A method and device for monitoring lateral control of a vehicle ADAS system and a storage medium

Abstract

The application discloses a kind of vehicle ADAS system transverse control monitoring method, device and storage medium, including when vehicle enters transverse control mode, the transverse running data and environmental perception data of vehicle are acquired;Based on the first safety boundary limit that is set in advance, the superimposed range of the request torque output by electric power steering system;When the request torque output by it exceeds the first safety boundary, exit transverse control mode;Based on the second safety boundary limit that is set in advance, the superimposed range of the request torque output by advanced driver assistance system;When the request torque output exceeds the second safety boundary, exit transverse control mode.The vehicle ADAS system transverse control monitoring method provided by the application, by double analysis to the request torque output by electric power steering system and the request torque output by advanced driver assistance system, so that the judgment to transverse control is more detailed, and then the safety of transverse control can be accurately monitored, and the intelligent process of vehicle automatic driving is promoted.

Description

Technical Field

[0001] This invention relates to the field of automotive driver assistance technology, and in particular to a monitoring method, device, and storage medium for lateral control of a vehicle ADAS system. Background Technology

[0002] Vehicles controlled by ADAS (Advanced Driver Assistance Systems) have significant advantages in improving driving safety and reducing traffic accidents, and are currently a major research focus in vehicle technology development.

[0003] Lateral control refers to path tracking, which means using automatic steering control to ensure the vehicle always travels along a desired path. To ensure safe driving, the system's behavior needs to be limited to a reasonable range, allowing lateral control only within this range to avoid hazards caused by electronic or electrical failures. Current ADAS systems rely solely on the electric power steering (EPS) system for monitoring lateral control, resulting in a single factor and an inability to monitor lateral control function in a timely and accurate manner, which is detrimental to safe driving. Summary of the Invention

[0004] This invention provides a method, device, and storage medium for monitoring lateral control in a vehicle ADAS system. By performing dual analysis on the requested torque output by the electric power steering system and the requested torque output by the advanced driver assistance system, the influence of vehicle body factors is taken into greater consideration, thereby making the judgment of lateral control more detailed. This enables precise monitoring of the safety of lateral control and promotes the intelligent process of autonomous driving in vehicles.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a monitoring method for lateral control of a vehicle ADAS system, comprising:

[0006] When the vehicle enters the lateral control mode, the vehicle's lateral movement data and environmental perception data are acquired in real time. The lateral movement data includes at least the current vehicle speed, lateral acceleration, and steering wheel torque, and the environmental perception data includes at least the lane curvature.

[0007] The range of requested torque output by the electric power steering system is limited by a pre-set first safety boundary that reflects the relationship between torque and vehicle speed.

[0008] When the requested torque output by the electric power steering system exceeds the first safety boundary, the lateral control mode is exited; and,

[0009] The range of requested torque output by the advanced driver assistance system is limited by a pre-set second safety boundary that reflects the relationship between torque, vehicle speed, and curvature.

[0010] The lateral control mode is exited when the requested torque output by the advanced driver assistance system exceeds the second safety boundary.

[0011] As one preferred embodiment, the first security boundary is obtained in the following manner:

[0012] Input a certain amount of the first test torque at the first test vehicle speed;

[0013] Calculate the lateral offset value of the vehicle corresponding to each of the first test torques within a preset time period;

[0014] If the detected lateral offset value exceeds the preset threshold, the corresponding first test torque will be used as the maximum allowable output torque value.

[0015] The first test vehicle speed is continuously adjusted, and the first safety boundary consisting of torque and vehicle speed is constructed based on the corresponding maximum permissible output torque value.

[0016] As one preferred embodiment, the preset threshold I is

[0017]

[0018] Where W1 is the current lane width and W2 is the vehicle width.

