A method and device for detecting deviation of an autonomous vehicle and a storage medium

Abstract

The application belongs to the technical field of vehicle testing, and discloses a kind of detection method, device and storage medium for the deviation of automatic driving vehicle: when driving on a straight line section, when the steering wheel angle signal is a preset angle, start the deviation detection function of automatic driving vehicle; obtain the lateral offset distance and longitudinal driving distance of the automatic driving vehicle when driving straight; according to the ratio of the lateral offset distance and the longitudinal driving distance, obtain the lateral offset per 100 meters of the automatic driving vehicle; determine whether the lateral offset per 100 meters exceeds the lateral steady-state compensation threshold of the automatic driving control module; if not, the automatic driving system performs automatic compensation; if it exceeds, the vehicle maintenance personnel is notified through the vehicle cloud platform to repair the deviation problem of the vehicle. The application solves the problem that the automatic driving vehicle cannot automatically detect the deviation of the vehicle and cannot automatically compensate when the vehicle deviates.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle testing, and particularly relates to a detection method and device for deviation of an automatic driving vehicle and a storage medium. BACKGROUND

[0002] In the use process of a vehicle, different vehicles will have different degrees of directional deviation due to the aging of chassis parts, changes in tire pressure, changes in vehicle load, etc. For an automatic driving vehicle, it is impossible to rely on a driver to observe the deviation of the vehicle, so a detection method suitable for the deviation of an automatic driving vehicle is needed to enable the control module of the automatic driving vehicle to automatically compensate for the deviation of the vehicle, and if the deviation of the vehicle is abnormal, the fault can be stored and the vehicle maintenance personnel can be notified to maintain the vehicle, thereby ensuring the safety of the automatic driving vehicle.

[0003] In the prior art, the deviation measurement of an automatic driving vehicle is generally manually processed, and the operation links are many, the precision cannot be guaranteed, and the obtained parameters need to be manually input into the system, which is low in efficiency. It cannot meet the development needs of automatic driving technology.

[0004] In the non-automatic driving field, the deviation of a vehicle is measured by the sensors and GPS system of the vehicle itself, but the influence of road and weather factors on the deviation of the vehicle is not considered, and the positioning accuracy is lower than that of an automatic driving vehicle, so the measurement result is generally only used to prompt the driver and cannot be used for automatic acceleration control compensation calculation. SUMMARY

[0005] In view of the above technical problems, the present application provides a detection method and device for deviation of an automatic driving vehicle and a storage medium, which aims to enable the automatic driving vehicle to automatically detect the deviation of the vehicle, automatically compensate for the deviation of the vehicle when the vehicle deviates, and display prompt information to the maintenance personnel when the deviation of the vehicle is in an unreasonable range.

[0006] In the first aspect, the present application provides a detection method for deviation of an automatic driving vehicle, which comprises:

[0007] When driving on a straight line section, starting the deviation detection function of the automatic driving vehicle when the steering wheel angle signal is a preset angle;

[0008] Obtaining the lateral deviation distance and the longitudinal driving distance of the automatic driving vehicle when driving straight;

[0009] Obtaining the lateral deviation per 100 meters of the automatic driving vehicle according to the ratio of the lateral deviation distance and the longitudinal driving distance;

[0010] Judging whether the lateral deviation per 100 meters exceeds the lateral steady-state compensation threshold of the automatic driving control module.

[0011] If not exceeded, the automatic driving system automatically compensates;

[0012] If exceeded, the vehicle maintenance personnel is notified through the vehicle cloud platform to repair the vehicle deviation problem.

[0013] Specifically, the lateral offset distance and the longitudinal driving distance of the automatic driving vehicle during straight driving are obtained, comprising:

[0014] When the detection function is started, the first absolute lateral coordinate and the first absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle;

[0015] When the detection function ends, the second absolute lateral coordinate and the second absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle;

[0016] The lateral offset distance is calculated according to the first absolute lateral coordinate and the second absolute lateral coordinate;

[0017] The longitudinal driving distance is calculated according to the first absolute longitudinal coordinate and the second absolute longitudinal coordinate.

