Path planning system based on mechanical steering execution control

Abstract

The invention relates to the technical field of vehicle control, in particular to a path planning system based on mechanical steering execution control, which is used for solving the problems that an existing mechanical steering system lacks a sensitivity safety detection mechanism, and the safety is difficult to guarantee due to insufficient identification, analysis and avoidance capabilities on a dangerous area. The system comprises the following modules: a mechanical steering execution control module, a steering detection module, a detection analysis module, an abnormity notification module, a driving detection module, a driving analysis module, an area detection module and an area analysis module. According to the system, information fusion and collaborative optimization of steering system safety detection, dangerous area analysis and route planning are achieved, the performance and reliability of the whole system are improved, and the system is suitable for various application scenes such as automatic driving vehicles, intelligent logistics vehicles and special operation vehicles and has wide market prospects and social value.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a path planning system based on mechanical steering execution control. Background Art

[0002] The rapid development of intelligent transportation systems and autonomous driving technologies has placed higher demands on the safety and reliability of vehicle steering systems. Mechanical steering systems, as a traditional steering method, offer advantages such as simple structure and high reliability, making them widely used in various vehicles and construction machinery. However, traditional mechanical steering systems present numerous control issues.

[0003] On the one hand, there is a lack of a safety detection mechanism for steering control sensitivity. Steering control sensitivity directly affects the vehicle's steering response speed and accuracy. Abnormal sensitivity can cause the vehicle to oversteer, understeer, or sluggishly during steering, increasing operational risks and even causing safety accidents.

[0004] On the other hand, the ability to identify, analyze, and avoid dangerous areas is insufficient. During vehicle operation, vehicles may encounter various dangerous areas. Traditional systems are unable to identify these dangerous areas in a timely and accurate manner, and are unable to implement intelligent route planning, causing vehicles to easily fall into dangerous situations and making it difficult to ensure safety.

[0005] Therefore, developing a path planning system based on mechanical steering execution control has important practical significance. Summary of the Invention

[0006] In order to overcome the above-mentioned technical problems, the purpose of the present invention is to provide a path planning system based on mechanical steering execution control, which solves the problem that the existing mechanical steering system lacks a sensitive safety detection mechanism and has insufficient ability to identify, analyze and avoid dangerous areas, making it difficult to ensure safety.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A path planning system based on mechanical steering execution control includes the following modules:

[0009] A driving detection module is configured to obtain driving hazard parameters of the driving detection area after receiving a driving detection instruction, and send the driving hazard parameters to the driving analysis module; wherein the driving hazard parameters include obstacle information and speed information;

[0010] A driving analysis module, configured to obtain a driving risk coefficient based on the driving risk parameter and send the driving risk coefficient to the mechanical steering execution control module;

[0011] The specific process of the driving analysis module obtaining the driving risk coefficient is as follows:

[0012] Obtain the product of obstacle information and speed information and mark it as the driving risk coefficient;

[0013] Sending the driving risk factor to the mechanical steering execution control module;

[0014] The mechanical steering execution control module is used to obtain a driving danger zone based on the driving danger coefficient, generate a zone detection instruction, and send the zone detection instruction to the zone detection module; it is also used to obtain a selected zone based on the candidate zone j and the zone danger coefficient QWj, and control the path planning object to steer towards the selected zone;

[0015] The region detection module is configured to obtain the region hazard parameters of the selected region j after receiving the region detection instruction, and send the region hazard parameters to the region analysis module; wherein the region hazard parameters include a turning value and an obstacle value;

[0016] A regional analysis module, configured to obtain a regional risk coefficient QWj according to the regional risk parameter, and send the regional risk coefficient QWj to the mechanical steering execution control module;

[0017] The specific process of the regional analysis module obtaining the regional risk coefficient QWj is as follows:

[0018] If the obstacle value = 0, the turning value is marked as the regional risk factor QWj;

[0019] If the obstacle value ≠ 0, the product of the turning value and the obstacle value is marked as the regional risk factor QWj;

[0020] The regional risk factor QWj is sent to the mechanical steering execution control module.

