An autonomous vehicle following control system and method based on target vehicle running trajectory

Abstract

The present invention belongs to the technical field of intelligent assisted driving, and specifically relates to an autonomous following vehicle control system and method based on the running trajectory of a target vehicle, comprising: a perception module, used to obtain vehicle characteristics and driving status of a vehicle in front of a current vehicle; an instrument module, used to obtain driving status information of the current vehicle; a body stability control module, used to obtain posture information of the current vehicle; an intelligent driving module, which is respectively connected to the perception module, the instrument module and the body stability control module, identifies whether the vehicle in front is a target vehicle according to the acquired vehicle characteristics, obtains the running trajectory of the vehicle in front according to the acquired driving status information, and obtains the control amount of a wire-controlled chassis actuator of the current vehicle in combination with the current driving status information and the posture information; an execution module, which is used to control the execution amount of the wire-controlled chassis actuator of the current vehicle, and feeds back the actual status information of the wire-controlled chassis actuator of the front vehicle according to the control amount and the execution amount.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent assisted driving, and in particular relates to an autonomous vehicle following control system and method based on a target vehicle running trajectory. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of vehicle intelligent technology, technologies such as adaptive cruise control and lane keeping functions have gradually become standard options for car consumers. Intelligent assisted driving functions can reduce the driver's workload.

[0004] Following a vehicle means that when the current vehicle is driving on the road, it follows closely behind the target vehicle in front of the current vehicle, and the current vehicle maintains a certain safe distance from the target vehicle, so as to respond to changes in the driving state of the target vehicle in front in time to avoid collision accidents. The distance between the current vehicle and the target vehicle can be obtained in real time through sensors and cameras set in front of the current vehicle, and the two vehicles can be kept within the set safe distance range through acceleration or braking to achieve following a vehicle.

[0005] However, when the vehicle is running on a road without lane lines or with unclear lane lines, the vehicle cannot achieve the lane keeping function. When the driver is driving long distances, the driving intensity is high, and the phenomenon of following the vehicle and losing it often occurs, that is, the current vehicle and the target vehicle are not driving in the same lane or the current vehicle cannot follow the target vehicle closely (that is, there are other vehicles between the current vehicle and the target vehicle); after the following vehicle is lost, the driver of the current vehicle needs to actively look for the target vehicle being tracked, which seriously affects the driving safety of the current vehicle. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes an autonomous following vehicle control system and method based on the running trajectory of a target vehicle, which obtains the relative distance, relative speed and relative acceleration between the target vehicle and the current vehicle, and controls the line-hole chassis actuator of the current vehicle in combination with the vehicle characteristics of the target vehicle to realize autonomous following driving of the current vehicle.

[0007] According to some embodiments, a first solution of the present invention provides an autonomous vehicle following control system based on the running trajectory of a target vehicle, using the following technical solutions:

[0008] An autonomous vehicle following control system based on a target vehicle running trajectory, comprising:

[0009] A perception module is used to obtain the vehicle characteristics and driving status of the vehicle in front of the current vehicle;

[0010] Instrument module, used to obtain the current vehicle driving status information;

[0011] The vehicle stability control (ESC) module is used to obtain the current vehicle posture information;

[0012] an intelligent driving module, connected to the perception module, the instrument module and the body stability control module respectively, identifying whether the front vehicle is a target vehicle according to the vehicle characteristics of the vehicle in front of the current vehicle obtained, obtaining the running track of the front vehicle according to the driving state information of the vehicle in front of the current vehicle obtained, and obtaining the control amount of the current vehicle's wire-controlled chassis actuator in combination with the driving state information and posture information of the current vehicle;

[0013] The execution module is used to control the execution amount of the current vehicle's wire-controlled chassis actuator, and to feed back the actual state information of the front vehicle's wire-controlled chassis actuator according to the control amount and execution amount of the front vehicle's wire-controlled chassis actuator.

[0014] As a further technical limitation, the intelligent driving module is connected to the vehicle's electronic control system ECU, and is used to receive the vehicle characteristics of the vehicle in front of the current vehicle obtained by the perception module, and determine whether the vehicle in front is a target vehicle. The current vehicle selects different driving states based on the judgment result.