[0018] Specifically, before judging whether the lateral offset per hundred meters exceeds the lateral steady-state compensation threshold of the automatic driving control module, the position reliability is obtained through the fusion positioning module when the detection function ends;

[0019] The road lateral slope is obtained through the IMU inertial navigation system;

[0020] The current wind value is obtained through the V2X system;

[0021] When the position reliability is less than the first threshold, the lateral slope is less than the second threshold, and the wind value is less than the third threshold, the lateral offset per hundred meters is valid data, and the lateral offset per hundred meters is input into the automatic driving control module; otherwise, the lateral offset per hundred meters is invalid data, and the lateral offset per hundred meters is discarded.

[0022] Specifically, the lateral offset per hundred meters is displayed on the instrument display interface of the automatic driving vehicle;

[0023] If the lateral offset per hundred meters does not exceed the lateral steady-state compensation threshold, the lateral offset per hundred meters is displayed in green on the instrument display interface;

[0024] If the lateral offset per hundred meters exceeds the lateral steady-state compensation threshold, the lateral offset per hundred meters is displayed in red on the instrument display interface.

[0025] Specifically, the automatic driving vehicle drives on a long straight road surface with clear lane markings.

[0026] In a second aspect, the present application provides a device for detecting deviation of an autonomous vehicle, comprising:

[0027] a deviation calculation module for obtaining a lateral deviation distance and a longitudinal driving distance of the autonomous vehicle when driving in a straight line, and obtaining a lateral deviation amount per 100 meters of the autonomous vehicle according to a ratio of the lateral deviation distance and the longitudinal driving distance;

[0028] a data transmission recording module for judging whether the lateral deviation amount per 100 meters exceeds a lateral steady-state compensation threshold of the autonomous driving control module; if not, the autonomous driving system performs automatic compensation; if so, the vehicle maintenance personnel are notified through the vehicle cloud platform to repair the deviation problem of the vehicle.

[0029] Specifically, when the steering wheel angle signal is a preset angle during driving in a straight line, the deviation detection function of the autonomous vehicle is started;

[0030] When the detection function is started, the first absolute lateral coordinate and the first absolute longitudinal coordinate of the autonomous vehicle are obtained through the fusion positioning module of the autonomous vehicle;

[0031] When the detection function ends, the second absolute lateral coordinate and the second absolute longitudinal coordinate of the autonomous vehicle are obtained through the fusion positioning module of the autonomous vehicle;

[0032] The lateral deviation distance is calculated according to the first absolute lateral coordinate and the second absolute lateral coordinate;

[0033] The longitudinal driving distance is calculated according to the first absolute longitudinal coordinate and the second absolute longitudinal coordinate.

[0034] Specifically, the device further comprises:

[0035] a data validity judgment module for obtaining a positioning confidence through the fusion positioning module, obtaining a road lateral slope through the IMU inertial navigation system, and obtaining a current wind value through the V2X system when the detection function ends;

[0036] When the positioning confidence is less than a first threshold, the lateral slope is less than a second threshold, and the wind value is less than a third threshold, the lateral deviation amount per 100 meters is valid data, and the lateral deviation amount per 100 meters is input into the autonomous driving control module; otherwise, the lateral deviation amount per 100 meters is invalid data, and the lateral deviation amount per 100 meters is discarded.

[0037] Specifically, the device further comprises a display module for displaying the lateral deviation amount per 100 meters on the instrument display interface of the autonomous vehicle;

[0038] If the lateral deviation amount per 100 meters does not exceed the lateral steady-state compensation threshold, the lateral deviation amount per 100 meters is displayed in green on the instrument display interface;

[0039] If the lateral deviation per 100 meters exceeds the lateral steady-state compensation threshold, the lateral deviation per 100 meters is displayed in red on the instrument display interface.