[0021] As a preferred embodiment of the present invention, the specific process of the driving detection module obtaining the driving risk parameter is as follows:

[0022] After receiving the driving detection instruction, a rectangular area of preset length and preset width in front of the path planning object is obtained and marked as the driving detection area;

[0023] Obtain the total number of obstacles, the total volume of obstacles, and the height of the highest obstacle in the driving detection area, and mark them as the obstacle value, obstacle volume value, and obstacle height value, respectively. Draw an elliptical shape using the obstacle value and obstacle height values as the lengths of the major and minor axes of the elliptical shape on the base of the elliptical cylinder, and draw an elliptical cylinder shape on the elliptical shape using the obstacle volume value as the height of the elliptical cylinder. Obtain the surface area of the elliptical cylinder shape and mark it as obstacle information.

[0024] Obtain the distances between all obstacles in the driving detection area and the path planning object, obtain the speed of the obstacle corresponding to the shortest distance and mark it as the obstacle speed value, obtain the speed of the path planning object and mark it as the elephant speed value, obtain the difference between the elephant speed value and the obstacle speed value and mark it as speed information;

[0025] Send obstacle information and speed information to the driving analysis module.

[0026] As a preferred embodiment of the present invention, the specific process of the area detection module obtaining the area risk parameter is as follows:

[0027] After receiving the area detection command, obtain the obstacle-free areas on both sides of the driving danger area and mark them in sequence as candidate areas j, j = 1, ..., o, where o is a positive integer, j is the number of any candidate area, and o is the total number of candidate areas;

[0028] The center position of the path planning object is used as the starting point, the center position of the selected area DXj is used as the end point, and the vehicle driving route is drawn with the starting point and the end point;

[0029] Obtain the route length and the vehicle steering angle corresponding to the vehicle's travel route, obtain the product of the two, and mark it as the steering value;

[0030] Get a rectangular area of preset length and preset width directly behind the area to be selected, and mark it as the inspection area;

[0031] Obtain the total number of obstacles in motion in the inspection area and the speed of the obstacle with the highest speed, obtain the product of the two, and mark it as the obstacle value;

[0032] Send the turning value and obstacle value to the regional analysis module.

[0033] As a preferred embodiment of the present invention, the specific process of the mechanical steering execution control module generating the area detection instruction is as follows:

[0034] The driving risk coefficient is compared with the preset driving risk threshold, and the comparison results are as follows:

[0035] If the driving risk coefficient is greater than or equal to the driving risk threshold, the driving detection area corresponding to the driving risk coefficient is marked as a driving risk area, and an area detection instruction is generated and sent to the area detection module.

[0036] As a preferred embodiment of the present invention, the specific process of the mechanical steering execution control module obtaining the selected area is as follows:

[0037] Sort all candidate regions j in ascending order according to their regional risk coefficients QWj, and mark the first candidate region j as the selected region;

[0038] Control the path planning object to turn and drive towards the selected area.

[0039] As a preferred embodiment of the present invention, the mechanical steering execution control module is also used to generate a steering detection instruction when the path planning object is started, and send the steering detection instruction to the steering detection module; it is also used to generate an abnormality notification instruction or a driving detection instruction based on the test abnormality coefficient, and send the abnormality notification instruction to the abnormality notification module, and send the driving detection instruction to the driving detection module.

[0040] As a preferred embodiment of the present invention, the specific process of the mechanical steering execution control module generating the steering detection instruction is as follows:

[0041] The vehicle undergoing path planning is marked as a path planning object. When the path planning object is started, a steering detection instruction is generated and sent to the steering detection module.

[0042] As a preferred embodiment of the present invention, the specific process of the mechanical steering execution control module generating an abnormality notification instruction or a driving detection instruction is as follows:

[0043] Compare the test anomaly coefficient with the preset test anomaly threshold. The comparison results are as follows:

[0044] If the test abnormality coefficient is greater than or equal to the test abnormality threshold, an abnormality notification instruction is generated and sent to the abnormality notification module;

[0045] If the test abnormality coefficient is less than the test abnormality threshold, a driving detection instruction is generated and sent to the driving detection module.

[0046] As a preferred embodiment of the present invention, the path planning system based on mechanical steering execution control further includes:

[0047] The steering detection module is used to perform steering test operations on the path planning object, obtain test abnormality parameters, and send the test abnormality parameters to the detection and analysis module; wherein the test abnormality parameters include timing information, time difference information and route information.

