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] In this solution, the system has its own independent planning decision controller, which is responsible for calculating the logic of starting / ending the adjustment of the radar angle in uphill and turning driving scenarios, the specific angle value to be adjusted, etc. At the same time, other related interactive modules involved include: intelligent driving assistance radar, steering motor that adjusts the radar pitch angle and heading angle and contacts it, and high-precision map and positioning system. Among them, the intelligent driving assistance radar is responsible for detecting the road conditions ahead and whether there are vehicles ahead of the lane; the steering motor is responsible for adjusting the radar angle, and has the characteristics of high durability, high stability, and high reliability. It has the ability to adjust the angle in two dimensions of pitch angle and heading angle, and can receive and execute the angle adjustment instructions of the system independent controller; the high-precision map and positioning system has high-precision map data and RTK positioning, is responsible for the positioning of the vehicle, and provides the system independent controller with information such as the slope of the ramp and the curvature of the lane line of the curve in real time so that the system controller can calculate and plan the radar adjustment angle. The system controller of this solution and other related interactive modules communicate data information with each other through the vehicle communication network (CAN bus or vehicle Ethernet).

[0036] Specific adjustment plan of this system:

[0037] 1. Uphill working condition

[0038] When the high-precision map and positioning system detects that the vehicle is traveling on a horizontal road and is 200m away from the uphill ramp ahead, the system starts to activate. The radar detects whether there is a vehicle ahead of the lane. If it detects that there is a vehicle ahead temporarily, the system will not issue an instruction to adjust the radar angle, and the radar will continue to detect the road conditions ahead of the lane. When the radar can continue to detect the target information of the vehicle ahead during the next horizontal road and uphill process, the system will not adjust the radar in this case; if the radar detects that the vehicle ahead disappears at a certain moment during the next horizontal road and uphill process, the system will output a radar angle adjustment instruction, and the adjusted angle is α, and α is always set to ≤ slope. The slope value is provided by the map box with real-time slope data. Next, when α is always ≤ slope and the radar is in the process of adjustment, if the radar has not detected the vehicle in front, the system adjusts the radar to its original position, ends this adjustment, and the system continues to detect the road conditions ahead of the lane; if α is always ≤ slope and the radar detects the vehicle in front during the adjustment process and the system positioning has not left the lane, the angle command is continuously adjusted until the map box positioning information shows that the vehicle has left the slope, then the system adjusts the radar to its original position, ends this adjustment, and the system continues to detect the road conditions ahead of the lane.

[0039] 2. Turning conditions

[0040] When the map box locates and detects that the vehicle is traveling on a horizontal road and is 200m away from the curve ahead, the system starts to activate. The radar detects whether there is no vehicle ahead in front of the lane. If it is detected that there is a vehicle ahead temporarily, the system will not issue an instruction to adjust the radar angle, and the radar will continue to detect the road conditions ahead of the lane. When the radar can still continue to detect the target information of the vehicle ahead during the next horizontal road and curve, the system will not adjust the radar in this case; if the radar detects that the vehicle ahead disappears at a certain moment during the next horizontal road and curve, the system will output a radar angle adjustment instruction, and the adjusted angle is α, and α is always set to be ≤ the maximum deflection angle when turning. The map box provides the real-time curvature k0 of the lane line, and r is the turning radius. The vehicle axle length is known to be l. The deflection angle α is calculated as follows:

[0041]

[0042]

[0043] α=arcsin(l·k0)

[0044] Next, when α is always ≤ the maximum deflection angle when turning and the radar is in the process of adjustment, if the radar has not detected the vehicle in front, the system will adjust the radar to its original position, end this adjustment, and the system will continue to detect the road conditions ahead of the lane; if α is always ≤ the maximum deflection angle when turning and the radar has detected the vehicle in front from time to time during the adjustment process and the system has not left the lane, the angle command will be continuously adjusted until the map box positioning information shows that the vehicle has left the curve, then the system will adjust the radar to its original position, end this adjustment, and the system will continue to detect the road conditions ahead of the lane.

[0045] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive steering driving assistance method based on high-precision maps, characterized in that: The following steps are involved: When the positioning device detects that the vehicle is traveling on a horizontal road and the distance to the designated road ahead is less than or equal to the preset distance, the vehicle-mounted radar continuously detects in real time whether there is a preceding vehicle on the designated road ahead; the designated road includes at least an uphill road and a curve; When the detection result shows that there is a vehicle ahead, the vehicle-mounted radar maintains its own posture measurement angle, and the vehicle-mounted radar continues to detect the vehicle condition on the designated road ahead; When the detection result is that there is no vehicle ahead, the vehicle radar will continue to adjust its own posture measurement angle according to the specified road conditions; until the detection result changes to the presence of a vehicle ahead, the vehicle radar will maintain its own posture measurement angle at this time, and the vehicle radar will continue to detect the vehicle conditions on the specified road ahead; if the vehicle radar is adjusted to the preset upper limit angle of its own posture and the detection result is still that there is no vehicle ahead, the vehicle radar will be called back to the initial posture angle of its own posture, and the vehicle radar will continue to detect the vehicle conditions on the specified road ahead; When the vehicle drives out of the designated road, the on-board radar returns to its initial position angle, and the positioning device continues to detect the vehicle's position.

