System and method for following the path of a preceding vehicle.

Abstract

The present invention provides a preceding vehicle path following system and method that, when lane detection is not functioning, follows the path of the preceding vehicle to achieve the objective of direction change following. [Solution] The preceding vehicle path following system and method of the present invention is applied to the user's own vehicle. The user's own vehicle receives preceding vehicle information and, after detecting the user's own vehicle information of the preceding vehicle, first generates a preceding vehicle estimated path based on the user's own vehicle information. Next, it generates a preceding vehicle wheel speed path based on the preceding vehicle information, and matches the user's own vehicle's current position in the preceding vehicle wheel speed path to set the path following start point. Based on the state of the preceding vehicle wheel speed path and the preceding vehicle estimated path, it generates a follow path determination. Finally, by controlling the controller based on the follow path determination, the user's own vehicle's follow path is switched, causing the user's own vehicle to follow either the preceding vehicle wheel speed path or the preceding vehicle estimated path.

Description

Technical Field

[0004] , , ,

[0001] The present invention relates to the technology in the field of autonomous driving, and particularly to a preceding vehicle path following system and method.

Background Art

[0002] Autonomous driving technology is maturing, and an autonomous driving platoon running technology that makes multiple autonomous vehicles run in a platoon has been developed, which operates in a cooperative manner. Platoon running exchanges the vehicle body dynamic information between vehicles through vehicle-to-vehicle real-time transmission technology through advanced sensing technology, vehicle-to-vehicle communication systems, and autonomous decision-making control algorithms to achieve the functions of simultaneous control and simultaneous movement, and realizes the cooperative operation between platoon vehicles. This international technology is generally applied to relatively simple scenes such as highways. Regarding the development of platoon running in urban areas, the leading vehicle in the platoon performs manned driving, and the subsequent platoon vehicles aim to form a platoon with unmanned driving. The advanced driver assistance system (ADAS) is used to detect lanes, perform lane keeping and platoon control, and the maximum speed of platoon running reaches 80 km / h. However, this technology only functions where lanes exist, and autonomous driving is interrupted at intersections and parking lots.

[0003] Regarding the lateral control of vehicles, in existing technologies, there are methods that obtain a target path by means of lane recognition, real-time kinematic (RTK), simultaneous localization and mapping (SLAM) technology, etc., and control the steering of the vehicle to follow the preceding vehicle in the platoon. However, lane recognition cannot be applied in areas where lane detection does not function, such as intersections and parking lots. In addition, positioning using RTK or SLAM requires prior collection of map data of the area, and due to the high equipment cost, it is difficult to popularize.

[0004] Therefore, in order to address the shortcomings of the prior art and future needs described above, the present invention proposes a preceding vehicle path following system and method. Its specific structure and implementation method will be described in detail below. [Overview of the project] [Problems that the invention aims to solve]

[0005] The object of the present invention is to provide a preceding vehicle path following system and method that receives preceding vehicle information transmitted from a preceding vehicle, combines it with the vehicle's own vehicle information obtained by detecting the preceding vehicle, generates a preceding vehicle wheel speed path and a preceding vehicle estimated path, diagnoses which preceding vehicle path is suitable for the vehicle to follow, and solves the problem of automatic driving being impossible by following the preceding vehicle even when lane detection is not functioning.

[0006] Another object of the present invention is to provide a system and method for following a preceding vehicle's path, in which the vehicle acquires information about a preceding vehicle using vehicle-to-vehicle wireless communication technology and generates a preceding vehicle wheel speed path based on information detected by a wheel speed detection device of the preceding vehicle within the preceding vehicle information.