[0015] Furthermore, if the vehicle in front is the target vehicle, the intelligent driving module sends a request to the instrument module to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned on, and the current vehicle enters the automatic driving state; if the vehicle in front is not the target vehicle, the intelligent driving module sends a request to the instrument module to stop following the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned off, and the current vehicle enters the manual driving state.

[0016] As a further technical limitation, the perception module includes at least a camera and a radar; the camera is used to obtain vehicle features of the vehicle in front of the current vehicle; the vehicle features obtained are vehicle appearance information, including at least vehicle model, body color and license plate number; the radar is used to obtain the relative distance, relative speed and relative acceleration between the current vehicle and the vehicle in front of it, as well as lane line information of the lane in which the current vehicle is traveling; the radar can use laser radar and millimeter wave radar.

[0017] As a further technical limitation, the current vehicle driving status information includes at least the current vehicle speed, brake opening, turn signal, current gear position and intelligent switch status.

[0018] Furthermore, when the smart switch is in the on state, the intelligent driving module is turned on, and the current vehicle is in the automatic driving state; when the smart switch is in the off state, the intelligent driving module is turned off, and the current vehicle is in the manual driving state.

[0019] As a further technical limitation, the posture information of the current vehicle includes at least the lateral acceleration, longitudinal acceleration and yaw angular velocity of the current vehicle.

[0020] According to some embodiments, the second solution of the present invention provides an autonomous vehicle following control method based on the running trajectory of a target vehicle, which adopts the autonomous vehicle following control system based on the running trajectory of a target vehicle provided in the first solution, and adopts the following technical solutions:

[0021] An autonomous vehicle following control method based on a target vehicle running trajectory, comprising:

[0022] Turn on the smart switch to determine the target vehicle that the current vehicle is tracking;

[0023] Obtain vehicle features of the vehicle in front of the current vehicle and determine whether the vehicle in front of the current vehicle is the target vehicle;

[0024] When the vehicle ahead is the target vehicle, the intelligent driving module sends a request to the instrument module to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch continues to be turned on, and the current vehicle enters the automatic driving state, and the current vehicle realizes autonomous following driving;

[0025] When the vehicle in front is not the target vehicle, the intelligent driving module sends a request to the instrument module that it can no longer follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned off, and the current vehicle enters the manual driving state. At this time, screening continues based on the vehicle characteristics obtained in front, and the vehicle characteristics are compared to match whether the vehicle in front is the target vehicle. If the match is successful, autonomous following will be performed, otherwise the matching will continue until a match is successful.

[0026] As a further technical limitation, in the process of determining whether the vehicle in front of the current vehicle is the target vehicle, a feature comparison analysis is performed on the vehicle characteristics of the vehicle in front of the current vehicle and the vehicle characteristics of the target vehicle tracked by the current vehicle. If the feature comparison is consistent, the vehicle in front of the current vehicle is the target vehicle; otherwise, the comparison analysis continues.

[0027] As a further technical limitation, in the process of autonomous following driving, the driving state of the vehicle in front of the current vehicle is obtained to obtain the running trajectory of the vehicle in front, and the control amount of the wire-controlled chassis actuator of the current vehicle is obtained by combining the driving state information and posture information of the current vehicle; based on the control amount and execution amount of the wire-controlled chassis actuator of the front vehicle, the actual state information of the wire-controlled chassis actuator of the front vehicle is fed back to control the execution amount of the wire-controlled chassis actuator of the current vehicle, that is, to control the driving state of the current vehicle, so as to realize the autonomous following form of the current vehicle.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention obtains the relative distance, relative speed and relative acceleration between the target vehicle and the current vehicle, and combines the vehicle characteristics of the target vehicle to achieve tracking and locking of the target vehicle by the current vehicle, thereby solving the problems of driving without lane lines and autonomous following driving of the vehicle, and realizes autonomous following driving of the current vehicle by controlling the line hole chassis actuator of the current vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.

[0031] Figure 1 This is a schematic diagram of an autonomous vehicle following control system based on the target vehicle running trajectory in the first embodiment of the present invention;

[0032] Figure 2 It is a structural block diagram of the autonomous vehicle following control method based on the target vehicle running trajectory in the second embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0037] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and they cannot be understood as limitations on the present invention.