[0019] As one preferred embodiment, the second security boundary is obtained in the following manner:

[0020] Input several second test torques under the test lane curvature, and determine the lateral acceleration corresponding to the second test torques;

[0021] If the vehicle speed corresponding to the lateral acceleration is detected to exceed the preset maximum allowable vehicle speed range, the corresponding second test torque will be used as the maximum allowable output torque value.

[0022] The curvature of the test lane line is continuously adjusted, and a second safety boundary consisting of torque, curvature, and vehicle speed is constructed based on the corresponding maximum permissible output torque value.

[0023] As one preferred solution, when exiting the lateral control mode, the corresponding data information is reported and takeover information is generated for the driver.

[0024] As one preferred embodiment, after exiting the lateral control mode, if the vehicle is detected to meet the lateral control safety conditions, the vehicle is controlled to re-enter the lateral control mode.

[0025] As one preferred embodiment, the lateral control mode is maintained when the requested torque output by the electric power steering system does not exceed the first safety boundary; and,

[0026] The lateral control mode is maintained as long as the requested torque output by the advanced driver assistance system does not exceed the second safety boundary.

[0027] Another embodiment of the present invention provides a monitoring device for lateral control of a vehicle ADAS system, including a first type of sensor, a second type of sensor, a processor, and a memory;

[0028] The first type of sensor is used to acquire vehicle speed, lateral acceleration, and steering wheel torque;

[0029] The second type of sensor is used to acquire lane line curvature;

[0030] The memory stores a computer program that can run on the processor. When the processor executes the computer program to process the first motion state data and the second motion state data, it executes the monitoring method for lateral control of the vehicle ADAS system as described above.

[0031] As one preferred embodiment, the first type of sensor includes a torque sensor and an inertial measurement sensor;

[0032] The second type of sensor includes millimeter-wave radar and cameras.

[0033] In another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the monitoring method for lateral control of a vehicle ADAS system as described above.

[0034] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following:

[0035] It not only focuses on the impact of the electric power steering (EPS) system, but also considers more vehicle information at the upper-level ADAS controller. It performs dual analysis on the requested torque output by the electric power steering system and the requested torque output by the advanced driver assistance system. When either exceeds the safety boundary, it exits the lateral control mode, limiting the lateral control function to a reasonable range. Compared with a single judgment, it can free up more space to provide better performance, thus making the judgment of lateral control more refined. In turn, it can accurately monitor the safety of lateral control and promote the intelligent process of vehicle autonomous driving. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating a monitoring method for lateral control of a vehicle ADAS system according to one embodiment of the present invention.

[0037] Figure 2This is a logic block diagram of existing technology for monitoring the horizontal line control function;

[0038] Figure 3 This is a logic block diagram of a monitoring method for lateral control of a vehicle ADAS system according to one embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the first security boundary in one embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the second security boundary in one embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this application, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] In the description of this application, it should be noted that, unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the invention. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] One embodiment of the present invention provides a monitoring method for lateral control of a vehicle ADAS system. For details, please refer to [link / reference]. Figure 1 , Figure 1 The diagram shown is a flowchart illustrating a monitoring method for lateral control of a vehicle ADAS system according to one embodiment of the present invention, which specifically includes steps S1 to S5:

[0046] S1. When the vehicle enters the lateral control mode, the lateral movement data and environmental perception data of the vehicle are acquired in real time. The lateral movement data includes at least the current vehicle speed, lateral acceleration and steering wheel torque, and the environmental perception data includes at least the lane line curvature.

[0047] S2. The range of requested torque superposition output by the electric power steering system is limited based on a pre-set first safety boundary that reflects the relationship between torque and vehicle speed.

[0048] S3. When the requested torque output by the electric power steering system exceeds the first safety boundary, exit the lateral control mode; and,

[0049] S4. Based on a pre-set second safety boundary reflecting the relationship between torque, vehicle speed, and curvature, limit the range of requested torque superposition output by the advanced driver assistance system;

[0050] S5. When the requested torque output by the advanced driver assistance system exceeds the second safety boundary, exit the lateral control mode.