[0007] A further object of the present invention is to provide a system and method for following a preceding vehicle's path that generates an estimated path of a preceding vehicle from a forward road image acquired by an image acquisition device and the coordinates of the own vehicle acquired by a wheel speed detection device, and by using this in combination with the preceding vehicle's wheel speed path, it is possible to diagnose whether the distribution of points on either path is uniform and dense, thereby increasing the success rate of following the preceding vehicle. [Means for solving the problem]

[0008] To achieve the above objectives, the preceding vehicle path following system of the present invention is applied to the vehicle itself and includes a transmit / receive interface and at least one processor. The transmit / receive interface is connected by signals to a plurality of sensor devices installed on the vehicle itself, receives a plurality of vehicle information detected by the plurality of sensor devices, receives a plurality of preceding vehicle information received by the plurality of sensor devices, and the preceding vehicle information is transmitted from the preceding vehicle. At least one processor is connected by signals to the transmit / receive interface and the vehicle's controller. The processor is configured to perform operations including the following steps: (1) A preceding vehicle path estimation step, which generates a preceding vehicle estimated path based on the vehicle information. (2) A path matching step, which generates a preceding vehicle wheel speed path based on the preceding vehicle information, determines whether the current coordinate system of the vehicle itself and adjacent coordinate systems on the preceding vehicle estimated path overlap, matches the current position of the vehicle itself on the preceding vehicle wheel speed path to set it as the path following start point, and generates a path following determination based on the state of the path following start point, the preceding vehicle wheel speed path, and the preceding vehicle estimated path. (3) A route switching step in which the controller is controlled based on the determined follow route to switch the follow route of the vehicle itself, causing the vehicle to follow the preceding vehicle's wheel speed route or the preceding vehicle's estimated route.

[0009] According to embodiments of the present invention, the preceding vehicle path estimation step further includes taking multiple past positions of the preceding vehicle in the vehicle's own vehicle information as multiple path points, performing a coordinate transformation on the path points to transform the vehicle's past coordinate system to the vehicle's current coordinate system, and fitting the path points to generate a path to be used as the preceding vehicle estimated path.

[0010] According to an embodiment of the present invention, the path matching step involves calculating a path fitting equation using the coordinates of the path points of the preceding vehicle, and further using the path fitting equation to compare whether or not positional errors and directional errors exist between the current coordinate system of the vehicle and adjacent coordinate systems on the estimated path of the preceding vehicle, thereby determining whether or not the current coordinate system of the vehicle and adjacent coordinate systems overlap.

[0011] According to embodiments of the present invention, the path matching step, in which the current position of the vehicle in the preceding vehicle's wheel speed path is matched to set the path following start point, and the step of generating a path following determination based on the state of the preceding vehicle's wheel speed path and the estimated path of the preceding vehicle, further includes the following: (1) Comparing the detected relative position between the vehicle and the preceding vehicle with the current position of the preceding vehicle, the current position of the vehicle in the preceding vehicle's wheel speed path is determined and set as the path following start point, and the current position of the preceding vehicle is included in the preceding vehicle information. (2) Multiple path following points are generated based on the relative position and direction change of the vehicle and the preceding vehicle, and the path following points after the path following start point are fitted to form a path following determination.

[0012] According to an embodiment of the present invention, in the route matching step, the preceding vehicle wheel speed route and the preceding vehicle estimated route are set as the same route.

[0013] According to embodiments of the present invention, the path matching step includes the following steps: (1) a step of diagnosing the state of multiple path points in the preceding vehicle wheel speed path and determining whether the preceding vehicle wheel speed path satisfies multiple follow conditions; (2) a step of if the preceding vehicle wheel speed path satisfies multiple follow conditions, generating a decision to follow the preceding vehicle wheel speed path; if it does not, diagnosing the state of multiple path points in the preceding vehicle estimated path and determining whether the preceding vehicle estimated path satisfies the follow conditions, wherein both the path points in the preceding vehicle wheel speed path and the path points in the preceding vehicle estimated path are located after the path following start point; (3) a step of if the preceding vehicle estimated path satisfies the follow conditions, generating a decision to follow the preceding vehicle estimated path; if it does not, terminating the preceding vehicle path following system.

[0014] According to embodiments of the present invention, the tracking conditions include whether the distribution of multiple path points in the preceding vehicle's wheel speed path is uniform and dense, and whether the preview points generated using the Pure Pursuit algorithm are located on the preceding vehicle's wheel speed path or the preceding vehicle's estimated path.