[0038] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0039] Embodiment 1

[0040] Embodiment 1 of the present invention introduces an autonomous vehicle following control system based on the running trajectory of a target vehicle.

[0041] like Figure 1 An autonomous vehicle following control system based on the target vehicle running trajectory is shown, comprising:

[0042] A perception module is used to obtain the vehicle characteristics and driving status of the vehicle in front of the current vehicle;

[0043] Instrument module, used to obtain the current vehicle driving status information;

[0044] ESC module, used to obtain the current vehicle posture information;

[0045] an intelligent driving module, connected to the perception module, the instrument module and the body stability control module respectively, identifying whether the front vehicle is a target vehicle according to the vehicle characteristics of the vehicle in front of the current vehicle obtained, obtaining the running track of the front vehicle according to the driving state information of the vehicle in front of the current vehicle obtained, and obtaining the control amount of the current vehicle's wire-controlled chassis actuator in combination with the driving state information and posture information of the current vehicle;

[0046] The execution module is used to control the execution amount of the current vehicle's wire-controlled chassis actuator, and to feed back the actual state information of the front vehicle's wire-controlled chassis actuator according to the control amount and execution amount of the front vehicle's wire-controlled chassis actuator.

[0047] As one or more implementation modes, the perception module uses a camera, a lidar and a millimeter-wave radar to obtain vehicle features of the vehicle in front of the current vehicle through the camera, and the obtained vehicle features are vehicle appearance information including at least vehicle model, body color and license plate number; and obtains the relative distance, relative speed and relative acceleration between the current vehicle and the vehicle in front of it, as well as the lane line information of the current vehicle's lane through the lidar and millimeter-wave radar.

[0048] As one or more implementation modes, the driving status information of the current vehicle including at least the vehicle speed, brake opening, turn signal, current gear position and intelligent switch status of the current vehicle is displayed through the instrument module;

[0049] When the smart switch is in the on state, the intelligent driving module is turned on and the current vehicle is in the automatic driving state; when the smart switch is in the off state, the intelligent driving module is turned off and the current vehicle is in the manual driving state.

[0050] As one or more implementation modes, the posture information of the current vehicle including at least the lateral acceleration, longitudinal acceleration and yaw rate of the current vehicle is obtained through the vehicle stability control module ESC.

[0051] As one or more implementation modes, the intelligent driving module is connected to the electronic control system ECU of the vehicle, and is used to receive the vehicle characteristics of the vehicle in front of the current vehicle acquired by the perception module, and judge whether the vehicle in front is a target vehicle, and the current vehicle selects different driving states according to the judgment result;

[0052] If the vehicle ahead is the target vehicle, the intelligent driving module sends a request to the instrument module to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned on, and the current vehicle enters the automatic driving state. If the vehicle ahead is not the target vehicle, the intelligent driving module sends a request to the instrument module that it cannot continue to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned off, and the current vehicle enters the manual driving state.

[0053] Embodiment 2

[0054] The second embodiment of the present invention introduces an autonomous vehicle following control method based on the running trajectory of the target vehicle, which adopts the autonomous vehicle following control system based on the running trajectory of the target vehicle introduced in the first embodiment.

[0055] like Figure 2 An autonomous vehicle following control method based on the target vehicle running trajectory is shown, comprising:

[0056] Turn on the smart switch to determine the target vehicle that the current vehicle is tracking;

[0057] Obtain vehicle features of the vehicle in front of the current vehicle and determine whether the vehicle in front of the current vehicle is the target vehicle;

[0058] When the vehicle ahead is the target vehicle, the intelligent driving module sends a request to the instrument module to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch continues to be turned on, and the current vehicle enters the automatic driving state, and the current vehicle realizes autonomous following driving;

[0059] When the vehicle in front is not the target vehicle, the intelligent driving module sends a request to the instrument module that it can no longer follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned off, and the current vehicle enters the manual driving state. At this time, screening continues based on the vehicle characteristics obtained in front, and the vehicle characteristics are compared to match whether the vehicle in front is the target vehicle. If the match is successful, autonomous following will be performed, otherwise the matching will continue until a match is successful.