[0051] It should be noted that the above steps S1 to S5 are not a limitation on the temporal order of the present invention. When the horizontal control mode is entered in step S1, steps S2, S3, S4 and S5 are advanced according to the actual data, and will not be described again here.

[0052] The vehicle ADAS system lateral control monitoring method provided in this invention performs dual analysis of the requested torque output by the electric power steering system and the requested torque output by the advanced driver assistance system, giving greater consideration to the influence of vehicle body factors, thus making the judgment of lateral control more refined. In the prior art, please refer to... Figure 2 , Figure 2The diagram shows the logic block diagram of the existing technology for monitoring the lateral control function. In the design of the existing technology, the lateral control of ADAS does not consider closed-loop monitoring at the ADAS domain controller. Instead, the steering actuator (EPS) is responsible for output monitoring to ensure that the output is within a reasonable steering wheel torque (TBT) range. The whole process relies solely on the EPS to continue to maintain or judge the danger and request to take over and exit the ADAS function response. The influencing factors are not detailed enough, which leads to a decrease in the accuracy of lateral control.

[0053] This invention considers more vehicle body information at the upper-level ADAS controller, allowing for more detailed judgment of influencing factors. Compared to a single judgment, this frees up more space to provide better performance. For details, please refer to [link / reference]. Figure 3 , Figure 3 The diagram shows a logic block diagram of a vehicle ADAS system lateral control monitoring method in one embodiment of the present invention. When the entry conditions for ADAS lateral control function are met, the system enters lateral control mode. ADAS monitors the vehicle's lateral acceleration and lateral superimposed torque in real time. The torque sensor signal is transmitted to the ADAS system and EPS system via a bus. The IMU transmits lateral acceleration information to the ADAS system via a bus. EPS limits the range of superimposed torque output by a preset torque threshold. ADAS monitors the safety of lateral control by using the lateral acceleration information from the torque sensor and IMU. When EPS or ADAS determines that the predefined safety limit is exceeded, the ADAS lateral control function is exited.

[0054] To enable monitoring of the horizontal line control function, the construction of the first and second safety boundaries is particularly important, and will be explained in detail below.

[0055] The first safety boundary is obtained through the following steps S11 to S14:

[0056] S11. Input a certain amount of first test torque at the first test vehicle speed;

[0057] S12. Calculate the lateral offset value of the vehicle corresponding to each of the first test torques within a preset time period;

[0058] S13. If the lateral offset value is detected to exceed the preset threshold, the corresponding first test torque is taken as the maximum allowable output torque value.

[0059] S14. Continuously adjust the first test vehicle speed, and construct the first safety boundary composed of torque and vehicle speed based on the corresponding maximum allowable output torque value.

[0060] For details, please see Figure 4 , Figure 4The diagram shown illustrates a first safety boundary in one embodiment of the present invention. The first safety boundary is a preset safety boundary established by EPS in conjunction with vehicle speed and corresponding lateral control. The boundary is derived based on vehicle speed and a failure injection experiment performed at that speed. Within a preset time (e.g., 1 second) of injected torque output, the vehicle's lateral offset should be less than or equal to a preset threshold I. The preset threshold I is...

[0061]

[0062] Where W1 is the current lane width and W2 is the vehicle width.

[0063] Through multiple failure injection experiments, the maximum torque value was found as the maximum allowable output torque value at that vehicle speed, thus obtaining the first safety boundary.

[0064] The second safety boundary is obtained through the following steps S21 to S23:

[0065] S21. Input several second test torques under the curvature of the test lane line, and determine the lateral acceleration corresponding to the second test torques;

[0066] S22. If the vehicle speed corresponding to the lateral acceleration is detected to exceed the preset maximum allowable vehicle speed range, the corresponding second test torque will be used as the maximum allowable output torque value.