[0048] As a preferred embodiment of the present invention, the specific process of the steering detection module obtaining the test abnormality parameters is as follows:

[0049] After receiving the steering detection instruction, the path planning object is controlled to perform the steering test operation according to the preset steering test operation steps;

[0050] Obtain the time when the steering detection instruction is received and the time when the path planning object starts the steering test operation, obtain the time difference between the two, and mark it as timing information;

[0051] Obtain the start and end times of the turning test operation of the path planning object, obtain the time difference between the two, and mark it as the duration value, obtain the difference between the duration value and the preset standard duration value, and mark it as the time difference information;

[0052] Obtain the position movement route formed during the steering test operation at the preset monitoring position of the path planning object, and mark it as the monitoring route; obtain the length difference between the monitoring route and the preset standard monitoring route, and mark it as the length value; move the starting points of the monitoring route and the preset standard monitoring route until they overlap, obtain the area of the region enclosed between the two, and mark it as the area value; scale the length value according to the corresponding preset ratio, and mark it as the length adjustment value; scale the area value according to the corresponding preset ratio, and mark it as the area adjustment value; obtain the sum of the length adjustment value and the area adjustment value, and mark it as the route information; wherein the preset ratios corresponding to the length value and the area value are set by the user based on experience, and neither is zero;

[0053] The timing information, time difference information and route information are sent to the detection and analysis module.

[0054] As a preferred embodiment of the present invention, the path planning system based on mechanical steering execution control further includes:

[0055] The detection and analysis module is used to obtain a test abnormality coefficient based on the test abnormality parameter and send the test abnormality coefficient to the mechanical steering execution control module.

[0056] As a preferred embodiment of the present invention, the specific process of the detection and analysis module obtaining the test abnormality coefficient is as follows:

[0057] Multiply the values of the time information, time difference information, and route information by their corresponding preset weight factors, and then obtain the sum of the three, which is marked as the test anomaly coefficient; wherein the preset weight factors corresponding to the time information, time difference information, and route information are all set by the user based on experience, and the preset weight factors corresponding to the time information, time difference information, and route information increase in sequence and are all greater than 1.395;

[0058] The test abnormality coefficient is sent to the mechanical steering execution control module.

[0059] As a preferred embodiment of the present invention, the path planning system based on mechanical steering execution control further includes:

[0060] The abnormality notification module is used to ring the abnormality notification ring after receiving the abnormality notification instruction.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The present invention can accurately evaluate the control sensitivity of the steering system, promptly detect abnormal sensitivity and issue warnings to the operator, thus avoiding safety accidents caused by steering control sensitivity problems and improving the safety and reliability of steering control; the system can comprehensively and accurately obtain surrounding environment information and identify dangerous areas and dangerous routes through intelligent algorithms, providing a reliable basis for path planning, and can provide safer and more efficient driving routes, which helps to improve the safety of vehicle driving.

[0063] The present invention realizes the information fusion and collaborative optimization of steering system safety detection, dangerous area analysis and route planning, improves the performance and reliability of the entire system, and is suitable for various application scenarios such as autonomous driving vehicles, intelligent logistics vehicles, special operation vehicles, etc., and has broad market prospects and social value. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0065] Figure 1 This is a principle block diagram of a path planning system based on mechanical steering execution control according to the present invention.

[0066] Figure 2 This is a flow chart of the working method of a path planning system based on mechanical steering execution control of the present invention. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0068] Example 1:

[0069] See also Figure 1 As shown, this embodiment is a path planning system based on mechanical steering execution control, including the following modules: a mechanical steering execution control module, a steering detection module, a detection and analysis module, an abnormality notification module, a driving detection module, a driving analysis module, a region detection module, and a region analysis module;

[0070] The mechanical steering execution control module is used to generate a steering detection instruction when the path planning object is started, and send the steering detection instruction to the steering detection module; it is also used to generate an abnormality notification instruction or a driving detection instruction according to the test abnormality coefficient, and send the abnormality notification instruction to the abnormality notification module, and send the driving detection instruction to the driving detection module; it is also used to obtain a driving danger area according to the driving danger coefficient, and generate an area detection instruction at the same time, and send the area detection instruction to the area detection module; it is also used to obtain a selected area according to the candidate area j and the area danger coefficient QWj, and control the path planning object to turn and drive towards the selected area;

