Traffic jam auxiliary control method, traffic jam auxiliary system and controller for vehicle

Abstract

The invention provides a traffic jam auxiliary control method for a vehicle. The traffic jam auxiliary control method for the vehicle comprises the steps that the transverse offset of a vehicle driving track is compared with an offset threshold value; when the transverse offset is larger than the offset threshold value, the transverse offset is processed into the offset smaller than the offset threshold value; and generating and outputting a signal for controlling transverse adjustment of the vehicle according to the processed offset. The invention also provides a traffic jam auxiliary system, a controller and a storage medium.

Description

Technical Field

[0001] The present application relates to vehicle assistance and autonomous driving technologies, and more specifically, to vehicle traffic congestion assistance control technologies. Background Art

[0002] Currently, vehicles are equipped with many auxiliary functions to support drivers in various situations, and the Traffic Jam Assist (TJA) system is one of them. When the TJA function is turned on, the vehicle can be controlled laterally within the lane and the lateral position of the vehicle's center axis and the lane boundary can be kept stable to avoid causing trouble to other road users. In addition, TJA can also maintain the following distance according to the control strategy, and always monitor whether there are vehicles cutting in, so as to make vehicle steering fine-tuning and following actions. When TJA controls the vehicle to make steering fine-tuning, the driver may feel uncomfortable due to excessive changes in the lateral offset. Summary of the invention

[0003] According to one aspect of the present application, a traffic congestion assistance control method for a vehicle is provided, which may include: comparing the lateral offset of the vehicle's driving trajectory with an offset threshold; when the lateral offset is greater than the offset threshold, processing the lateral offset as an offset less than the offset threshold; and generating and outputting a signal for controlling the lateral adjustment of the vehicle based on the processed offset.

[0004] According to the traffic congestion auxiliary control method for a vehicle of the present application, as an example, the lateral offset of the vehicle's driving trajectory includes the absolute value of the lateral offset change value of the vehicle's driving trajectory, and the change value is the difference between the new lateral offset of the vehicle's driving trajectory and the original lateral offset.

[0005] According to the traffic congestion auxiliary control method for a vehicle of the present application, as an example, when the lateral offset is greater than the offset threshold, the lateral offset is processed as an offset less than the offset threshold, including: when the absolute value of the change value of the lateral offset of the vehicle's driving trajectory is greater than the offset threshold; processing the lateral offset with a preset model so that the absolute value of the change value corresponding to the processed lateral offset is less than the offset threshold; wherein the preset model is set based on a calculation factor, the original lateral offset of the vehicle's driving trajectory, and the new lateral offset of the vehicle's driving trajectory.

[0006] According to the traffic congestion auxiliary control method for a vehicle of the present application, as an example, the preset model is set to:

[0007] Co_ ouput =x×Co_ old+(1-x)×Co_ new

[0008] Among them, Co_ ouput is the lateral offset after processing, x is a calculation factor; it is greater than 0 but less than 1; Co_ old is the original lateral offset; Co_ new is the new lateral offset.

[0009] According to another aspect of the present application, a traffic congestion assistance system for a vehicle may be provided, the traffic congestion assistance system comprising a sensing component and a controller for controlling the vehicle movement based on a sensing signal of the sensing component, the controller further comprising: a comparison unit for comparing the lateral offset of the vehicle's driving trajectory with an offset threshold; a processing unit for processing the lateral offset into an offset less than the offset threshold when the lateral offset is greater than the offset threshold, and generating a signal for controlling the lateral adjustment of the vehicle according to the processed offset.

[0010] According to the traffic congestion assistance system for a vehicle of the present application, as an example, the comparison unit may be configured to compare the absolute value of the lateral offset change value of the vehicle's driving trajectory with the offset threshold.

[0011] According to the traffic congestion assistance system for a vehicle of the present application, as an example, when the comparison result of the comparison unit indicates that the absolute value is greater than the offset threshold, the processing unit processes the lateral offset with a preset model so that the absolute value of the change value corresponding to the processed lateral offset is less than the offset threshold; wherein the preset model is set based on a calculation factor, an original lateral offset of the vehicle's driving trajectory, and a new lateral offset between the center lines of the vehicle's driving road.

[0012] According to the traffic congestion assistance system for a vehicle of the present application, as an example, the processing unit is configured to include the following preset model:

[0013] Co_ ouput =x×Co_ old +(1-x)×Co_ new

[0014] Among them, Co_ ouput is the adjusted lateral offset, x is a calculation factor; it is greater than 0 but less than 1; Co_ old is the original lateral offset; Co_ new is the new lateral offset.