[0015] According to embodiments of the present invention, the sensor device includes at least one radar, a vehicle-to-vehicle wireless communication module, a vehicle wheel speed detection device, and an image acquisition device. At least one radar detects the relative speed and relative distance between the vehicle and the preceding vehicle. The vehicle-to-vehicle wireless communication module acquires the speed, position, and azimuth of the preceding vehicle transmitted by the preceding vehicle, and the processor uses the position and azimuth of the preceding vehicle to generate the wheel speed path and coordinate system of the preceding vehicle. The vehicle wheel speed detection device detects the position and azimuth of the vehicle, and the processor uses that position and azimuth to generate the current and past coordinate systems of the vehicle. The image acquisition device acquires multiple forward road images, and the processor acquires an image of the preceding vehicle from the forward road images and calculates the relative position of the vehicle and the preceding vehicle from the image of the preceding vehicle.

[0016] According to embodiments of the present invention, the preceding vehicle information includes the speed, acceleration, position, and azimuth of the preceding vehicle, wherein the speed and acceleration of the preceding vehicle are data fed back from the chassis of the preceding vehicle, and the position and azimuth of the preceding vehicle are measured by a preceding vehicle wheel speed detection device of the preceding vehicle.

[0017] The present invention's method for following a preceding vehicle's path is applied to the vehicle itself, and the vehicle executes the method after receiving multiple pieces of vehicle information detected by multiple sensor devices and multiple pieces of preceding vehicle information received by multiple sensor devices. This method includes the following steps: (1) A preceding vehicle path estimation step, which generates a preceding vehicle estimated path based on the vehicle's information. (2) A path matching step, which generates a preceding vehicle wheel speed path based on the preceding vehicle information, determines whether the vehicle's current coordinate system and adjacent coordinate systems on the preceding vehicle estimated path overlap, matches the vehicle's current position on the preceding vehicle wheel speed path if they overlap, sets it as the path following start point, generates a path following determination based on the state of the path following start point, the preceding vehicle wheel speed path, and the preceding vehicle estimated path, and transmits the multiple pieces of preceding vehicle information from the preceding vehicle to the vehicle itself. (3) A path switching step, which switches the vehicle's path by controlling the controller based on the path following determination, causing the vehicle to follow either the preceding vehicle wheel speed path or the preceding vehicle estimated path. [Effects of the Invention]

[0018] The present invention provides a preceding vehicle path following system and method that acquires preceding vehicle information through vehicle-to-vehicle wireless communication technology and generates a preceding vehicle wheel speed path based on the information detected by a preceding vehicle wheel speed detection device within the preceding vehicle information. Next, the system generates a preceding vehicle estimated path based on the vehicle information obtained by the vehicle detecting the preceding vehicle. This allows the vehicle to diagnose which preceding vehicle path is suitable for following. In this way, by following the preceding vehicle's path and direction changes even in areas where lane detection does not function, the problem of the inability to perform autonomous driving when lanes cannot be detected in conventional technology can be solved, and furthermore, it does not require costly equipment. [Brief explanation of the drawing]

[0019] [Figure 1] This diagram shows a situation where your vehicle is following a vehicle that is turning left at an intersection. [Figure 2] This is a block diagram of the preceding vehicle path following system of the present invention. [Figure 3]This is a block diagram of a system configuration in which a host vehicle receives a preceding vehicle signal and follows the path of the preceding vehicle using a preceding vehicle path following system. [Figure 4] This is a flowchart of the method for following the path of a preceding vehicle according to the present invention. [Figure 5] This is a diagram showing whether or not the current coordinate system of the host vehicle overlaps with the adjacent coordinate system of the preceding vehicle in the present invention. [Figure 6] This is a diagram showing that the path following start point in the path of the preceding vehicle wheel speed of the host vehicle has been found in the present invention. [Figure 7] This is a diagram showing a state in which the host vehicle is following the path of the preceding vehicle in a road parking bay in the present invention. [Figure 8] This is a diagram showing a state in which the host vehicle is following the path of the preceding vehicle in a road parking bay in the present invention.

Embodiments for Carrying Out the Invention

[0020] Hereinafter, the technical content in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. It is clear that the described embodiments are only a part of the embodiments of the present invention and not all of the embodiments.

