Auxiliary driving control method in narrow space and control system thereof

Abstract

The invention provides an auxiliary driving control method in a narrow space, and the method comprises the following steps: S1, setting a reference point of a vehicle on the vehicle, and taking the initial position of the reference point in the narrow space where the vehicle is located as the initial starting point position of the vehicle; s2, presetting a vehicle turning angle and an advancing distance, and determining a new starting point position of the vehicle according to the preset advancing distance and the vehicle turning angle; s3, determining the minimum distance between the vehicle and the narrow space boundary when the vehicle is at the new starting point position, judging whether the minimum distance meets a set safety condition or not, if so, taking the new starting point position of the current vehicle as an effective starting point position, taking the current effective starting point position as a new initial starting point position, and returning to the step S2, and if not, returning to the step S3; if yes, removing the current new starting point position; and S4, taking a connecting line between the initial starting point position of the vehicle and the new initial starting point position updated each time as a path, selecting a distance minimum value in the path as an optimal path, and controlling the vehicle to run according to the optimal path.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving, and particularly to an assisted driving control method and its control system in a narrow space. Background Art

[0002] The driving assistance system is one of the main development routes of the current vehicle-mounted system, greatly reducing the burden on the driver. Especially during long-distance driving, when the road conditions are good and the driving complexity is low, it becomes one of the common scenarios for assisted driving.

[0003] In some narrow spaces, such as parking lots, urban alleys, etc., the driving difficulty increases, which may lead to traffic accidents and pose serious potential safety hazards to the lives and property of the drivers and passengers.

[0004] In the prior art, for the assisted driving in such narrow spaces, generally, the distance between the obstacle and the vehicle is obtained based on the vehicle's radar or image, and the in-vehicle system prompts the driver and the driver observes actively to avoid traffic accidents. However, in this case, it is often difficult for the driver to accurately grasp the relationship between the driving path of the vehicle and the vehicle's turning angle, and traffic accidents are still difficult to avoid. Although some intelligent driving strategies have been proposed in the prior art to achieve a certain obstacle avoidance ability, adjusting the vehicle's turning angle according to the real-time obstacle detection during driving makes the driving path unreasonable and the passing efficiency relatively low.

[0005] Therefore, in order to solve the above technical problems, it is urgent to propose a new technical means. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an assisted driving control method and its control system in a narrow space. By setting a reference point of the vehicle and taking the reference point as a benchmark to pre-play the position relationship between the vehicle and the boundary of the narrow space at different vehicle turning angles and traveling distances in the narrow space, and determining a reasonable path for the vehicle to pass through the narrow space and a reasonable vehicle turning angle when passing through, so as to effectively avoid the collision between the vehicle and the space boundary, effectively reduce traffic accidents during driving in the narrow space, improve driving safety, and improve the efficiency of the vehicle passing through the narrow space.

[0007] An assisted driving control method in a narrow space provided by the present invention is characterized by including the following steps:

[0008] S1. Set a reference point of the vehicle on the vehicle, and take the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle;

[0009] S2. Preset the vehicle turning angle and the traveling distance, and determine the new starting position of the vehicle according to the preset traveling distance and the vehicle turning angle;

[0010] S3. Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judge whether the minimum distance meets the set safety conditions. If so, take the current new starting position of the vehicle as the valid starting position, and take the current valid starting position as the new initial starting position, and return to step S2. If not, eliminate the current new starting position;

[0011] When the new starting position of the vehicle falls outside the boundary of the narrow space, stop and return to the step;

[0012] S4. Take the connection line between the initial starting position of the vehicle and each updated new initial starting position as the path, and select the minimum distance in the path as the optimal path, and control the vehicle to travel according to the optimal path.

[0013] Further, presetting the vehicle turning angle specifically includes:

[0014] Detect the maximum value and the minimum value of the distance between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determine the distance maximum point and the distance minimum point between the outer contour of the vehicle and the boundary of the narrow space;

[0015] And take the included angle between the connection line between the reference point of the vehicle and the distance minimum point and the connection line between the reference point of the vehicle and the distance maximum point as the vehicle turning angle determination range, divide the vehicle turning angle determination range into several sub-angles evenly, and each sub-angle or the sum of multiple sub-angles is the preset vehicle turning angle.

[0016] Further, presetting the vehicle turning angle and the traveling distance also includes: corresponding multiple traveling distances to one vehicle turning angle; or corresponding multiple vehicle turning angles to one traveling distance.