[0067] S23. Continuously adjust the curvature of the test lane line, and construct the second safety boundary composed of torque, curvature and vehicle speed based on the corresponding maximum permissible output torque value.

[0068] For details, please see Figure 5 , Figure 5 The diagram illustrates a second safety boundary in one embodiment of the present invention. The second boundary lies within a three-dimensional space comprised of torque, vehicle speed, and curvature. During ADAS lateral control safety monitoring, ADAS determines the safety of vehicle lateral control based on the lateral acceleration emitted by the torque sensor and inertial measurement unit transmitted via EPS. Figure 5 Different colors in the diagram represent different lateral accelerations. ADAS also presets safety limits for steering wheel torque and lateral acceleration, known as the second safety boundary. The torque safety limit of ADAS is based on vehicle speed and the radius of curvature of the ADAS visual recognition to limit the maximum value that can be requested. If this range is exceeded, it is considered high-risk control, requesting the driver to take over and exit lateral control. Lateral acceleration is based on a preset maximum permissible range of vehicle speed; exceeding this range is considered high-risk control, requesting the driver to take over and exit lateral control. Since different vehicle models correspond to different preset maximum permissible ranges of vehicle speed, the actual second safety boundary is determined by specific product requirements and will not be elaborated upon here.

[0069] It should be noted that when exiting the lateral control mode, corresponding data information needs to be reported to the vehicle, cloud, or client, and takeover information needs to be generated for the driver to remind them to take over and ensure safe driving. Of course, after exiting the lateral control mode, if the vehicle is detected to meet the lateral control safety conditions, the vehicle will be controlled to re-enter the lateral control mode. Specifically, in this embodiment, the lateral control safety conditions refer to the detection that the requested torque output by the electric power steering system does not exceed the first safety boundary, and the requested torque output by the advanced driver assistance system does not exceed the second safety boundary. When these safety conditions are met, the vehicle will be controlled to re-enter the lateral control mode.

[0070] Furthermore, in the above embodiments, the lateral control mode is maintained when the requested torque output by the electric power steering system does not exceed the first safety boundary; and,

[0071] The lateral control mode is maintained as long as the requested torque output by the advanced driver assistance system does not exceed the second safety boundary.

[0072] Another embodiment of the present invention provides a monitoring device for lateral control of a vehicle ADAS system, including a first type of sensor, a second type of sensor, a processor, and a memory;

[0073] The first type of sensor is used to acquire vehicle speed, lateral acceleration, and steering wheel torque;

[0074] The second type of sensor is used to acquire lane line curvature;

[0075] The memory stores a computer program that can run on the processor. When the processor executes the computer program to process the first motion state data and the second motion state data, it executes the monitoring method for lateral control of the vehicle ADAS system as described above.

[0076] As one preferred embodiment, the first type of sensor includes a torque sensor and an inertial measurement unit (IMU);

[0077] The second type of sensor includes millimeter-wave radar and cameras.

[0078] In the above embodiments, the purpose of using the millimeter-wave radar and camera installed on the vehicle is to obtain the radius of curvature for ADAS visual recognition, thereby obtaining curvature data; the torque sensor and inertial measurement sensor (IMU) can obtain the corresponding lateral acceleration and steering wheel torque data, and the vehicle speed data also needs to be obtained by the relevant sensors. The number and distribution of the above sensors are determined by the actual vehicle model. For example, a front radar and a front camera can be set, which will not be elaborated here.

[0079] In another embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the monitoring method for lateral control of a vehicle ADAS system as described above.

[0080] The monitoring method, device, and storage medium for lateral control of a vehicle ADAS system provided in this invention have the following advantages:

[0081] It not only focuses on the impact of the electric power steering (EPS) system, but also considers more vehicle information at the upper-level ADAS controller. It performs dual analysis on the requested torque output by the electric power steering system and the requested torque output by the advanced driver assistance system. When either exceeds the safety boundary, it exits the lateral control mode, limiting the lateral control function to a reasonable range. Compared with a single judgment, it can free up more space to provide better performance, thus making the judgment of lateral control more refined. In turn, it can accurately monitor the safety of lateral control and promote the intelligent process of vehicle autonomous driving.