[0060] As one or more implementation modes, in the process of determining whether the vehicle in front of the current vehicle is a target vehicle, a feature comparison analysis is performed on the acquired vehicle features of the vehicle in front of the current vehicle and the determined vehicle features of the target vehicle being tracked by the current vehicle. If the feature comparison is consistent, the vehicle in front of the current vehicle is the target vehicle; otherwise, the comparison analysis continues.

[0061] As one or more implementation modes, during the process of autonomous following driving, the driving state of the vehicle in front of the current vehicle is obtained to obtain the running trajectory of the vehicle in front, and the control amount of the wire-controlled chassis actuator of the current vehicle is obtained by combining the driving state information and posture information of the current vehicle; according to the control amount and execution amount of the wire-controlled chassis actuator of the front vehicle, the actual state information of the wire-controlled chassis actuator of the front vehicle is fed back to control the execution amount of the wire-controlled chassis actuator of the current vehicle, that is, to control the driving state of the current vehicle, so as to realize the autonomous following form of the current vehicle.

[0062] It should be noted that when the current vehicle is in the automatic driving state, when the driver turns off the intelligent switch based on the instrument module, the automatic driving state ends, and the autonomous following function of the current vehicle is turned off. At this time, the current vehicle enters the manual driving state.

[0063] This embodiment obtains the relative distance, relative speed and relative acceleration between the target vehicle and the current vehicle, and combines the vehicle characteristics of the target vehicle to achieve tracking and locking of the target vehicle by the current vehicle, thereby solving the problems of driving without lane lines and autonomous following driving of the vehicle, and realizes autonomous following driving of the current vehicle by controlling the line hole chassis actuator of the current vehicle.

[0064] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.

Claims

1. An autonomous vehicle following control system based on the target vehicle's running trajectory, arranged on the current vehicle, characterized in that: include: A perception module is used to obtain the vehicle characteristics and driving status of the vehicle in front of the current vehicle; Instrument module, used to obtain the current vehicle driving status information; The vehicle body stability control module is used to obtain the current vehicle posture information; an intelligent driving module, connected to the perception module, the instrument module and the body stability control module respectively, identifying whether the front vehicle is a target vehicle according to the vehicle characteristics of the vehicle in front of the current vehicle obtained, obtaining the running track of the front vehicle according to the driving state information of the vehicle in front of the current vehicle obtained, and obtaining the control amount of the current vehicle's wire-controlled chassis actuator in combination with the driving state information and posture information of the current vehicle; The intelligent driving module is connected to the electronic control system of the vehicle, and is used to receive the vehicle characteristics of the vehicle in front of the current vehicle acquired by the perception module, and judge whether the vehicle in front is the target vehicle. The current vehicle selects different driving states according to the judgment result; If the vehicle in front is the target vehicle, the intelligent driving module sends a request for autonomous following to the instrument module. After the driver confirms based on the instrument module, the intelligent switch is turned on, and the current vehicle enters the automatic driving state. During the autonomous following process, the driving state of the vehicle in front of the current vehicle is obtained to obtain the running trajectory of the vehicle in front, and the control amount of the current vehicle's wire-controlled chassis actuator is obtained by combining the driving state information and posture information of the current vehicle. According to the control amount and execution amount of the current vehicle's wire-controlled chassis actuator, the actual state information of the current vehicle's wire-controlled chassis actuator is fed back to control the execution amount of the current vehicle's wire-controlled chassis actuator, that is, the driving state of the current vehicle is controlled to achieve the current vehicle's autonomous following form. If the vehicle in front is not the target vehicle, the intelligent driving module sends a request to the instrument module that it cannot continue to follow the vehicle autonomously. After the driver confirms based on the instrument module, he turns off the intelligent switch and the current vehicle enters the manual driving state. At this time, the vehicle features of the vehicle in front are obtained and the vehicle features are matched to see if it is the target vehicle. If the match is successful, the vehicle follows the vehicle autonomously. Otherwise, the matching continues until the match is successful. The execution module is used to control the execution amount of the current vehicle's wire-controlled chassis actuator, and feedback the actual state information of the current vehicle's wire-controlled chassis actuator according to the control amount and execution amount of the current vehicle's wire-controlled chassis actuator.