[0017] Further, determining the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judging whether the minimum distance meets the set safety conditions specifically includes:

[0018] When the vehicle is at the new starting position, determine the minimum distance S between the outer contour of the vehicle and the boundary of the narrow space min ;

[0019] When and S min > α3, if any of the conditions is not met, eliminate the current new starting position, where α1, α2, and α3 are respectively set different safety thresholds.

[0020] Further, setting the reference point of the vehicle on the vehicle is specifically the center point of the left front wheel of the vehicle.

[0021] Furthermore, the maximum and minimum values of the distance between the outer contour of the vehicle and the boundary of the narrow space are detected at the initial starting position of the vehicle by an on-vehicle radar.

[0022] Correspondingly, the present invention further provides an assisted driving control system in a narrow space, including a detection device and a controller;

[0023] The detection device is used to detect the distance between the outer contour of the vehicle and the boundary of the narrow space;

[0024] The controller determines the optimal path for the vehicle to pass through the narrow space based on the distance detection signal output by the detection device according to the following process and controls the vehicle to travel along the optimal path:

[0025] Step 1: Set a reference point on the vehicle, and use the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle. Preset the vehicle turning angle and the traveling distance according to the distance detection signal, and determine the new starting position of the vehicle according to the preset traveling distance and the vehicle turning angle;

[0026] Step 2: Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judge whether the minimum distance meets the set safety condition. If so, use the current new starting position of the vehicle as the effective starting position, and use the current effective starting position as the new initial starting position, and return to Step 1. If not, eliminate the current new starting position;

[0027] When the new starting position of the vehicle falls outside the boundary of the narrow space, stop returning to the steps;

[0028] Step 3: Use the connection line between the initial starting position of the vehicle and each updated new initial starting position as the path, and select the minimum distance in the path as the optimal path, and control the vehicle to travel along the optimal path.

[0029] Furthermore, presetting the vehicle turning angle and the traveling distance according to the distance detection signal specifically includes:

[0030] Detect the maximum and minimum values of the distance between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determine the distance maximum value point and the distance minimum value point between the outer contour of the vehicle and the boundary of the narrow space;

[0031] Use the included angle between the connection line between the reference point of the vehicle and the distance minimum value point and the connection line between the reference point of the vehicle and the distance maximum value point as the vehicle turning angle determination range, divide the vehicle turning angle determination range into several sub-angles evenly, and each sub-angle or the sum of multiple sub-angles is the preset vehicle turning angle; and:

[0032] One vehicle turning angle corresponds to multiple travel distances; or one travel distance corresponds to multiple vehicle turning angles.

[0033] Further, determining the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting point, and judging whether the minimum distance meets the set safety conditions specifically include:

[0034] When the vehicle is at the new starting position, determine the minimum distance S between the vehicle's outer contour and the boundary of the narrow space min ;

[0035] when and S min >If any of the conditions of α3 is not met, the current new starting point position will be eliminated, where α1, α2, and α3 are different safety thresholds set respectively.

[0036] Furthermore, the detector is a vehicle-mounted radar, and the controller is a vehicle-mounted controller.

[0037] Beneficial effects of the present invention: Through the present invention, by setting a reference point of the vehicle, and using the reference point as a benchmark to preview the positional relationship between the vehicle and the boundary of the narrow space at different vehicle turning angles and travel distances in a narrow space, and determining a reasonable path for the vehicle to pass through the narrow space and a reasonable vehicle turning angle when passing through, the collision between the vehicle and the boundary of the space is effectively avoided, traffic accidents in narrow spaces are effectively reduced, driving safety is improved, and the efficiency of vehicles passing through narrow spaces can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0039] Figure 1 It is a flow chart of the present invention.