[0040] In a third aspect, the present application further provides a computer readable storage medium, which stores a computer program, wherein the program instructs the computer storage medium to execute the method of any one of the above when running.

[0041] The application discloses a kind of automatic driving vehicle deviation detection method, device and storage medium, steering wheel angle signal is preset angle, the lateral deviation distance and longitudinal travel distance of automatic driving vehicle are acquired, and according to the ratio of lateral deviation distance and longitudinal travel distance, the lateral deviation per 100 meters of automatic driving vehicle is obtained, when the lateral deviation per 100 meters does not exceed lateral steady-state compensation threshold, automatic driving system is automatically compensated, when the lateral deviation per 100 meters exceeds lateral steady-state compensation threshold, vehicle maintenance personnel is informed to repair, can realize the deviation function of automatic detection vehicle using automatic driving vehicle itself hardware and software, without the hardware cost brought by additional sensor, while also can reduce human resources, when automatic driving vehicle deviation, automatically compensate, deviation exceeds threshold and informs maintenance personnel to repair. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a flow chart of the automatic driving vehicle deviation detection method of the application;

[0043] Figure 2 It is a structural schematic diagram of the automatic driving vehicle deviation detection device of the application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. Obviously, the specific examples described here are only used to explain the present application, and are part of the examples, but not all the examples. Based on the examples in the present application, all other examples obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] In the examples of the present application, "first", "second", etc. are used to distinguish different objects, not to describe a specific order or sequence.

[0046] Figure 1 The flow chart shown is a flow chart of one embodiment of the automatic driving vehicle deviation detection method provided by the present application, which specifically includes:

[0047] Step 1, when the steering wheel angle signal is a preset angle, start the automatic driving vehicle deviation detection function when driving on a straight line section.

[0048] The preset angle means that the steering wheel is approximately in the return state, for example, the steering wheel angle signal is 0°±0.2°, which means that there is an error range of 0.2°, or other numerical values, and the embodiments of the present application are not limited to be unique.

[0049] Specifically, the automatic driving vehicle drives on a long straight road surface with clear lane markings.

[0050] Step 2, obtain the lateral deviation distance and longitudinal driving distance of the automatic driving vehicle when driving straight.

[0051] Specifically, when the detection function is started, the first absolute lateral coordinate and the first absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle;

[0052] When the detection function ends, the second absolute lateral coordinate and the second absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle;

[0053] The lateral deviation distance is calculated according to the first absolute lateral coordinate and the second absolute lateral coordinate;

[0054] The longitudinal driving distance is calculated according to the first absolute longitudinal coordinate and the second absolute longitudinal coordinate.

[0055] In this embodiment, the fusion positioning module monitors the position information of the automatic driving vehicle, and based on the fusion positioning module of the automatic driving vehicle itself, the positioning accuracy of centimeter level can be ensured. When the automatic driving vehicle drives on a straight road, the fusion positioning module sends a road sign bit signal to the electric power steering system (EPS), and when the steering wheel angle signal from the EPS is a preset angle, the automatic driving vehicle deviation detection function is started, and the first absolute lateral coordinate and the first absolute longitudinal coordinate of the automatic driving vehicle at this moment are recorded. The fusion positioning module is updated in real time during the driving process of the automatic driving vehicle, and the automatic driving vehicle deviation detection function is ended after driving 100 meters. When the automatic driving vehicle deviation detection function ends, the second absolute lateral coordinate and the second absolute longitudinal coordinate of the automatic driving vehicle at this moment are recorded, and the longitudinal driving distance and the lateral deviation distance of the automatic driving vehicle within this period of time can be calculated according to the coordinates at the beginning and the end.

[0056] Step 3, according to the ratio of the lateral deviation distance and the longitudinal driving distance, the lateral deviation amount per hundred meters of the automatic driving vehicle is obtained.

