A vehicle control system

Abstract

The application relates to the driving technical field, and particularly discloses a vehicle control system. The technical scheme comprises the following steps: a positioning acquisition unit is used for acquiring current position information of the vehicle; a driving environment acquisition unit is used for acquiring the environment around the current position of the vehicle; a road environment analysis unit is used for analyzing the environment around the current position of the vehicle to acquire the road and off-road environment; a coordinate system construction unit is used for constructing a coordinate system and placing the environment around the current position of the vehicle in the coordinate system; an environment analysis unit is used for acquiring the current position of the vehicle at a corresponding time point S t and planning a driving route of the vehicle; a roadblock analysis unit is used for calculating the driving direction, current speed and acceleration and planning the driving route of the vehicle; and an automobile control unit is used for controlling the driving of the vehicle through the acceleration, driving direction and current speed. The shortest distance of the collision point connecting line is calculated, so that the vehicle can be avoided in the fastest speed and safest mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the driving technical field, specifically relates to a kind of vehicle control system. BACKGROUND

[0002] With the development of science and technology, transportation has also developed rapidly, with the increase of population, the improvement of people's living standards, the number of private cars increases sharply, high-tech with the development of application on the vehicle more and more widely, unmanned becomes the direction of future development. Vehicle trajectory can be obtained by vehicle-mounted driving recorder etc., but vehicle-mounted driving recorder is mainly used to store the current vehicle driving road condition, and does not have the function of predicting the vehicle driving trajectory. Traditional curve fitting is mainly used for interpolation calculation, that is, to obtain the numerical value of dependent variable corresponding to independent variable in interval, and the prediction accuracy is generally low outside the interval. SUMMARY

[0003] To solve the above technical problems, the present application provides a kind of vehicle control system, the vehicle control system includes:

[0004] Positioning acquisition unit for acquiring current position information of the vehicle;

[0005] Driving environment acquisition unit for acquiring the environment around the current position of the vehicle;

[0006] Road environment analysis unit for analyzing the environment around the current position of the vehicle to obtain road and off-road environment;

[0007] Coordinate system construction unit for constructing coordinate system and placing the environment around the current position of the vehicle in the coordinate system;

[0008] Environment analysis unit for obtaining the current position S t of the vehicle at corresponding time point;

[0009] Roadblock analysis unit for analyzing the features of road and off-road environment, separating obstacles from the environment around the current position of the vehicle, obtaining the influence range of obstacles and corresponding time, and judging whether the obstacles and the planned driving route of the vehicle at the same time point overlap, if yes, calculating the driving direction and acceleration;If not, the vehicle planning driving route is driven;

[0010] Automobile control unit for controlling the vehicle by acceleration, driving direction and current speed.

[0011] Preferably, the driving environment acquisition unit includes radar, camera and / or GPS, Beidou automatic positioning system combination.

[0012] Preferably, the surrounding environment of the current position of the vehicle includes a live surrounding environment and a virtual road environment; the live surrounding environment is obtained by radar and / or camera, and the virtual road environment is obtained by GPS or Beidou automatic positioning system; the road line is identified in the live surrounding environment by mapping the virtual road environment into the live surrounding environment, and the part covered by the road line is taken as the road, and the live surrounding environment outside the road is taken as the off-road environment.

[0013] Preferably, the method for obtaining the planned driving route of the vehicle includes: obtaining the historical position S t-1 and the current position S t of the vehicle, connecting and extending the historical position S t-1 and the current position S t to obtain the planned position S t+1 ; judging whether the planned position S t+1 is out of the road, if yes, judging whether the lane where the current position S t is located is the roadside, if yes, taking the current position S t as the starting point and the roadside as the planned driving route of the vehicle; if the planned position S t+1 is not out of the road, taking S t -S t+1 as the planned driving route of the vehicle.

[0014] Preferably, the feature analysis includes: calculating the driving slope of the vehicle, judging whether the driving slope is greater than a preset judgment value; if no, judging that it is the road surface; if yes, calculating whether the height difference is greater than a preset height difference; if yes, judging that it is the road obstacle, and if no, judging that it is the road surface.

[0015] Preferably, the calculation of the influence range of the obstacle includes: performing feature extraction on the RGB image and the point cloud data in the live surrounding environment to obtain the line features of the gray image and / or the edge points of the point cloud data; connecting the line features and / or the edge points, and removing the discrete points to obtain the obstacle contour, and taking the coverage range of the obstacle contour as the influence range of the obstacle.