[0040] Figure 2 It is a schematic diagram of the structure of the system of the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below:

[0042] The present invention provides an auxiliary driving control method in a narrow space, which is characterized by comprising the following steps:

[0043] S1. Set a reference point of the vehicle on the vehicle, and use the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle;

[0044] S2. Preset the vehicle turning angle and travel distance, and determine the new starting position of the vehicle according to the preset travel distance and vehicle turning angle;

[0045] S3. Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and determine whether the minimum distance meets the set safety conditions. If so, the new starting position of the current vehicle is used as the effective starting position, and the current effective starting position is used as the new initial starting position, and return to step S2. If not, the current new starting position is discarded;

[0046] When the new starting position of the vehicle falls outside the boundary of the small space, the return step is stopped;

[0047] S4. The line connecting the initial starting position of the vehicle and the new initial starting position updated each time is used as a path, and the minimum distance is selected as the optimal path in the path, and the vehicle is controlled to travel along the optimal path. Through the above method, by setting the reference point of the vehicle, and using the reference point as a reference to preview the positional relationship between the vehicle and the boundary of the narrow space at different vehicle turning angles and travel distances in the narrow space, and determining the reasonable path for the vehicle to pass through the narrow space and the reasonable vehicle turning angle when passing through, the collision between the vehicle and the boundary of the space is effectively avoided, the driving accidents in the narrow space are effectively reduced, the driving safety is improved, and the efficiency of the vehicle passing through the narrow space can be improved.

[0048] Among them, the starting point position mentioned above is based on a reference coordinate system established by setting any position of the vehicle as the coordinate origin, the axle direction of the vehicle as the horizontal coordinate, the forward direction of the vehicle as the vertical coordinate, and the height direction of the vehicle as the Z-axis direction. The coordinate values ​​obtained in this reference system are then converted to the world coordinate system through coordinate system conversion to determine the final position (the coordinate system conversion method is a prior art and will not be elaborated here).

[0049] In this embodiment, the preset vehicle turning angle specifically includes:

[0050] Detecting the maximum and minimum distances between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determining the maximum and minimum distance points between the outer contour of the vehicle and the boundary of the narrow space;

[0051] The included angle between the line between the vehicle's reference point and the minimum distance point and the angle between the line between the vehicle's reference point and the maximum distance point is used as the vehicle turning angle determination range, and the vehicle turning angle determination range is divided into a number of sub-angles, each sub-angle or the sum of multiple sub-angles is a preset vehicle turning angle, wherein, when the sum of multiple sub-angles is used as the preset turning angle, the sum of the multiple sub-angles is no more than one third of the vehicle turning angle determination range, thereby ensuring sufficient sample data of the new initial starting point position when selecting the path, thereby ensuring the rationality of the final path determination.

[0052] In this embodiment, the preset vehicle turning angles and travel distances further include: corresponding multiple travel distances to one vehicle turning angle; or corresponding multiple vehicle turning angles to one travel distance. Specifically: Assume the initial coordinate is A. Starting from point A, the vehicle turns at an angle R1. At this turning angle R1, its travel distances are S11, S12, S13, …, S1n. Generally, this travel distance is not greater than twice the wheel circumference. At this time, when the wheel reaches the next point, there are n points at this time; or rather, when the vehicle sets the travel distance as S1, there are N turning angles, R11, R12, …, R1N when traveling S1. At this time, there are N points again, thus ensuring sufficient sample data.

[0053] In this embodiment, determining the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judging whether this minimum distance meets the set safety conditions specifically includes:

[0054] When the vehicle is at the new starting position, determining the minimum distance S between the outer contour of the vehicle and the boundary of the narrow space min ;

[0055] When and S min > α3, if any of the conditions is not met, the current new starting position will be excluded, where α1, α2, and α3 are respectively different set safety thresholds. Of course, in practice, more thresholds can also be set, such as and so on. The more thresholds are set for the judgment conditions, the more accurate the determination will be. Of course, the process will be more lengthy. Generally speaking, the 3 conditions of the present invention can meet the actual needs, and the calculation process is more concise.

[0056] In the foregoing, n + N points are determined through multiple preset vehicle turning angles and travel distances, and are respectively judged through the above criteria, and the points that meet the safety conditions are selected as the new initial starting positions. For example, N1' points are selected. Then, starting from these N1' points, repeat the process above until a new starting position falls outside the boundary of the narrow space, that is, in the world coordinate system, the coordinate value of a new starting position is greater than the boundary coordinate value of the narrow space (the maximum coordinate value in the boundary of the narrow space), then stop searching for a new starting position again; Assume that the starting point for each step of iteration from the starting point N1' to the point where the iteration stops is N2', N3'…, Nm'. Then, the connection line between the starting point A and any point in each step of iteration forms a path. For example, there are M paths. Finally, select the path with the shortest distance among these M paths as the optimal passing path, and record the turning angle at each step of iteration of this path. At this time, prompt the driver to drive according to this turning angle and this path, or drive according to this path during autonomous driving, then the vehicle can safely pass through the narrow space.