[0021] As used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but are not to be construed as excluding the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0022] It should be understood that the terms used in this specification of the present invention are for the sole purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, "one", "a" and "the" are intended to include the plural unless the context clearly indicates otherwise.

[0023] Furthermore, the term "and / or" as used in the specification and the appended claims of this invention should be understood to refer to any combination of one or more of the relatedly enumerated items and all possible combinations, including those combinations.

[0024] The preceding vehicle path following system and method of the present invention is applied when lane detection is not functioning when the vehicle is stopped at an intersection, curve, or station, and the vehicle can move forward by following the path of the preceding vehicle. As shown in Figure 1, the vehicle 10 and the preceding vehicle 40 are in a line, and at the intersection, since there is no lane to follow, the vehicle 10 follows the path of the preceding vehicle 40 and turns the corner. Please refer to Figure 2, a block diagram of the preceding vehicle path following system of the present invention.

[0025] The preceding vehicle path following system 20 of the present invention is installed in the on-board computer of the vehicle 10 and includes a transmit / receive interface 21 and at least one processor 22, and the vehicle 10 is equipped with a plurality of sensor devices. The transmit / receive interface 21 is connected to these sensor devices 11 by signals and receives a plurality of vehicle information detected by each of the sensor devices 11 and receives a plurality of preceding vehicle information received by the sensor devices 11. The processor 22 is connected to the transmit / receive interface 21 and the controller 30 by signals and executes the preceding vehicle path following system 20 based on the vehicle information and the preceding vehicle information and generates a decision to follow the preceding vehicle 40. The preceding vehicle path following system 20 is connected to at least one controller 30, which controls the vehicle 10 to follow the preceding vehicle 40 based on the decision of the preceding vehicle path following system 20.

[0026] For a detailed block diagram of the present invention, please refer to Figure 3, which is a block diagram of a system configuration in which the vehicle receives a preceding vehicle signal and follows the path of the preceding vehicle using a preceding vehicle path following system. Please also refer to Figures 2 and 3. The preceding vehicle 40 includes a chassis feedback 42, a preceding vehicle wheel speed detection device 44, and a vehicle-to-vehicle wireless communication module 46. The chassis feedback 42 generates the speed and acceleration of the preceding vehicle 40, and the preceding vehicle wheel speed detection device 44 measures the position and azimuth angle of the preceding vehicle 40. The vehicle-to-vehicle wireless communication module 46 is applied to communication equipment such as 3G, 4G, 5G, Wi-Fi, etc., and is used to transmit information with other vehicles (e.g., the vehicle 10). In the definition of the present invention, vehicle information is information detected by the vehicle 10 itself, and includes the relative speed and relative distance between the vehicle 10 and the preceding vehicle 40, the position and azimuth angle of the vehicle 10, and an image of the road ahead. On the other hand, the preceding vehicle information is defined as information transmitted from the preceding vehicle 40 to the vehicle 10 via wireless communication technology, and includes the speed, acceleration, position, and azimuth of the preceding vehicle 40.

[0027] The controller is a device that controls the longitudinal or lateral movement of the vehicle 10, such as an accelerator, steering wheel, and brake. The accelerator and brake are longitudinal controls 31 that control the forward straight-line speed of the vehicle 10, and the steering wheel is lateral controls 32 that control the turning of the vehicle 10.

[0028] The sensor device 11 of the vehicle 10 includes at least one radar 12, a vehicle-to-vehicle wireless communication module 14, a vehicle wheel speed detection device 16, and an image acquisition device 18. The radar 12 is used to detect the relative speed and relative distance between the vehicle 10 and the preceding vehicle 40. The vehicle-to-vehicle wireless communication module 14 is wirelessly connected to the vehicle-to-vehicle wireless communication module 46 of the preceding vehicle 40 and acquires the speed, acceleration, position, and azimuth of the preceding vehicle 40 transmitted from the preceding vehicle 40. The preceding vehicle path following system 20 of the vehicle 10 can use the position and azimuth of the preceding vehicle 40 to generate the preceding vehicle wheel speed path and the coordinate system of the preceding vehicle 40. The vehicle wheel speed detection device 16 detects the position and azimuth of the vehicle 10, and the preceding vehicle path following system 20 uses this position and azimuth to generate the current and past coordinate systems of the vehicle 10. The image acquisition device 18 acquires multiple images of the road ahead, and the processor 22 acquires an image of the preceding vehicle 40 from these images of the road ahead, and calculates the relative position of the self vehicle 10 and the preceding vehicle 40 based on the image of the preceding vehicle 40.