[0016] Preferably, the method for judging whether the obstacle overlaps with the planned driving route of the vehicle includes: when it is the road obstacle, judging whether the relative geodetic coordinate position S t-1 ' of the obstacle is the same as S t '; if yes, judging that it is the fixed obstacle and judging whether the obstacle coordinate is on the planned driving route of the vehicle, if yes, judging that there is overlap; if no, judging that there is no overlap; if no, judging that it is the mobile obstacle; when it is the off-road obstacle, obtaining the relative geodetic coordinate position St-1 ' and S t ' are same, if yes, then ignore, if no, then determine as moving obstacle; when the obstacle is moving obstacle, by calculating the moving speed v'; calculating the moving path of the moving obstacle and the moving time t'; judging whether the moving path of the obstacle at the moving time t' intersects with the planned driving route of the vehicle, if yes, then determine as coinciding, if no, then determine as not coinciding.

[0017] Preferably, the acceleration and driving direction calculation method is: when determining as coinciding, then obtaining the intersection point coordinate, taking S t as the starting point, and calculating the planned coordinate with the current vehicle speed v; judging whether the distance L i ' between the intersection point coordinate and the planned coordinate is greater than a preset safety distance L', calculating the connecting line distance of each collision point , wherein C i is the sum of the connecting line direction obstacle contour coordinate distance and the vehicle contour coordinate distance; if yes, then continue driving at the current vehicle speed on the planned driving route; if no, then calculating L=MinL i , i.e. the shortest connecting line distance of the collision point, then obtaining the collision point C m and C n of the obstacle and the vehicle, and calculating the acceleration a with as the driving direction.

[0018] Technical effects and advantages of the present application: through the road and off-road environment analysis on the obstacle analysis, the determination is more accurate, and the safety is higher. Through the calculation of the shortest distance of the collision point connecting line, the avoidance can be performed in the fastest speed and the safest way, the safety is further improved, and the avoidance efficiency is higher. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural block diagram of a vehicle control system proposed by the present application. DETAILED DESCRIPTION

[0020] The present application will be further described in detail below in combination with the drawings and specific embodiments. The embodiments of the present application are given for the purpose of illustration and description, and are not exhaustive or limit the present application to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the present application and its practical application, and to enable those of ordinary skill in the art to understand the present application in order to design various embodiments with various modifications suitable for specific uses.

[0021] Embodiment 1

[0022] ReferenceFigure 1 In the present embodiment, a vehicle control system is proposed for automatically controlling the vehicle and achieving automatic avoidance of pedestrians, roadblocks and the vehicle, the vehicle control system comprising:

[0023] A positioning acquisition unit is configured to acquire the current position information of the vehicle. The positioning acquisition unit is a prior art and will not be described in detail herein. The vehicle is a vehicle that travels using the vehicle control system.

[0024] A driving environment acquisition unit is configured to acquire the environment around the current position of the vehicle. The driving environment acquisition unit can be a combination of multiple radars and cameras, or a combination of radars, cameras, GPS and Beidou automatic positioning systems. The environment around the current position of the vehicle can include the front, rear, left, right and various angle parts of the vehicle, and is not limited to the front of the vehicle. The environment around the current position of the vehicle can include live surrounding environment and virtual road environment. The live surrounding environment is acquired by radars and cameras, and the virtual road environment is acquired by GPS or Beidou automatic positioning systems.

[0025] A road environment analysis unit is configured to analyze the environment around the current position of the vehicle to acquire the road and off-road environment. Specifically, the virtual road environment obtained by the GPS or Beidou automatic positioning system can be mapped into the live surrounding environment. The virtual road environment has road lines, which are a prior art. The road lines can be identified in the live surrounding environment, and the part covered by the road lines is regarded as the road, and the part outside the road is regarded as the off-road environment.

[0026] A coordinate system construction unit is configured to construct a coordinate system. The coordinate system is a spatial coordinate system, which can be a geodetic coordinate system or a mobile coordinate system. When the coordinate system is a geodetic coordinate system, it can be constructed by an automatic positioning system. When the coordinate system is a mobile coordinate system, the coordinate system origin is the vehicle. The coordinate system can include the environment around the current position of the vehicle, and the environment around the current position of the vehicle is placed in the coordinate system.