[0071] The turning detection module is used to perform a turning test operation on the path planning object, obtain test abnormality parameters, and send the test abnormality parameters to the detection and analysis module; wherein the test abnormality parameters include timing information, time difference information and route information;

[0072] The detection and analysis module is used to obtain a test abnormality coefficient according to the test abnormality parameter, and send the test abnormality coefficient to the mechanical steering execution control module;

[0073] The abnormal notification module is configured to sound an abnormal notification ring tone after receiving an abnormal notification instruction;

[0074] The driving detection module is configured to obtain driving hazard parameters of the driving detection area after receiving the driving detection instruction, and send the driving hazard parameters to the driving analysis module; wherein the driving hazard parameters include obstacle information and speed information;

[0075] The driving analysis module is used to obtain a driving risk coefficient according to the driving risk parameter and send the driving risk coefficient to the mechanical steering execution control module;

[0076] The region detection module is configured to obtain the region hazard parameters of the selected region j after receiving the region detection instruction, and send the region hazard parameters to the region analysis module; wherein the region hazard parameters include a turning value and an obstacle value;

[0077] The regional analysis module is used to obtain the regional risk coefficient QWj according to the regional risk parameter, and send the regional risk coefficient QWj to the mechanical steering execution control module.

[0078] Example 2:

[0079] See also Figure 2 As shown, this embodiment is a working method of a path planning system based on mechanical steering execution control, comprising the following steps:

[0080] Step s1: the mechanical steering execution control module generates a steering detection instruction when the path planning object is started, and sends the steering detection instruction to the steering detection module;

[0081] Step s2: The turning detection module performs a turning test operation on the path planning object to obtain test abnormality parameters, wherein the test abnormality parameters include timing information, time difference information and route information, and sends the test abnormality parameters to the detection and analysis module;

[0082] Step s3: the detection and analysis module obtains a test abnormality coefficient according to the test abnormality parameter, and sends the test abnormality coefficient to the mechanical steering execution control module;

[0083] Step s4: the mechanical steering execution control module generates an abnormality notification instruction or a driving detection instruction according to the test abnormality coefficient, and sends the abnormality notification instruction to the abnormality notification module and sends the driving detection instruction to the driving detection module;

[0084] Step s5: The abnormal notification module sounds an abnormal notification ring after receiving the abnormal notification instruction;

[0085] Step s6: After receiving the driving detection instruction, the driving detection module obtains driving hazard parameters of the driving detection area, wherein the driving hazard parameters include obstacle information and speed information, and sends the driving hazard parameters to the driving analysis module;

[0086] Step s7: the driving analysis module obtains a driving risk coefficient according to the driving risk parameter, and sends the driving risk coefficient to the mechanical steering execution control module;

[0087] Step s8: The mechanical steering execution control module obtains the driving risk area according to the driving risk coefficient, generates an area detection instruction, and sends the area detection instruction to the area detection module;

[0088] Step s9: After receiving the region detection instruction, the region detection module obtains the region danger parameters of the selected region j, wherein the region danger parameters include a turning value and an obstacle value, and sends the region danger parameters to the region analysis module;

[0089] Step s10: the regional analysis module obtains the regional risk coefficient QWj according to the regional risk parameter, and sends the regional risk coefficient QWj to the mechanical steering execution control module;

[0090] Step s11: The mechanical steering execution control module obtains the selected area according to the candidate area j and the area risk coefficient QWj, and controls the path planning object to turn and drive towards the selected area.

[0091] Example 3:

[0092] Based on any of the above embodiments, embodiment 3 of the present invention is a mechanical steering execution control module, which has four functions:

[0093] One of the functions is to generate a steering detection instruction. The specific process is as follows:

[0094] The mechanical steering execution control module marks the vehicle undergoing path planning as a path planning object. When the path planning object is activated, a steering detection instruction is generated and sent to the steering detection module.