[0029] The processor 22 includes a vehicle distance maintenance module 29, a preceding vehicle path estimation module 24, a path matching module 26, and a path switching module 28. These modules may be located within the same processor or distributed across different processors. The processor 22 is configured to perform the following steps, which include these modules. Specifically, the preceding vehicle path estimation module 24 performs the preceding vehicle path estimation step. Next, the path matching module 26 performs the path matching step to generate a follow-up path determination. Subsequently, the path switching module 28 performs the path switching step based on the follow-up path determination.

[0030] The operation of these modules to perform these steps is as follows; please also refer to Figures 3 and 4. Figure 4 is a flowchart of the preceding vehicle path following method of the present invention.

[0031] Preceding Vehicle Path Estimation Step: As shown in step S10, the preceding vehicle path estimation module 24 generates a preceding vehicle path estimation based on the vehicle's own information. Specifically, since the vehicle 10 is always located at the origin in the coordinate system, when the vehicle 10 moves, the position of the coordinate system also changes accordingly. Therefore, the preceding vehicle path estimation module 24 converts multiple past positions of the preceding vehicle 40 in the vehicle's own information into multiple path points, and transforms the coordinates of these path points to convert the vehicle's past coordinate system to its current coordinate system. Next, these path points are fitted to obtain the preceding vehicle path estimation P2 = T·P1, where P1 = [x1 y10 1]', which represents the path points of the preceding vehicle 40 based on the vehicle 10's past coordinate system. Also, P2 = [x2 y20 1]', which represents the path points of the preceding vehicle 40 based on the vehicle 10's current coordinate system. T is a transformation matrix, expressed as in the following equation (1).

[0032]

number

[0033] Route matching step: Based on the lead vehicle information, a lead vehicle wheel speed route is generated. It is also determined whether the current coordinate system of the own vehicle and adjacent coordinate systems on the estimated route of the preceding vehicle overlap. If they overlap, the current position of the own vehicle on the preceding vehicle wheel speed route is matched to set as the route following starting point. A route determination is then generated based on the state of the preceding vehicle wheel speed route and the estimated route of the preceding vehicle.

[0034] Furthermore, in the detailed flow of the route matching step, first, as shown in step S12, the route matching module 26 generates a route based on the wheel speed of multiple preceding vehicles. Next, in step S14, the route matching module 26 determines whether the current coordinate system of the vehicle 10 and the adjacent coordinate system on the estimated route of the preceding vehicle overlap. If they do not overlap, as shown in step S16, the in-vehicle system automatically switches to the preceding vehicle following system, acquires an image of the preceding vehicle 40 through the image acquisition device, calculates the relative positions of the vehicle 10 and the preceding vehicle 40, and then calculates the corresponding steering angle command to make the vehicle 10 follow the preceding vehicle 40. If the current coordinate system of the vehicle 10 and the adjacent coordinate system on the estimated route of the preceding vehicle overlap, as shown in step S18, the current position of the vehicle 10 on the preceding vehicle wheel speed route is matched to set as the route following starting point.

[0035] The method for determining whether the current coordinate system of the vehicle 10 in step S14 overlaps with the adjacent coordinate system on the estimated path of the preceding vehicle is to first calculate the path fitting equation (2) using the coordinates of the path points of the preceding vehicle 40. Then, using the path fitting equation, the system compares whether there are positional errors and directional errors between the current coordinate system (x1, y1) of the vehicle and the adjacent coordinate system (x2, y2) on the estimated path of the preceding vehicle, and determines whether the current coordinate system of the vehicle and the adjacent coordinate system overlap. As shown in Figure 5, the adjacent coordinate system (x2, y2) of the preceding vehicle 40 is on the estimated path of the preceding vehicle 50, and the adjacent coordinate system is calculated from the image captured by the image acquisition device 18 of the vehicle 10. If the current coordinate system (x1, y1) of the vehicle 10 and the adjacent coordinate system (x2, y2) on the estimated path of the preceding vehicle overlap, both the positional error c0 and the directional error in equation (3) are smaller than the threshold. This threshold is set as needed; the closer the threshold is to 0, the closer the coordinate systems of the preceding vehicle and the vehicle itself will become after overlapping, but the less likely they are to overlap. In one preferred embodiment, the threshold is set to a position error < 10 cm and a directional error < 1°.