[0027] An environment analysis unit is configured to acquire the current position of the vehicle, the corresponding time point and the planned driving route of the vehicle, i.e. t S is the current position of the vehicle, and t is the specific time corresponding to the current position of the vehicle. Each time point corresponds to a current position of the vehicle. When the coordinate system is mobile, a series of coordinate system positions can be calibrated, and S is the relative position of the coordinate system. The planned driving route of the vehicle is obtained by recording the current position S t of the vehicle, obtaining the historical position S t-1 of the vehicle and the current position S t of the vehicle, and mapping the historical position St-1 and current position S t Connect the lines and extend them to obtain the planned location S. t+1 Determine the planned location S t+1 Check if the road is outside the lane; if so, determine the current position S. t Is the current lane a side lane? If so, then use the current position S t Starting from point S, the side lanes will be the planned driving route for this vehicle. If the planned location is S... t+1 If it does not go beyond the road, then use S. t -S t+1 This vehicle's planned driving route. The term "side lane" can be defined as the innermost or outermost driving lane on a multi-lane road, excluding the emergency lane. When it is necessary to drive or park in the emergency lane, it can be done manually; details will not be elaborated here.

[0028] The obstacle analysis unit performs feature analysis on the road and external environment, isolates obstacles from the environment surrounding the vehicle's current position, and obtains the obstacle's influence range and corresponding time. It determines whether an obstacle at the same time point overlaps with the vehicle's planned driving route. If so, it calculates the current vehicle speed, driving direction, and acceleration; otherwise, it proceeds along the planned driving route. Obstacles here can include fixed obstacles on the road, moving obstacles, and moving obstacles in the external environment. Feature analysis can include: analyzing road obstacles, analyzing the environment surrounding the vehicle's current position to obtain the driving surface, and calculating the driving slope based on the vehicle's driving direction. It determines whether the driving slope is greater than a preset threshold. If not, it is determined to be a road surface; otherwise, it calculates... If the height difference is greater than a preset value, it is determined to be a road obstacle; otherwise, it is determined to be a road surface. The determination value and height difference can be set and determined according to road parameters, which will not be elaborated here. The calculation of the obstacle's influence range may include feature extraction from RGB images and point cloud data in the surrounding environment to obtain the line features of the grayscale image and / or the edge points of the point cloud data; connecting the line features and / or edge points, and removing discrete points to obtain the obstacle outline, and taking the coverage area of ​​the obstacle outline as the obstacle's influence range. The method for determining whether the obstacle overlaps with the planned driving route of the vehicle includes: when it is a road obstacle, obtaining the relative geodetic coordinate position S of the obstacle. t-1 'with S t 'Is it the same? If yes, it is determined to be a fixed obstacle and whether the obstacle's coordinates are on the vehicle's planned driving route. If yes, it is determined to be coincident; if no, it is determined to be non-coincident. If no, it is determined to be a moving obstacle. When it is an off-road obstacle, obtain the obstacle's relative ground coordinates S.' t-1' and S t ' are same, if yes, ignore; if no, determine as moving obstacle; when the obstacle is moving obstacle, by calculating the moving speed v'; calculating the moving path of the moving obstacle and moving t'; judging whether the moving path of the obstacle intersects with the planned driving route of the vehicle, if yes, determine as coinciding, if no, determine as not coinciding. Then the vehicle continues driving on the planned driving route at the current speed, the acceleration and driving direction calculation method is: when determining as coinciding, obtaining the intersection point coordinates, taking S t as the starting point, calculating the planned coordinates at the current speed v, and judging whether the distance L i ' between the intersection point coordinates and the planned coordinates is greater than a preset safety distance L', the safety distance L' can be the distance between the vehicle body contour and the coordinate reference point of the vehicle, which changes with the relative position, calculating the connecting line distance of each collision point , wherein Ci is the sum of the obstacle contour coordinate distance and the vehicle contour coordinate distance in the connecting line direction, the obstacle contour coordinate distance is the radius of the obstacle contour line and the coordinate in the connecting line direction, and the vehicle contour coordinate distance is the radius of the vehicle contour line and the coordinate in the connecting line direction, which will not be described in detail. For example, the connecting line of the rear end coordinates of the vehicle and the front end coordinates of the obstacle, the connecting line of the front end coordinates of the vehicle and the rear end coordinates of the obstacle, and the connecting line of the right side coordinates of the vehicle and the left side coordinates of the obstacle, which will not be described in detail. If yes, continue driving on the planned driving route at the current speed, if no, calculate L = min L i , that is, the shortest connecting line distance of the collision points, then obtain the collision points C m and Cn of the obstacle and the vehicle, and take as the driving direction, and calculate the acceleration a.

[0029] The automobile control unit is used for controlling the vehicle by the acceleration a, , the driving direction and the current speed. When it is a fixed obstacle, it can be determined as a special case of moving obstacle with zero speed and acceleration, which will not be described in detail. The analysis of the obstacle is more accurate and safer through the analysis of the road and off-road environment. The collision point connecting line shortest distance is calculated, which can be avoided in the fastest speed and safest way, further improving the safety and the avoidance efficiency.