2. An autonomous vehicle following control system based on the target vehicle running trajectory as described in claim 1, characterized in that: The perception module includes at least a camera and a radar; the camera is used to obtain vehicle features of the vehicle in front of the current vehicle; The vehicle features obtained are vehicle appearance information, including at least vehicle model, vehicle body color and license plate number; the radar is used to obtain the relative distance, relative speed and relative acceleration of the current vehicle and the vehicle in front of it, as well as the lane line information of the lane where the current vehicle is traveling; The radar may be a laser radar or a millimeter wave radar.

3. An autonomous vehicle following control system based on the target vehicle running trajectory as claimed in claim 1, characterized in that: The current vehicle driving state information includes at least the current vehicle speed, brake opening, turn signal, current gear position and intelligent switch state.

4. The autonomous vehicle following control system based on the target vehicle running trajectory as claimed in claim 1, characterized in that: When the smart switch is in the on state, the intelligent driving module is turned on, and the current vehicle is in the automatic driving state; when the smart switch is in the off state, the intelligent driving module is turned off, and the current vehicle is in the manual driving state.

5. The autonomous vehicle following control system based on the target vehicle running trajectory as claimed in claim 1, characterized in that: The current vehicle posture information includes at least the lateral acceleration, longitudinal acceleration and yaw angular velocity of the current vehicle.

6. An autonomous vehicle following control method based on the running trajectory of a target vehicle, using the autonomous vehicle following control system based on the running trajectory of a target vehicle as claimed in any one of claims 1 to 5, characterized in that: include: Turn on the smart switch to determine the target vehicle that the current vehicle is tracking; Obtain vehicle features of the vehicle in front of the current vehicle and determine whether the vehicle in front of the current vehicle is the target vehicle; When the vehicle ahead is the target vehicle, the intelligent driving module sends a request to the instrument module to follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch continues to be turned on, and the current vehicle enters the automatic driving state, and the current vehicle realizes autonomous following driving; The intelligent driving module is connected to the electronic control system of the vehicle, and is used to receive the vehicle characteristics of the vehicle in front of the current vehicle obtained by the perception module, and judge whether the vehicle in front is the target vehicle. The current vehicle selects different driving states according to the judgment result; If the vehicle in front is the target vehicle, the intelligent driving module sends a request for autonomous following to the instrument module. After the driver confirms based on the instrument module, the intelligent switch is turned on, and the current vehicle enters the automatic driving state. During the autonomous following process, the driving state of the vehicle in front of the current vehicle is obtained to obtain the running trajectory of the vehicle in front, and the control amount of the current vehicle's wire-controlled chassis actuator is obtained by combining the driving state information and posture information of the current vehicle. According to the control amount and execution amount of the current vehicle's wire-controlled chassis actuator, the actual state information of the current vehicle's wire-controlled chassis actuator is fed back to control the execution amount of the current vehicle's wire-controlled chassis actuator, that is, the driving state of the current vehicle is controlled to achieve the current vehicle's autonomous following form. When the vehicle in front is not the target vehicle, the intelligent driving module sends a request to the instrument module that it can no longer follow the vehicle autonomously. After the driver confirms based on the instrument module, the intelligent switch is turned off, and the current vehicle enters the manual driving state. At this time, screening continues based on the vehicle characteristics obtained in front, and the vehicle characteristics are compared to match whether the vehicle in front is the target vehicle. If the match is successful, autonomous following will be performed, otherwise the matching will continue until a match is successful.

7. The autonomous vehicle following control method based on the target vehicle running trajectory as claimed in claim 6, characterized in that: In the process of determining whether the vehicle in front of the current vehicle is the target vehicle, a feature comparison analysis is performed on the vehicle features of the vehicle in front of the current vehicle and the vehicle features of the target vehicle tracked by the current vehicle. If the feature comparison is consistent, the vehicle in front of the current vehicle is the target vehicle; otherwise, the comparison analysis continues.

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