[0095] The second function is to generate abnormal notification instructions or driving detection instructions. The specific process is as follows:

[0096] The mechanical steering execution control module compares the test abnormality coefficient with the preset test abnormality threshold. The comparison results are as follows:

[0097] If the test abnormality coefficient is greater than or equal to the test abnormality threshold, an abnormality notification instruction is generated and sent to the abnormality notification module;

[0098] If the test abnormality coefficient is less than the test abnormality threshold, a driving detection instruction is generated and sent to the driving detection module;

[0099] The third function is to obtain the driving danger zone and generate the area detection instruction. The specific process is as follows:

[0100] The mechanical steering execution control module compares the driving risk coefficient with the preset driving risk threshold. The comparison results are as follows:

[0101] If the driving risk coefficient is greater than or equal to the driving risk threshold, the driving detection area corresponding to the driving risk coefficient is marked as a driving risk area, and an area detection instruction is generated and sent to the area detection module;

[0102] The fourth function is to obtain the selected area. The specific process is as follows:

[0103] The mechanical steering execution control module sorts all candidate areas j in ascending order according to the regional risk coefficient QWj, and marks the candidate area j at the top as the selected area;

[0104] The mechanical steering execution control module controls the path planning object to turn and drive towards the selected area.

[0105] Example 4:

[0106] Based on any of the above embodiments, embodiment 4 of the present invention is a steering detection module. The function of the steering detection module is to obtain test abnormality parameters. The specific process is as follows:

[0107] After receiving the steering detection instruction, the steering detection module controls the path planning object to perform the steering test operation according to the preset steering test operation steps;

[0108] The steering detection module obtains the time when the steering detection instruction is received and the time when the path planning object starts the steering test operation, obtains the time difference between the two, and marks it as timing information;

[0109] The turning detection module obtains the start time and end time of the turning test operation of the path planning object, obtains the time difference between the two, and marks it as the duration value, obtains the difference between the duration value and the preset standard duration value, and marks it as the time difference information;

[0110] The steering detection module obtains the position movement route formed during the steering test operation at the preset monitoring position of the path planning object, and marks it as the monitoring route, obtains the length difference between the monitoring route and the preset standard monitoring route, and marks it as the length value, moves the starting points of the monitoring route and the preset standard monitoring route until they overlap, obtains the area of the area enclosed between the two, and marks it as the area value, scales the length value according to the corresponding preset ratio, and marks it as the length adjustment value, scales the area value according to the corresponding preset ratio, and marks it as the area adjustment value, obtains the sum of the length adjustment value and the area adjustment value, and marks it as route information; wherein the preset ratios corresponding to the length value and the area value are set by the user based on experience, and both are not zero;

[0111] The turning detection module sends the timing information, time difference information and route information to the detection and analysis module.

[0112] Example 5:

[0113] Based on any of the above embodiments, embodiment 5 of the present invention is a detection and analysis module. The function of the detection and analysis module is to obtain a test abnormality coefficient. The specific process is as follows:

[0114] The detection and analysis module multiplies the values of the timing information, time difference information, and route information by their corresponding preset weight factors, and then obtains the sum of the three and marks it as the test anomaly coefficient. Among them, the preset weight factors corresponding to the timing information, time difference information, and route information are all set by the user based on experience, and the preset weight factors corresponding to the timing information, time difference information, and route information increase in sequence and are all greater than 1.395. For example, based on experience, the user can select the preset weight factors corresponding to the timing information, time difference information, and route information as 3.82, 2.91, and 1.56 respectively;

[0115] The detection and analysis module sends the test abnormality coefficient to the mechanical steering execution control module.

[0116] Example 6:

[0117] Based on any of the above embodiments, embodiment 6 of the present invention is an abnormality notification module, and the function of the abnormality notification module is to sound an abnormality notification ring after receiving an abnormality notification instruction.

[0118] Example 7:

[0119] Based on any of the above embodiments, embodiment 7 of the present invention is a driving detection module. The function of the driving detection module is to obtain driving risk parameters. The specific process is as follows:

[0120] After receiving the driving detection instruction, the driving detection module obtains a rectangular area of preset length and preset width in front of the path planning object and marks it as a driving detection area;

[0121] The driving detection module obtains the total number of obstacles, the total volume of obstacles, and the height of the highest obstacle in the driving detection area, and marks them as the obstacle value, obstacle size, and obstacle height value, respectively. An elliptical shape is drawn using the obstacle value and obstacle height values as the lengths of the major and minor axes of the elliptical shape on the base of the elliptical cylinder, and an elliptical cylinder shape is drawn on the elliptical shape using the obstacle size value as the height of the elliptical cylinder. The surface area of the elliptical cylinder shape is obtained and marked as obstacle information.