[0030] Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art and related fields without creative labor should belong to the protection scope of the present application. The structures, devices and operation methods not specifically described and explained in the present application are implemented according to the conventional means in the art, if not specifically described and limited.

Claims

1. A host vehicle control system characterized by comprising: The vehicle control system comprises: a position acquisition unit configured to acquire current position information of the vehicle; a driving environment acquisition unit configured to acquire an environment around the current position of the vehicle; a road environment analysis unit configured to analyze the environment around the current position of the vehicle to acquire a road environment and an off-road environment; a coordinate system construction unit configured to construct a coordinate system and place the environment around the current position of the vehicle in the coordinate system; an environment analysis unit configured to acquire a current position St of the vehicle at a corresponding time point and a planned driving route of the vehicle; a roadblock analysis unit configured to analyze features of the road environment and the off-road environment, separate obstacles from the environment around the current position of the vehicle, obtain an influence range of the obstacles and a corresponding time, and determine whether the obstacles and the planned driving route of the vehicle coincide at the same time point, if yes, calculate a driving direction and an acceleration, and if no, drive the vehicle according to the planned driving route; Wherein, the acceleration and driving direction calculation method is: when judging as coinciding, the intersection coordinate is obtained, and the planning coordinate is calculated and obtained with the current vehicle speed v taking S t as the starting point; whether the distance L i between the intersection coordinate and the planning coordinate is greater than a preset safety distance L' is judged, the connecting line distance L i of each collision point is calculated, and L i =C i , wherein C i is the sum of the connecting line direction obstacle profile coordinate distance and the vehicle profile coordinate distance; if yes, the current vehicle speed continues to drive on the planning driving route; if no, L=MinL i is calculated and obtained, that is, the shortest connecting line distance of the collision point, the collision point C m of the obstacle and the vehicle is obtained, and C n , and the driving direction is taken as , the acceleration size a is calculated and obtained.

2. The system according to claim 1, wherein a vehicle control unit configured to control the vehicle according to the acceleration, the driving direction and a current speed of the vehicle.

3. The system according to claim 2, wherein The driving environment acquisition unit comprises a radar, a camera and / or a GPS and Beidou automatic positioning system.

4. The system according to Claim 1, wherein The feature analysis includes: calculating the driving direction of the vehicle to obtain a driving slope , determining whether the driving slope is greater than a preset determination value; if not, determining that it is a road surface; if yes, calculating whether it is greater than a preset height difference; if yes, determining that it is a road obstacle, and if not, determining that it is a road surface.

5. The system according to claim 3, wherein The environment around the current position of the vehicle comprises a live surrounding environment and a virtual road environment, the live surrounding environment is acquired by the radar and / or the camera, and the virtual road environment is acquired by the GPS or the Beidou automatic positioning system; the virtual road environment is mapped to the live surrounding environment, a road line is marked in the live surrounding environment, a part covered by the road line is taken as a road, and a live surrounding environment outside the road is taken as an off-road environment. The obstacle influence range calculation comprises: feature extraction on an RGB image and point cloud data in the live surrounding environment to obtain line features of a gray image and / or edge points of the point cloud data; connecting the line features and / or the edge points, removing discrete points to obtain an obstacle contour, and taking a coverage range of the obstacle contour as the influence range of the obstacles.

6. The system according to Claim 1, wherein The method for determining whether the obstacle coincides with the planned travel route of the vehicle includes: when the obstacle is a road obstacle, obtaining whether the relative geodetic coordinate position S t-1 ' of the obstacle is identical with S t '; if yes, determining that the obstacle is a fixed obstacle and judging whether the obstacle coordinate is on the planned travel route of the vehicle; if yes, determining that the obstacle coincides; if no, determining that the obstacle does not coincide; if no, determining that the obstacle is a moving obstacle; when the obstacle is an off-road obstacle, obtaining whether the relative geodetic coordinate position S t-1 ' of the obstacle is identical with S t '; if yes, ignoring; if no, determining that the obstacle is a moving obstacle; when the obstacle is a moving obstacle, obtaining the moving speed v' by calculation ; obtaining the moving path and the moving time t' of the moving obstacle by calculation; judging whether the moving path of the obstacle at the moving time t' has an intersection with the planned travel route of the vehicle; if yes, determining that the obstacle coincides; if no, determining that the obstacle does not coincide.

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