[0057] Step 4, judge whether the lateral offset per 100 meters exceeds the lateral steady-state compensation threshold of the automatic driving control module or not;

[0058] If not, the automatic driving system performs automatic compensation;

[0059] If yes, the vehicle maintenance personnel is informed through the vehicle cloud platform to repair the vehicle deviation problem.

[0060] Specifically, before judging whether the lateral offset per 100 meters exceeds the lateral steady-state compensation threshold of the automatic driving control module or not at the end of the detection function, the positioning confidence is obtained through the fusion positioning module;

[0061] The road lateral slope is obtained through the IMU inertial navigation system;

[0062] The current wind value is obtained through the V2X system;

[0063] When the positioning confidence is less than the first threshold, the lateral slope is less than the second threshold, and the wind value is less than the third threshold, the lateral offset per 100 meters is valid data, and the lateral offset per 100 meters is input into the automatic driving control module; otherwise, the lateral offset per 100 meters is invalid data, and the lateral offset per 100 meters is discarded.

[0064] Before judging the deviation of the automatic driving vehicle, the confidence of the positioning information, the road lateral slope at the end of the detection, and the wind size are obtained, and when the positioning confidence, the lateral slope, and the wind value all meet the requirements, the road environment and the weather environment can be eliminated, and the lateral offset per 100 meters at this time is the effective offset, and the measurement result is more accurate.

[0065] Specifically, the lateral offset per 100 meters is displayed on the instrument display interface of the automatic driving vehicle;

[0066] If the lateral offset per 100 meters does not exceed the lateral steady-state compensation threshold, the lateral offset per 100 meters is displayed in green on the instrument display interface;

[0067] If the lateral offset per 100 meters exceeds the lateral steady-state compensation threshold, the lateral offset per 100 meters is displayed in red on the instrument display interface.

[0068] Figure 2 As shown in the structure schematic diagram of the detection device for the deviation of the automatic driving vehicle provided by the application. Figure 2 As shown, the device comprises:

[0069] The deviation calculation module is used for obtaining the lateral offset distance and the longitudinal running distance of the automatic driving vehicle when running straight, and obtaining the lateral offset per 100 meters of the automatic driving vehicle according to the ratio of the lateral offset distance and the longitudinal running distance;

[0070] The data transmission recording module is configured to determine whether the lateral deviation per 100 meters exceeds a lateral steady-state compensation threshold of the automatic driving control module; if not, the automatic driving system performs automatic compensation; if yes, a vehicle maintenance personnel is informed through the vehicle cloud platform to repair the deviation problem of the vehicle.

[0071] Specifically, when the steering wheel angle signal is a preset angle during driving on a straight road section, the deviation detection function of the automatic driving vehicle is started.

[0072] When the detection function is started, the first absolute lateral coordinate and the first absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle.

[0073] When the detection function is ended, the second absolute lateral coordinate and the second absolute longitudinal coordinate of the automatic driving vehicle are obtained through the fusion positioning module of the automatic driving vehicle.

[0074] The lateral deviation distance is calculated according to the first absolute lateral coordinate and the second absolute lateral coordinate.

[0075] The longitudinal driving distance is calculated according to the first absolute longitudinal coordinate and the second absolute longitudinal coordinate.

[0076] Specifically, the detection device further comprises:

[0077] The data validity determination module is configured to obtain the positioning accuracy through the fusion positioning module, obtain the road lateral slope through the IMU inertial navigation system, and obtain the current wind value through the V2X system when the detection function is ended.

[0078] When the positioning accuracy is less than a first threshold, the lateral slope is less than a second threshold, and the wind value is less than a third threshold, the lateral deviation per 100 meters is valid data, and the lateral deviation per 100 meters is input into the automatic driving control module; otherwise, the lateral deviation per 100 meters is invalid data, and the lateral deviation per 100 meters is discarded.

[0079] Specifically, the device further comprises a display module configured to display the lateral deviation per 100 meters on the instrument display interface of the automatic driving vehicle.

[0080] If the lateral deviation per 100 meters does not exceed the lateral steady-state compensation threshold, the lateral deviation per 100 meters is displayed in green on the instrument display interface.