[0015] A controller is also provided, which can be used in a traffic congestion assistance system of a vehicle, the controller comprising a memory and a processor, the memory storing instructions, the processor being configured to execute the instructions, and implementing any one of the methods described above in the process of executing the instructions.

[0016] In the above examples, if the comparison result of the lateral offset of the vehicle's driving trajectory and the offset threshold is that the lateral offset is less than the offset threshold, a signal for controlling the lateral adjustment of the vehicle is generated according to the lateral offset. In a further example of comparing the absolute value of the change value of the lateral offset of the vehicle's driving trajectory with the offset threshold, if the absolute value of the change value is less than the offset threshold, a signal for controlling the lateral adjustment of the vehicle is generated according to the lateral offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following will describe the embodiments of the present application in detail with reference to the accompanying drawings so that the present application can be more fully understood, wherein:

[0018] Figure 1 is a flow chart of a traffic congestion assistance control method for a vehicle according to an example of the present application;

[0019] Figure 2 is a flow chart of a traffic congestion auxiliary control method according to some examples of the present application;

[0020] Figure 3 The figure shows the target torque change caused by the change of the lateral offset in the working state of a traffic jam auxiliary control system;

[0021] Figure 4 is a structural schematic diagram of a traffic congestion assistance system for a vehicle according to an example of the present application;

[0022] Figure 5 It is a schematic diagram of the structure of the controller according to the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings to clearly and completely describe the implementation methods of the present application. It should be noted that the described implementation methods are only part of the implementation methods of the technical solution of the present application, not all. All other implementation methods obtained by ordinary technicians in this field based on the implementation methods recorded in the application documents without paying creative work are covered by the protection scope of the present application.

[0024] The terms "first", "second", etc. in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the invention described herein can be implemented in an order other than those illustrated or described herein. In addition, "first" and "second" are used for descriptive purposes only and are not to be understood as expressly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise stated, "multiple" means two or more.

[0025] As used hereinafter, the words “example” or “exemplarily” or “exemplarily” mean “serving as an example, embodiment, or illustration.” Any embodiment described as “example” or “exemplarily” or “exemplarily” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0026] Traffic congestion assistance refers to the function of realizing the longitudinal following and lateral adjustment of the vehicle on a congested road (usually a highway or an urban expressway), thereby providing driving assistance to the driver and relieving the driver's fatigue. The traffic congestion assistance system can be part of the vehicle's automatic driving system, and is applicable to automatic driving systems at level L2 and above. Simply put, the traffic congestion assistance system may include a sensing component and a controller. The sensing component includes a vehicle distance sensor, a front camera, etc. arranged on the vehicle. The sensing component is used to sense the situation of the vehicle in front, the road situation, the lane width, the distance between the vehicle in front, the steering angle of the vehicle itself (self-vehicle), and other information. The sensing component feeds the sensed information to the controller. The controller calculates and plans when the vehicle accelerates, decelerates, brakes, and fine-tunes the direction based on the various types of information received according to the pre-set algorithm. The controller generates corresponding control signals based on its calculations and planning, and transmits the control signals to the corresponding systems of the vehicle, such as the braking system and the steering system, so that these corresponding systems implement the required operations.

[0027] Figure 1 This is a flow chart of a traffic congestion assistance control method for a vehicle according to an example of the present application. The method can be executed by a traffic congestion assistance system of a vehicle by way of example but not limitation, and will be described below using this as an example. It should be understood that each example of a traffic congestion assistance control method according to an example of the present application can be executed when the traffic congestion assistance system of the vehicle is working. The traffic congestion assistance system is not always in working condition, and the system is usually triggered when the vehicle is traveling at a low speed. For example, when the vehicle speed is less than 65 kilometers per hour (65km / h), the traffic congestion assistance system is triggered and enters a working state.

[0028] In step S100, the traffic jam assistance system of the vehicle compares the lateral offset of the vehicle's driving trajectory with an offset threshold. The vehicle here refers to the vehicle itself (the ego vehicle) that executes the method. The driving road refers to the road on which the ego vehicle is driving. The traffic jam assistance system of the vehicle can control the lateral movement of the vehicle, and the lateral direction refers to a direction that is substantially perpendicular to the direction of the road on which the vehicle is driving. The lateral offset is calculated by the traffic jam assistance system of the vehicle according to the trajectory planning. Some examples of the present application compare the lateral offset originally calculated by the traffic jam assistance system with the offset threshold; other examples of the present application compare the absolute value of the change in the lateral offset with the offset threshold, which will be described below.

[0029] In step S102, when the lateral offset is greater than the offset threshold, the traffic congestion assistance system of the vehicle processes the lateral offset as an offset less than the offset threshold and proceeds to step S104.