[0057] In this embodiment, the reference point of the vehicle is specifically set as the center point of the left front wheel of the vehicle. Since the distance between the left front wheel and the steering wheel is the closest, when the steering wheel turns, the center point of the left front wheel is used as the reference point to convert the steering angle (the process of converting the steering wheel angle to the vehicle angle is the prior art), and the deviation is smaller, so that the final prediction result is more accurate and the safety of passing through a narrow space is greater.

[0058] In this embodiment, the maximum and minimum values of the distance between the outer contour of the vehicle and the boundary of the narrow space are detected at the initial starting position of the vehicle by an on-vehicle radar, so that there is no need to arrange other detection devices, which is convenient to use and reduces costs.

[0059] Correspondingly, the present invention also provides an auxiliary driving control system in a narrow space, including a detection device and a controller;

[0060] The detection device is used to detect the distance between the outer contour of the vehicle and the boundary of the narrow space;

[0061] The controller determines the optimal path for the vehicle to pass through the narrow space according to the following process based on the distance detection signal output by the detection device and controls the vehicle to drive along the optimal path:

[0062] Step 1: Set a reference point on the vehicle, and use the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle. Preset the vehicle steering angle and the traveling distance according to the distance detection signal, and determine the new starting position of the vehicle according to the preset traveling distance and the vehicle steering angle;

[0063] Step 2: Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and determine whether the minimum distance meets the set safety conditions. If so, use the current new starting position of the vehicle as the valid starting position, and use the current valid starting position as the new initial starting position, and return to Step 1. If not, eliminate the current new starting position;

[0064] When the new starting position of the vehicle falls outside the boundary of the narrow space, stop and return to the step;

[0065] Step 3: Take the connection line between the initial starting position of the vehicle and the newly updated initial starting position each time as the path, and select the minimum distance in the path as the optimal path, and control the vehicle to drive along the optimal path; Through the above system, by setting the reference point of the vehicle and determining the distance between the vehicle reference point and the boundary of the narrow space, pre-calculation is performed between the traveling distance and the steering angle of the vehicle, so as to judge the reasonable path and reasonable steering angle for the vehicle to pass through the narrow space, thereby effectively avoiding the vehicle from colliding with the space boundary, effectively reducing the traffic accidents during driving in the narrow space, and improving the driving safety.

[0066] Specifically, presetting the vehicle turning angle and the traveling distance according to the distance detection signal specifically includes:

[0067] Detecting the maximum and minimum distances between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determining the distance maximum point and the distance minimum point between the outer contour of the vehicle and the boundary of the narrow space;

[0068] And taking the included angle between the line connecting the reference point of the vehicle and the distance minimum point and the line connecting the reference point of the vehicle and the distance maximum point as the vehicle turning angle determination range, dividing the vehicle turning angle determination range into several sub-angles evenly, and each sub-angle or the sum of multiple sub-angles is the preset vehicle turning angle; and:

[0069] One vehicle turning angle corresponds to multiple traveling distances; or one traveling distance corresponds to multiple vehicle turning angles.

[0070] Determining the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judging whether the minimum distance meets the set safety conditions specifically includes:

[0071] When the vehicle is at the new starting position, determining the minimum distance S between the outer contour of the vehicle and the boundary of the narrow space min ;

[0072] When and S min > α3, if any of the conditions is not satisfied, the current new starting position will be excluded, where α1, α2, and α3 are respectively different set safety thresholds.

[0073] Wherein, the detector is an in-vehicle radar, and the controller is an in-vehicle controller (or called in-vehicle computer).

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. An auxiliary driving control method in a narrow space, characterized in that: It includes the following steps: S1. Set a reference point of the vehicle on the vehicle, and use the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle; S2. Preset the vehicle turning angle and the traveling distance, and determine the new starting position of the vehicle according to the preset traveling distance and the vehicle turning angle; S3. Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judge whether the minimum distance meets the set safety condition. If so, use the current new starting position of the vehicle as the valid starting position, and use the current valid starting position as the new initial starting position, and return to step S2. If not, eliminate the current new starting position; Stop returning steps when the new starting position of the vehicle falls outside the boundary of the narrow space; S4. Use the connection line between the initial starting position of the vehicle and the newly updated initial starting position each time as the path, select the minimum distance in the path as the optimal path, and control the vehicle to travel according to the optimal path.