2. The method for adaptive steering driving assistance based on high-precision maps according to claim 1, characterized in that: When the designated road is uphill, the vehicle-mounted radar's own posture measurement angle is adjusted in the direction of vertical upwards, and the preset upper limit angle is the slope at this time.

3. The method for adaptive steering driving assistance based on high-precision maps according to claim 1, characterized in that: When the designated road is a curve, the vehicle-mounted radar's own posture measurement angle is adjusted in the horizontal direction and adapted to the specific direction of the curve to the left or right. The preset upper limit angle is the maximum deflection angle when turning.

4. The method for adaptive steering driving assistance based on high-precision maps according to claim 3 is characterized in that: The initial adjustment angle when turning is the preset deflection angle α, which is calculated as follows: α=arcsin(l·k0) In the formula, r is the turning radius, k0 is the real-time curvature of the lane line, and l is the axle length of the vehicle; When the preset deflection angle is adjusted and the on-board radar detection result still shows that there is no vehicle in front, it will continue to adjust to the maximum deflection angle when turning and the detection result still shows that there is no vehicle in front. The on-board radar will call back to the initial angle and continue to detect the vehicle condition on the specified road ahead.

5. The method for adaptive steering driving assistance based on high-precision maps according to claim 1, characterized in that: The default distance is 200 meters.

6. A system using the adaptive steering driving assistance method based on a high-precision map as claimed in claim 1, characterized in that: include: The positioning device, combined with the high-precision map and the road feature information provided by the self-positioning, is used to obtain the necessary parameters for calculating and adjusting the posture angle of the vehicle-mounted radar itself, and the necessary parameters include at least the slope, the turning radius and the real-time curvature of the lane line; On-vehicle radar, used to detect the vehicle condition in front of the vehicle; Steering motor, used to control the rotation of the vehicle-mounted radar according to the controller command and adjust the measurement angle of the vehicle-mounted radar; The controller is used to control the motor to adjust the specific rotation direction and angle of the radar according to the result of the vehicle-mounted radar monitoring the vehicle condition in front of the vehicle when the vehicle-mounted radar detects that the vehicle is traveling on a horizontal road and the distance to the designated road ahead is less than or equal to the preset distance; the designated road includes at least an uphill road and a curve; When the detection result shows that there is a vehicle ahead, the vehicle radar measurement angle is maintained and the vehicle radar is controlled to continuously detect the vehicle condition on the designated road ahead; When the detection result is that there is no vehicle ahead, the vehicle radar measurement angle is continuously adjusted according to the specified road conditions; until the detection result changes to the presence of a vehicle ahead, the vehicle radar measurement angle is maintained at this time, and the vehicle radar is controlled to continuously detect the vehicle conditions on the specified road ahead; if the angle is adjusted to the preset upper limit and the detection result is still that there is no vehicle ahead, the vehicle radar is controlled to return to the initial angle, and the vehicle radar continues to detect the vehicle conditions on the specified road ahead; When the vehicle drives out of the designated road, the on-board radar is controlled to return to the initial angle, and the positioning device is controlled to continuously detect the position of the vehicle.

7. The system according to claim 6, characterized in that When the designated road is uphill, the measurement angle of the vehicle-mounted radar is adjusted vertically upward, and the preset upper limit angle is the slope at this time.

8. The system according to claim 6, characterized in that When the designated road is a curve, the measurement angle of the on-board radar is adjusted to the horizontal direction and to the left or right to adapt to the specific direction of the curve. The preset upper limit angle is the maximum deflection angle when turning.

9. The system according to claim 8, characterized in that The initial adjustment angle when turning is the preset deflection angle α, which is calculated as follows: α=arcsin(l·k0) In the formula, r is the turning radius, k0 is the real-time curvature of the lane line, and l is the axle length of the vehicle; When the preset deflection angle is adjusted and the on-board radar detection result still shows that there is no vehicle in front, it will continue to adjust to the maximum deflection angle when turning and the detection result still shows that there is no vehicle in front. The on-board radar will call back to the initial angle and continue to detect the vehicle condition on the specified road ahead.

10. The system according to claim 6, characterized in that The default distance is 200 meters.

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