[0030] In step S104 , the traffic jam assistance system outputs a signal for controlling the lateral adjustment of the vehicle according to the processed offset. As an example, the signal is a target torque for lateral fine-tuning.

[0031] If the lateral offset is less than the offset threshold, no processing is performed, but a signal for controlling the lateral adjustment of the vehicle is generated and output according to the lateral offset.

[0032] The traffic jam assistance control system usually acts on the vehicle's steering system to control the lateral deviation of the vehicle. The driver can feel the impact of the vehicle's lateral deviation from the steering wheel. Especially when the change in the lateral deviation is large, the driver may feel vibration through the steering wheel, which is not very comfortable. Figure 1 After the method shown, once the lateral offset is greater than the offset threshold, the traffic jam assistance control system will reduce the lateral offset to avoid the above situation.

[0033] Figure 2 is a flow chart of a traffic congestion auxiliary control method according to some embodiments of the present application. Figure 2 In the method shown, the traffic jam assistance system uses the change in the lateral offset of the vehicle on the driving trajectory as a value to be compared with the offset threshold. Here, the change in the lateral offset refers to the difference between the new lateral control offset and the original lateral control offset on the driving trajectory during the vehicle's driving process. Here, the traffic jam assistance system obtains the lateral offset every Δt, and at T i The lateral offset obtained at time is the new lateral offset, then at T i The moment before (T i The lateral offset obtained at the time Δt is the original lateral offset. For example, Δt is 10 ms.

[0034] In step S300, the traffic congestion assistance system calculates the absolute value of the lateral offset of the vehicle's driving trajectory as the vehicle moves forward. current The lateral offset of new , calculate the new lateral offset Co_ new and (T current -Δt) time lateral offset Co_ old The absolute value of the difference is compared with the offset threshold.

[0035] In step S302, it is determined whether the calculated absolute value is greater than the offset threshold. new Compared with the original lateral offset Co_ old If the absolute value of the difference is greater than the offset threshold, the process proceeds to step S304; otherwise, if the absolute value of the difference is less than the offset threshold, the process directly proceeds to step S306.

[0036] In step S304, the lateral offset is processed by a preset model so that the absolute value of the change value corresponding to the processed lateral offset is less than the offset threshold. new , so that the value of the new lateral offset used to generate the vehicle lateral adjustment signal is adjusted to the desired range, that is, it is consistent with the original lateral offset Co_ old The absolute value of the difference is less than the offset threshold.

[0037] According to some examples of the present application, the preset model is related to the calculation factor, the original lateral offset of the vehicle's driving trajectory, and the new lateral offset.

[0038] In a specific example, the preset model is shown in formula (1):

[0039] Co_ ouput =x×Co_ old +(1-x)×Co_ new (1)

[0040] Among them, Co_ ouput is the lateral offset after processing, x is the calculation factor; it is greater than 0 but less than 1; Co_ old is the original lateral offset; Co_ new is the new lateral offset.

[0041] In step S306, a signal for controlling the lateral adjustment of the vehicle is generated and outputted according to the lateral offset, wherein the lateral offset is either the lateral offset processed in step S304 or the lateral offset from step S302. The signal may be transmitted to the vehicle steering system, for example, so that the vehicle steering system adjusts the lateral movement of the vehicle in the driving trajectory accordingly. In some cases, the signal may also be transmitted to the braking system or the traction system, etc., so as to brake and control the stability of the vehicle body at the same time during lateral movement.

[0042] Since the current lateral offset is adjusted to a relatively small value based on the comparison with the lateral offset obtained at the previous moment, continuous and smooth lateral control is achieved while avoiding the discomfort to the driver caused by the step-wise change of the lateral offset.

[0043] Figure 3 The figure shows the change of the lateral offset of a vehicle when a traffic jam auxiliary control system is working, wherein the horizontal axis represents time in seconds and the vertical axis represents the lateral offset in meters. Figure 3 In the example, a transition 301 is indicated by a box 30. Specifically, at a time point T near 20s, A At 301, the change value of the lateral offset changes suddenly from a relatively large value to a relatively small value. This change 301 will cause the steering wheel to shake, causing discomfort to the driver.

[0044] The jump may be caused by the blurred or blocked lane line in front of the vehicle, or by a vehicle suddenly cutting in and blocking the driving track. After the vehicle's TJA system executes the traffic congestion auxiliary control method for the vehicle according to the example of this application, the difference between the front and rear lateral offsets is adjusted to a relatively small range due to the preset offset threshold, thereby avoiding excessive changes in the offset value, and thus avoiding the following problems: Figure 3 The occurrence of the jump situation shown makes the vehicle relatively smooth in lateral control.