[0082] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A monitoring method for lateral control of a vehicle ADAS system, characterized in that, include: When the vehicle enters the lateral control mode, the vehicle's lateral movement data and environmental perception data are acquired in real time. The lateral movement data includes at least the current vehicle speed, lateral acceleration, and steering wheel torque, and the environmental perception data includes at least the lane curvature. The range of requested torque output by the electric power steering system is limited by a pre-set first safety boundary that reflects the relationship between torque and vehicle speed. When the requested torque output by the electric power steering system exceeds the first safety boundary, the lateral control mode is exited; and, The range of requested torque output by the advanced driver assistance system is limited by a pre-set second safety boundary that reflects the relationship between torque, vehicle speed, and curvature. When the requested torque output by the advanced driver assistance system exceeds the second safety boundary, the lateral control mode is exited. The first security boundary is obtained in the following manner: Input a certain amount of the first test torque at the first test vehicle speed; Calculate the lateral offset value of the vehicle corresponding to each of the first test torques within a preset time period; If the detected lateral offset value exceeds the preset threshold I, the corresponding first test torque will be used as the maximum allowable output torque value. The first test vehicle speed is continuously adjusted, and the first safety boundary consisting of torque and vehicle speed is constructed based on the corresponding maximum allowable output torque value. The second security boundary is obtained in the following manner: Input several second test torques under the test lane curvature, and determine the lateral acceleration corresponding to the second test torques; If the vehicle speed corresponding to the lateral acceleration is detected to exceed the preset maximum allowable vehicle speed range, the corresponding second test torque will be used as the maximum allowable output torque value. The curvature of the test lane line is continuously adjusted, and a second safety boundary consisting of torque, curvature, and vehicle speed is constructed based on the corresponding maximum permissible output torque value.

2. The monitoring method for lateral control of a vehicle ADAS system as described in claim 1, characterized in that, The preset threshold I is Where W1 is the current lane width and W2 is the vehicle width.

3. The monitoring method for lateral control of a vehicle ADAS system as described in claim 1, characterized in that, When exiting the lateral control mode, the corresponding data information is reported, and takeover information is generated for the driver.

4. The monitoring method for lateral control of a vehicle ADAS system as described in claim 1, characterized in that, After exiting the lateral control mode, if the vehicle is detected to meet the lateral control safety conditions, the vehicle is controlled to re-enter the lateral control mode.

5. The monitoring method for lateral control of a vehicle ADAS system as described in claim 1, characterized in that, When the requested torque output by the electric power steering system does not exceed the first safety boundary, the lateral control mode is maintained; and, The lateral control mode is maintained as long as the requested torque output by the advanced driver assistance system does not exceed the second safety boundary.

6. A monitoring device for lateral control of a vehicle ADAS system, characterized in that, Includes Class I sensors, Class II sensors, processors, and memory; The first type of sensor is used to acquire vehicle speed, lateral acceleration, and steering wheel torque; The second type of sensor is used to acquire lane line curvature; The memory stores a computer program that can run on the processor. When the processor executes the computer program to process the vehicle speed, lateral acceleration, and steering wheel torque acquired by the first type of sensor and the lane curvature acquired by the second type of sensor, it performs the monitoring method for lateral control of the vehicle ADAS system as described in any one of claims 1 to 5.

7. The monitoring device for lateral control of a vehicle ADAS system as described in claim 6, characterized in that, The first type of sensor includes torque sensors and inertial measurement sensors; The second type of sensor includes millimeter-wave radar and cameras.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform a monitoring method for lateral control of a vehicle ADAS system as described in any one of claims 1 to 5.

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