[0122] The driving detection module obtains the distances between all obstacles in the driving detection area and the path planning object, obtains the speed of the obstacle corresponding to the shortest distance and marks it as the obstacle speed value, obtains the speed of the path planning object and marks it as the object speed value, obtains the difference between the object speed value and the obstacle speed value and marks it as speed information;

[0123] The driving detection module sends the obstacle information and speed information to the driving analysis module.

[0124] Example 8:

[0125] Based on any of the above embodiments, embodiment 8 of the present invention is a driving analysis module. The function of the driving analysis module is to obtain a driving risk coefficient. The specific process is as follows:

[0126] The driving analysis module obtains the product of obstacle information and speed information and marks it as the driving risk coefficient;

[0127] The driving analysis module sends the driving risk coefficient to the mechanical steering execution control module.

[0128] Example 9:

[0129] Based on any of the above embodiments, embodiment 9 of the present invention is an area detection module. The function of the area detection module is to obtain area risk parameters. The specific process is as follows:

[0130] After receiving the area detection command, the area detection module obtains the obstacle-free areas on both sides of the driving danger area and marks them in sequence as candidate areas j, where j = 1, ..., o, where o is a positive integer, j is the number of any candidate area, and o is the total number of candidate areas;

[0131] The area detection module takes the center position of the path planning object as the starting point and the center position of the selected area DXj as the end point, and draws the vehicle route with the starting point and the end point;

[0132] The area detection module obtains the route length and the vehicle steering angle corresponding to the vehicle's driving route, obtains the product of the two, and marks it as the steering value;

[0133] The area detection module obtains a rectangular area of preset length and preset width directly behind the to-be-selected area and marks it as the selected inspection area;

[0134] The area detection module obtains the total number of obstacles in motion in the selected inspection area and the speed of the obstacle with the highest moving speed, obtains the product of the two, and marks it as the obstacle value;

[0135] The area detection module sends the turning value and obstacle value to the area analysis module.

[0136] Example 10:

[0137] Based on any of the above embodiments, embodiment 10 of the present invention is a regional analysis module. The function of the regional analysis module is to obtain the regional risk factor QWj. The specific process is as follows:

[0138] If the obstacle value = 0, the turning value is marked as the regional risk factor QWj;

[0139] If the obstacle value ≠ 0, the product of the turning value and the obstacle value is marked as the regional risk factor QWj;

[0140] The regional analysis module sends the regional risk coefficient QWj to the mechanical steering execution control module.

[0141] Based on the above embodiments 1-10, the working principle of the present invention is as follows:

[0142] The steering detection module is used to perform a steering test operation on the path planning object to obtain test abnormality parameters, and the detection and analysis module is used to obtain a test abnormality coefficient based on the test abnormality parameters. The driving detection module is used to obtain the driving hazard parameters of the driving detection area, and the driving analysis module is used to obtain the driving hazard coefficient based on the driving hazard parameters. The mechanical steering execution control module is used to obtain the driving hazard area based on the driving hazard coefficient. The area detection module is used to obtain the area hazard parameters, and the area analysis module is used to obtain the area hazard coefficient based on the area hazard parameters. The mechanical steering execution control module is used to obtain the selected area based on the selected area and the area hazard coefficient, and the path planning object is controlled to turn to the selected area. Before the system performs steering execution control on the path planning vehicle, it first detects its steering execution control. The obtained test abnormality coefficient can comprehensively measure the degree of abnormality in the steering execution control, and the larger the test abnormality coefficient is, the higher the degree of abnormality in the steering execution control is. The driving process of the vehicle is detected, and the driving risk coefficient obtained can comprehensively measure the risk level of the driving detection area, and the larger the driving risk coefficient, the higher the risk level of the driving detection area. Then, the path planning object is turned and executed, and the route of the steering execution control is automatically planned. The obtained regional risk coefficient can comprehensively measure the risk level of the selected area, and the larger the regional risk coefficient, the higher the risk level of the selected area. Finally, the selected area with the lowest risk level is selected for route navigation; the system can accurately evaluate the control sensitivity of the steering system, promptly detect sensitivity abnormalities and issue warnings to the operator, avoid safety accidents caused by steering control sensitivity problems, and improve the safety and reliability of steering control; the system can comprehensively and accurately obtain surrounding environment information, and identify dangerous areas and dangerous routes through intelligent algorithms, providing a reliable basis for path planning, and can provide safer and more efficient driving routes, which helps to improve the safety of vehicle driving.