[0045] In the above examples, the traffic jam assistance system can obtain the lateral offset from the calculated lateral offset according to the set time interval Δt, and determine the magnitude relationship between the absolute value of the change value and the offset threshold. Δt is, for example, a calculation cycle for the traffic jam assistance system to calculate the lateral offset.

[0046] In addition, in the above examples, each example of the traffic congestion assistance control method may be specifically executed by a controller of the traffic congestion assistance system. For example, each example of the traffic congestion assistance control method may be programmed as a program, and the programs are stored in a memory in the form of instructions, and the controller of the traffic congestion assistance system may implement each example of the traffic congestion assistance control method by executing the instructions.

[0047] Alternatively, the various examples of the traffic congestion assistance control method can be implemented by hardware, for example, a signal acquisition unit and a comparison circuit are set. The signal acquisition unit is configured to collect the lateral offset calculated by the traffic congestion assistance system. The signal acquisition unit can be a signal receiving unit based on the in-vehicle communication network protocol, which is configured to receive the lateral offset signal through the in-vehicle bus. In some possible cases, the signal acquisition unit can be an acquisition circuit that collects signals representing the size of the lateral offset from relevant components of the traffic congestion assistance system. The comparison circuit compares the two signals, for example, compares the absolute value mentioned above with the threshold to output a signal.

[0048] The example of the traffic congestion assistance control method of the present application is explained by using a traffic congestion assistance system to execute the method, but this is only an example and not a limitation, and it can also be implemented by other systems or components. In addition, by way of example and not limitation, the method can be executed by a controller of an automatic driving system, for example. In this case, the controller of the automatic driving system can obtain information such as lateral offset from the traffic congestion assistance system through an in-vehicle communication network (such as a CAN communication network), and then execute the traffic congestion assistance control method according to the present application.

[0049] Figure 4 is a schematic diagram of the structure of a traffic congestion assistance system for a vehicle according to an example of the present application. Figure 4 As shown, the system includes a sensing component 4 and a controller 6. The sensing component 4 may include a plurality of sensing components arranged at different positions of the vehicle and the types of the sensing components may be various, including: radar, rangefinder, camera, laser radar, etc. The sensing component 4 senses a variety of information required for the operation of the traffic assistance system, such as the distance between the vehicle and the vehicle in front, the distance between the vehicle and the side vehicle, the position of the lane line, the distance between the vehicle and the lane line, etc. The controller 6 calculates the lateral and longitudinal movement of the vehicle based on the data sensed by the sensing component 4 and generates a control signal accordingly. According to the example of the present application, the controller 6 also includes a comparison unit 60 and a processing unit 62.

[0050] The comparison unit 60 is used to compare the lateral offset of the vehicle's driving trajectory with an offset threshold. The processing unit 62 is used to process the lateral offset into an offset less than the offset threshold when the lateral offset is greater than the offset threshold, and generate a signal for controlling the lateral adjustment of the vehicle according to the adjusted offset. When the comparison result of the comparison unit 60 is that the lateral offset is less than the offset threshold, the processing unit 62 generates a signal for controlling the lateral adjustment of the vehicle according to the lateral offset.

[0051] According to some examples of the present application, the comparison unit 60 is configured to compare the absolute value of the change value of the lateral offset of the vehicle's driving trajectory with the offset threshold. When the absolute value is greater than the offset threshold, the processing unit 62 processes the lateral offset with a preset model so that the absolute value of the change value of the processed lateral offset is less than the offset threshold, and generates a signal for controlling the lateral adjustment of the vehicle according to the adjusted offset. The preset model is set based on a calculation factor, the original lateral offset of the vehicle's driving trajectory, and a new lateral offset between the center lines of the vehicle's driving road. In a specific example, the preset model is formula (1) described above. The comparison unit 60 compares the absolute value of the change value of the lateral offset of the vehicle's driving trajectory with the offset threshold. When the absolute value is less than the offset threshold, the processing unit 62 directly generates a signal for controlling the lateral adjustment of the vehicle according to the lateral offset.

[0052] In some examples, the comparison unit 60 includes a signal acquisition unit and a comparator, the signal acquisition unit acquires the required lateral offset, and the comparator compares the lateral offset with the offset threshold. According to the comparison signal, the processing unit 62 performs processing with a preset model set therein.

[0053] In some other examples, the comparison unit and the processing unit may be implemented as software modules, for example, as programs in a programming language, and executed by the controller 6 to implement the functions of the comparison unit 60 and the processing unit 62 .