[0036]

number

[0037] In step S18, the route matching module 26 finds the route following start point. See Figure 6. The route matching module 26 first compares the detected relative position between the vehicle 10 and the preceding vehicle 40 with the current position of the preceding vehicle 40 to determine the current position of the vehicle 10 on the preceding vehicle wheel speed route 52, and sets this position of the vehicle 10 as the route following start point. Here, the relative position between the vehicle 10 and the preceding vehicle 40 is obtained by the image acquisition device 18 of the vehicle 10. In the route matching step, the preceding vehicle wheel speed route 52 is set to overlap with the preceding vehicle estimated route 50 as the same route.

[0038] In steps S20 and S24, the path matching module 26 diagnoses the state of the preceding vehicle wheel speed path and the preceding vehicle estimated path, respectively, and generates a follow path determination. In this step of generating the follow path determination, the path matching module 26 generates a plurality of path following points after the start of path following, i.e., path following points included in the preceding vehicle wheel speed path and the preceding vehicle estimated path, based on the relative position and direction changes of the vehicle 10 and the preceding vehicle 40. Then, it fits the path following points at a time after the start of path following, diagnoses whether the state of the preceding vehicle wheel speed path and the preceding vehicle estimated path is normal or not, i.e., whether the follow conditions are met, and forms a follow path determination that includes a decision to follow the preceding vehicle wheel speed path or a decision to follow the preceding vehicle estimated path. In this embodiment, the follow conditions include whether the distribution of path points is uniform and dense, and whether the preview points generated using the Pure Pursuit algorithm are located on the preceding vehicle wheel speed path or the preceding vehicle estimated path. If the distribution of path points is not sufficiently uniform or dense, it is not possible to generate an accurate preceding vehicle path, and if the preview point is not on the preceding vehicle wheel speed path or the preceding vehicle estimated path, that is, if it is located on a path generated by fitting at a later point in time than the preceding vehicle wheel speed path or the preceding vehicle estimated path, it is not possible to accurately follow the preceding vehicle 40. First, in step S20, the path matching module 26 diagnoses the state of multiple path points on the preceding vehicle wheel speed path and determines whether the preceding vehicle wheel speed path satisfies the above-mentioned multiple following conditions. If the preceding vehicle wheel speed path satisfies the following conditions, a decision to follow the preceding vehicle wheel speed path is generated as shown in step S22. If the preceding vehicle wheel speed path does not satisfy the following conditions, in step S24, the state of multiple path points on the preceding vehicle estimated path is diagnosed and determines whether the preceding vehicle estimated path satisfies the above-mentioned multiple following conditions. If the preceding vehicle estimated path satisfies the following conditions, a decision to follow the preceding vehicle estimated path is generated. If the preceding vehicle's wheel speed path does not meet the following conditions, a decision is generated to terminate the preceding vehicle path following system 20, as shown in step S28.It should be noted that the path points on the preceding vehicle wheel speed path 52 and the path points on the preceding vehicle estimated path 50, as diagnosed by the path matching module 26, are all located after the path following start point.

[0039] Route switching step: The route switching module 28 controls the controller 30 based on the follow route determination to switch the follow route of the vehicle and cause the vehicle to follow the preceding vehicle's wheel speed route or the preceding vehicle's estimated route. If the diagnosis in step S20 generates a decision to follow the preceding vehicle's wheel speed route, the route switching module 28 causes the vehicle to follow the preceding vehicle's wheel speed route based on the decision, as shown in step S22. If the diagnosis in step S20 determines that the preceding vehicle's wheel speed route does not meet the follow conditions, the diagnosis in step S24 generates a decision to follow the preceding vehicle's estimated route, and the route switching module 28 causes the vehicle to follow the preceding vehicle's estimated route based on the decision, as shown in step S26. If the diagnosis in step S24 generates a decision to terminate the preceding vehicle route following system 20, the route switching module 28 terminates the preceding vehicle route following system 20, as shown in step S28.