[0143] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0144] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in similar ways. As long as they do not deviate from the invention or exceed the scope defined in this application, they should all fall within the scope of protection of the present invention.

Claims

1. A path planning system based on mechanical steering execution control, characterized in that: Includes the following modules: A driving detection module is configured to obtain driving hazard parameters of the driving detection area after receiving a driving detection instruction, and send the driving hazard parameters to the driving analysis module; wherein the driving hazard parameters include obstacle information and speed information; A driving analysis module, configured to obtain a driving risk coefficient based on the driving risk parameter and send the driving risk coefficient to the mechanical steering execution control module; The specific process of the driving analysis module obtaining the driving risk coefficient is as follows: Obtain the product of obstacle information and speed information and mark it as the driving risk coefficient; Sending the driving risk factor to the mechanical steering execution control module; The mechanical steering execution control module is used to obtain a driving danger zone based on the driving danger coefficient, generate a zone detection instruction, and send the zone detection instruction to the zone detection module; it is also used to obtain a selected zone based on the candidate zone j and the zone danger coefficient QWj, and control the path planning object to steer towards the selected zone; The region detection module is configured to obtain the region hazard parameters of the selected region j after receiving the region detection instruction, and send the region hazard parameters to the region analysis module; wherein the region hazard parameters include a turning value and an obstacle value; A regional analysis module, configured to obtain a regional risk coefficient QWj according to the regional risk parameter, and send the regional risk coefficient QWj to the mechanical steering execution control module; The specific process of the regional analysis module obtaining the regional risk coefficient QWj is as follows: If the obstacle value = 0, the turning value is marked as the regional risk factor QWj; If the obstacle value ≠ 0, the product of the turning value and the obstacle value is marked as the regional risk factor QWj; The regional risk factor QWj is sent to the mechanical steering execution control module.

2. A path planning system based on mechanical steering execution control according to claim 1, characterized in that: The specific process of the driving detection module obtaining driving risk parameters is as follows: After receiving the driving detection instruction, a rectangular area of preset length and preset width in front of the path planning object is obtained and marked as the driving detection area; Obtain the total number of obstacles, the total volume of obstacles, and the height of the highest obstacle in the driving detection area, and mark them as the obstacle value, obstacle volume value, and obstacle height value, respectively. Draw an elliptical shape using the obstacle value and obstacle height values as the lengths of the major and minor axes of the elliptical shape on the base of the elliptical cylinder, and draw an elliptical cylinder shape on the elliptical shape using the obstacle volume value as the height of the elliptical cylinder. Obtain the surface area of the elliptical cylinder shape and mark it as obstacle information. Obtain the distances between all obstacles in the driving detection area and the path planning object, obtain the speed of the obstacle corresponding to the shortest distance and mark it as the obstacle speed value, obtain the speed of the path planning object and mark it as the elephant speed value, obtain the difference between the elephant speed value and the obstacle speed value and mark it as speed information; Send obstacle information and speed information to the driving analysis module.

3. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: The specific process of the area detection module obtaining area risk parameters is as follows: After receiving the area detection command, obtain the obstacle-free areas on both sides of the driving danger area and mark them in sequence as candidate areas j, j = 1, ..., o, where o is a positive integer, j is the number of any candidate area, and o is the total number of candidate areas; The center position of the path planning object is used as the starting point, the center position of the selected area DXj is used as the end point, and the vehicle driving route is drawn with the starting point and the end point; Obtain the route length and the vehicle steering angle corresponding to the vehicle's travel route, obtain the product of the two, and mark it as the steering value; Get a rectangular area of preset length and preset width directly behind the area to be selected, and mark it as the inspection area; Obtain the total number of obstacles in motion in the inspection area and the speed of the obstacle with the highest speed, obtain the product of the two, and mark it as the obstacle value; Send the turning value and obstacle value to the regional analysis module.

4. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: The specific process of the mechanical steering execution control module generating the area detection instruction is as follows: The driving risk coefficient is compared with the preset driving risk threshold, and the comparison results are as follows: If the driving risk coefficient is greater than or equal to the driving risk threshold, the driving detection area corresponding to the driving risk coefficient is marked as a driving risk area, and an area detection instruction is generated and sent to the area detection module; The specific process of the mechanical steering execution control module obtaining the selected area is as follows: Sort all candidate regions j in ascending order according to their regional risk coefficients QWj, and mark the first candidate region j as the selected region; Control the path planning object to turn and drive towards the selected area.

5. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: The mechanical steering execution control module is further configured to generate a steering detection instruction when the path planning object is activated, and send the steering detection instruction to the steering detection module; and is further configured to generate an abnormality notification instruction or a driving detection instruction according to the test abnormality coefficient, and send the abnormality notification instruction to the abnormality notification module, and send the driving detection instruction to the driving detection module; The specific process of the mechanical steering execution control module generating the steering detection instruction is as follows: The vehicle undergoing path planning is marked as a path planning object. When the path planning object is started, a turning detection instruction is generated and sent to the turning detection module. The specific process of the mechanical steering execution control module generating an abnormality notification instruction or a driving detection instruction is as follows: Compare the test anomaly coefficient with the preset test anomaly threshold. The comparison results are as follows: If the test abnormality coefficient is greater than or equal to the test abnormality threshold, an abnormality notification instruction is generated and sent to the abnormality notification module; If the test abnormality coefficient is less than the test abnormality threshold, a driving detection instruction is generated and sent to the driving detection module.

6. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: Also includes: The steering detection module is used to perform steering test operations on the path planning object, obtain test abnormality parameters, and send the test abnormality parameters to the detection and analysis module; wherein the test abnormality parameters include timing information, time difference information and route information.

7. The path planning system based on mechanical steering execution control according to claim 6, characterized in that: The specific process of the steering detection module obtaining the test abnormality parameters is as follows: After receiving the steering detection instruction, the path planning object is controlled to perform the steering test operation according to the preset steering test operation steps; Obtain the time when the steering detection instruction is received and the time when the path planning object starts the steering test operation, obtain the time difference between the two, and mark it as timing information; Obtain the start and end times of the turning test operation of the path planning object, obtain the time difference between the two, and mark it as the duration value, obtain the difference between the duration value and the preset standard duration value, and mark it as the time difference information; Obtain the position movement route formed during the steering test operation at the preset monitoring position of the path planning object, and mark it as the monitoring route; obtain the length difference between the monitoring route and the preset standard monitoring route, and mark it as the length value; move the starting points of the monitoring route and the preset standard monitoring route until they overlap, obtain the area of the region enclosed between the two, and mark it as the area value; scale the length value according to the corresponding preset ratio, and mark it as the length adjustment value; scale the area value according to the corresponding preset ratio, and mark it as the area adjustment value; obtain the sum of the length adjustment value and the area adjustment value, and mark it as the route information; The timing information, time difference information and route information are sent to the detection and analysis module.

8. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: Also includes: The detection and analysis module is used to obtain a test abnormality coefficient based on the test abnormality parameter and send the test abnormality coefficient to the mechanical steering execution control module.

9. The path planning system based on mechanical steering execution control according to claim 8, characterized in that: The specific process of the detection and analysis module obtaining the test abnormality coefficient is as follows: Multiply the values of the time measurement information, time difference information, and route information by their corresponding preset weight factors, and then obtain the sum of the three, and mark it as the test anomaly coefficient; The test abnormality coefficient is sent to the mechanical steering execution control module.

10. The path planning system based on mechanical steering execution control according to claim 1, characterized in that: Also includes: The abnormality notification module is used to ring the abnormality notification ring after receiving the abnormality notification instruction.

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