[0054] according to Figure 4 The traffic jam assistant system described above can be used to perform the above-mentioned Figure 1 and Figure 2 The traffic congestion assistance control method described separately. For example, each step is performed by the controller 6, such as the comparison unit 60 performs the steps related to the comparison and the processing unit 62 performs other steps. In the case where the traffic congestion assistance control method is implemented as program instructions, the controller 6 can execute these instructions to implement the traffic congestion assistance control method according to the example of the present application.

[0055] This application also provides a controller, Figure 5The structure of the controller is shown in FIG. 5. The controller includes a memory 50 and a processor 52. The memory 50 stores instructions, and the processor 52 executes these instructions to implement any one of the traffic congestion auxiliary control methods according to the examples of the present application.

[0056] The present application also provides a non-transitory computer storage medium on which instructions are stored. When the instructions are executed, any one of the examples of the traffic congestion assistance control method according to the present application is implemented.

[0057] Although specific embodiments of the present application have been shown and described in detail to illustrate the principles of the present application, it should be understood that the present application may be implemented in other ways without departing from such principles, for example, the technical features of the various embodiments / examples / examples of the present application may be combined with each other to form new implementation methods.

Claims

1. A traffic congestion auxiliary control method for a vehicle, characterized in that: The method comprises: Comparing the lateral offset of the vehicle's driving trajectory with an offset threshold; When the lateral offset is greater than the offset threshold, processing the lateral offset as an offset less than the offset threshold; and A signal for controlling the lateral adjustment of the vehicle is generated and output according to the processed offset.

2. The traffic congestion auxiliary control method according to claim 1, characterized in that: The lateral offset of the vehicle's driving track is the absolute value of the change value of the lateral offset of the vehicle's driving track, and the change value is the difference between the new lateral offset of the vehicle's driving track and the original lateral offset.

3. The traffic congestion auxiliary control method according to claim 2, characterized in that: When the lateral offset is greater than the offset threshold, processing the lateral offset as an offset less than the offset threshold includes: When the absolute value of the change in the lateral offset of the vehicle's driving trajectory is greater than the offset threshold; Processing the lateral offset using a preset model so that an absolute value of a change value corresponding to the processed lateral offset is less than the offset threshold; The preset model is set based on a calculation factor, an original lateral offset of the vehicle's driving trajectory, and a new lateral offset of the vehicle's driving trajectory.

4. The traffic congestion auxiliary control method according to claim 3, characterized in that: The preset model is set to: What_ ouput =x×What_ old +(1-x)×What_ new Among them, Co_ ouput is the lateral offset after processing, x is a calculation factor; it is greater than 0 but less than 1; Co_ old is the original lateral offset; Co_ new is the new lateral offset.

5. The traffic congestion auxiliary control method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the lateral offset is less than the offset threshold, a signal for controlling lateral adjustment of the vehicle is generated and output according to the lateral offset.

6. A traffic congestion assistance system for a vehicle, the traffic congestion assistance system comprising a sensing component and a controller for controlling the movement of the vehicle based on a sensing signal of the sensing component, characterized in that: The controller further comprises: A comparison unit, configured to compare the lateral offset of the vehicle's driving trajectory with an offset threshold; The processing unit is used for processing the lateral offset into an offset less than the offset threshold when the lateral offset is greater than the offset threshold, and generating a signal for controlling the lateral adjustment of the vehicle according to the processed offset.

7. The traffic congestion assistance system according to claim 6, characterized in that: The comparison unit is configured to compare the absolute value of the lateral offset change value of the vehicle driving track with the offset threshold.

8. The traffic congestion assistance system according to claim 7, characterized in that: The processing unit processes the lateral offset using a preset model when the comparison result of the comparison unit indicates that the absolute value is greater than the offset threshold, so that the absolute value of the change value of the lateral offset after processing is less than the offset threshold; The preset model is set based on a calculation factor, an original lateral offset of the vehicle's driving trajectory, and a new lateral offset between center lines of the vehicle's driving road.

9. The traffic congestion assistance system according to claim 8, characterized in that: The processing unit is configured to include the following preset model: What_ ouput =x×What_ old +(1-x)×What_ new Among them, Co_ ouput is the lateral offset after processing, x is a calculation factor; it is greater than 0 but less than 1; Co_ old is the original lateral offset; Co_ new is the new lateral offset.

10. A controller that can be used in a traffic congestion assistance system of a vehicle, the controller comprising a memory and a processor, the memory storing instructions, the processor being configured to execute the instructions and, in the process of executing the instructions, implementing the method according to any one of claims 1 to 5.

11. A non-transitory computer storage medium storing thereon instructions which, when executed, implement the method according to any one of claims 1 to 5.

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