2. The auxiliary driving control method in a narrow space according to claim 1, wherein: The preset vehicle turning angle specifically includes: Detect the maximum and minimum distances between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determine the maximum distance point and the minimum distance point between the outer contour of the vehicle and the boundary of the narrow space; Use the included angle between the connection line between the reference point of the vehicle and the minimum distance point and the connection line between the reference point of the vehicle and the maximum distance point as the vehicle turning angle determination range, divide the vehicle turning angle determination range into several sub-angles, and each sub-angle or the sum of multiple sub-angles is the preset vehicle turning angle.

3. The auxiliary driving control method in a narrow space according to claim 2, wherein: The preset vehicle turning angle and the traveling distance also include: corresponding multiple traveling distances to one vehicle turning angle; or corresponding multiple vehicle turning angles to one traveling distance.

4. The auxiliary driving control method in a narrow space according to claim 1, wherein: Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judge whether the minimum distance meets the set safety condition specifically includes: When the vehicle is at a new starting position, determine the minimum distance S between the vehicle's outer contour and the boundary of the narrow space min ; When and S min > If any of the conditions of α3 is not satisfied, the current new starting position is excluded, where α1, α2, and α3 are respectively set different safety thresholds.

5. The auxiliary driving control method in a narrow space according to claim 1, wherein: Setting the reference point of the vehicle on the vehicle is specifically the center point of the left front wheel of the vehicle.

6. The auxiliary driving control method in a narrow space according to claim 2, wherein: Detecting the maximum and minimum distances between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle is realized by an on-vehicle radar.

7. An auxiliary driving control system in a narrow space, characterized in that: It includes a detection device and a controller; The detection device is used to detect the distance between the outer contour of the vehicle and the boundary of the narrow space; The controller, based on the distance detection signal output by the detection device, determines the optimal path for the vehicle to pass through the narrow space and controls the vehicle to travel according to the optimal path according to the following process: Step 1: Set a reference point of the vehicle on the vehicle, and use the initial position of the reference point in the narrow space where the vehicle is located as the initial starting position of the vehicle. Preset the vehicle turning angle and the traveling distance according to the distance detection signal, and determine the new starting position of the vehicle according to the preset traveling distance and the vehicle turning angle; Step 2: Determine the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judge whether the minimum distance meets the set safety condition. If so, use the current new starting position of the vehicle as the valid starting position, and use the current valid starting position as the new initial starting position, and return to step 1. If not, eliminate the current new starting position; Stop returning steps when the new starting position of the vehicle falls outside the boundary of the narrow space; Step 3: Use the line connecting the initial starting position of the vehicle and the newly updated initial starting position each time as the path, select the minimum distance in the path as the optimal path, and control the vehicle to travel along the optimal path.

8. The auxiliary driving control system in a narrow space according to claim 7, characterized in that: Presetting the vehicle turning angle and the traveling distance according to the distance detection signal specifically includes: Detecting the maximum and minimum distances between the outer contour of the vehicle and the boundary of the narrow space at the initial starting position of the vehicle; and determining the distance maximum point and the distance minimum point between the outer contour of the vehicle and the boundary of the narrow space; Using the angle between the line connecting the reference point of the vehicle and the distance minimum point and the line connecting the reference point of the vehicle and the distance maximum point as the vehicle turning angle determination range, dividing the vehicle turning angle determination range into several sub-angles, and each sub-angle or the sum of multiple sub-angles is the preset vehicle turning angle; and: One vehicle turning angle corresponds to multiple traveling distances; or one traveling distance corresponds to multiple vehicle turning angles.

9. The auxiliary driving control system in a narrow space according to claim 8, characterized in that: Determining the minimum distance between the vehicle and the boundary of the narrow space when the vehicle is at the new starting position, and judging whether the minimum distance meets the set safety conditions specifically includes: When the vehicle is at a new starting position, determine the minimum distance S between the vehicle's outer contour and the boundary of the narrow space min ; When and S min If any of the conditions > α3 is not satisfied, the current new starting position will be excluded, where α1, α2, and α3 are respectively set different safety thresholds.

10. The auxiliary driving control system in a narrow space according to claim 7, wherein: The detector is a vehicle-mounted radar, and the controller is a vehicle-mounted controller.

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