[0081] If the lateral deviation per 100 meters exceeds the lateral steady-state compensation threshold, the lateral deviation per 100 meters is displayed in red on the instrument display interface.

[0082] According to another aspect of the embodiment of the present application, a computer storage medium is provided, which stores program instructions, wherein the program instructions control the device where the computer storage medium is located to execute the method of any one of the above when the program instructions are executed.

[0083] The above embodiments are only intended to express the preferred modes of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. A method for detecting deviation of an autonomous vehicle, characterized in that, The method comprises the following steps: when the steering wheel angle signal is a preset angle during straight-line driving, starting an automatic driving vehicle deviation detection function; obtaining a lateral deviation distance and a longitudinal driving distance of the automatic driving vehicle during straight-line driving; obtaining a lateral deviation per 100 meters of the automatic driving vehicle according to a ratio of the lateral deviation distance and the longitudinal driving distance; judging whether the lateral deviation per 100 meters exceeds a lateral steady-state compensation threshold of an automatic driving control module; if not, the automatic driving system performs automatic compensation; if yes, informing a vehicle maintenance personnel through a vehicle cloud platform to repair the deviation problem of the vehicle; the obtaining of the lateral deviation distance and the longitudinal driving distance of the automatic driving vehicle during straight-line driving comprises: when the detection function is started, obtaining a first absolute lateral coordinate and a first absolute longitudinal coordinate of the automatic driving vehicle through a fusion positioning module of the automatic driving vehicle; when the detection function is ended, obtaining a second absolute lateral coordinate and a second absolute longitudinal coordinate of the automatic driving vehicle through the fusion positioning module of the automatic driving vehicle; calculating the lateral deviation distance according to the first absolute lateral coordinate and the second absolute lateral coordinate; calculating the longitudinal driving distance according to the first absolute longitudinal coordinate and the second absolute longitudinal coordinate; before judging whether the lateral deviation per 100 meters exceeds the lateral steady-state compensation threshold of the automatic driving control module when the detection function is ended, obtaining a positioning reliability through the fusion positioning module; obtaining a road lateral slope through an IMU inertial navigation system; obtaining a current wind force value through a V2X system; when the positioning reliability is less than a first threshold, the lateral slope is less than a second threshold, and the wind force value is less than a third threshold, the lateral deviation per 100 meters is valid data, and the lateral deviation per 100 meters is input into the automatic driving control module; otherwise, the lateral deviation per 100 meters is invalid data, and the lateral deviation per 100 meters is discarded.

2. The method of claim 1, wherein, displaying the lateral deviation per 100 meters on an instrument display interface of the automatic driving vehicle; if the lateral deviation per 100 meters does not exceed the lateral steady-state compensation threshold, the lateral deviation per 100 meters is displayed in green on the instrument display interface; if the lateral deviation per 100 meters exceeds the lateral steady-state compensation threshold, the lateral deviation per 100 meters is displayed in red on the instrument display interface. 3.The method of claim 1, wherein, the automatic driving vehicle drives on a long straight road surface with clear lane markings.

4. A device for detecting a deviation of an autonomous vehicle, for implementing the method according to any one of claims 1 to 3, characterized in that, comprises: a deviation calculation module, configured to obtain a lateral deviation distance and a longitudinal driving distance of the automatic driving vehicle during straight-line driving, and obtain a lateral deviation per 100 meters of the automatic driving vehicle according to a ratio of the lateral deviation distance and the longitudinal driving distance; a data transmission and recording module, configured to judge whether the lateral deviation per 100 meters exceeds a lateral steady-state compensation threshold of an automatic driving control module; if not, the automatic driving system performs automatic compensation; if yes, a vehicle maintenance personnel is informed through a vehicle cloud platform to repair the deviation problem of the vehicle.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the program instructions control the device where the computer readable storage medium is located to execute the method in any one of claims 1 to 3 when the program instructions are run.

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