[0040] Following distance maintenance step: The following distance maintenance module 29 of the vehicle 10 generates commands to control the accelerator or brake based on the speed, acceleration, and distance of the preceding vehicle 40, and sends these commands to the controller to control the vehicle 10 in order to maintain a safe distance from the preceding vehicle 40. In particular, the following distance maintenance module 29 continues to operate to maintain a constant distance from the preceding vehicle 40, whether on a straight line, on a curve, or in an area where lane detection does not function.

[0041] The present invention is also applicable to sections of road without lanes, such as roadside parking bays and intersections. For example, see Figures 7 and 8 for an example of a roadside parking bay. In straight sections, the vehicle 10 activates the Lane Following System (LFS) to detect lanes and proceeds straight while maintaining a safe distance from the preceding vehicle 40. When the vehicle 10's positioning system (e.g., Global Positioning System (GPS)) detects that its current position is close to an area where lane detection does not function, the onboard system first determines whether the preceding vehicle 40 is within the detection range. If the preceding vehicle 40 is not within the detection range, or if the preceding vehicle 40 is not within the radar detection range of the vehicle 10, the vehicle 10's onboard system decides whether to continue running the lane following system or switch to manual driving, based on whether a lane has been detected. If a lane is detected, the lane following system operates; if no lane is detected, it switches to manual driving. If the preceding vehicle 40 is within the detection range where the preceding vehicle 40 can receive preceding vehicle information transmitted from the preceding vehicle 40 via vehicle-to-vehicle wireless communication technology, the vehicle 10 switches its automatic driving system to the preceding vehicle tracking system and the preceding vehicle path following system 20 of the present invention, and automatically follows the path of the preceding vehicle 40. In Figure 7, the preceding vehicle 40 enters the roadside parking area, and the vehicle 10 follows the preceding vehicle 40 into the roadside parking area by following the preceding vehicle 40's wheel speed path or estimated path via the preceding vehicle path following system 20. In Figure 8, the preceding vehicle 40 leaves the roadside parking area, and the vehicle 10 leaves the roadside parking area by following the preceding vehicle 40's wheel speed path or estimated path via the preceding vehicle path following system 20. When leaving an area where lane detection does not function, the vehicle 10 terminates the preceding vehicle path following system 20 and switches back to the original lane following system or manual driving. In this invention, the area where lane detection does not function may be set on a satellite map.

[0042] The foregoing description represents only preferred embodiments of the present invention and does not limit the scope of the invention. Accordingly, all equivalent modifications and alterations based on the features and spirit described in the claims of the present invention are included within the scope of the claims of the present invention. [Explanation of Symbols]

[0043] 10. Own vehicle 11 Sensor device 12 Radar 14. Vehicle-to-vehicle wireless communication module 16. Vehicle Wheel Speed ​​Detection Device 18 Image acquisition device 20. Preceding Vehicle Path Following System 21 Transmit / Receive Interface 22 processors 24. Preceding Vehicle Path Estimation Module 26 Route Matching Module 28 Route switching module 29. Vehicle distance maintenance module 30 controllers 31 Vertical control 32 Lateral control 40 Leading vehicle 42 Chassis Feedback 44. Preceding vehicle wheel speed detection device 46. ​​Vehicle-to-vehicle wireless communication module 50 Estimated route of the preceding vehicle 52 Preceding vehicle wheel speed path

Claims

1. A preceding vehicle path following system applied to the vehicle, wherein the preceding vehicle path following system includes a transmit / receive interface and at least one processor, The aforementioned transmitting and receiving interface is connected by signals to a plurality of sensor devices installed on the vehicle, receives a plurality of vehicle information detected by the plurality of sensor devices, receives a plurality of preceding vehicle information received by the plurality of sensor devices, and the plurality of preceding vehicle information is transmitted from the preceding vehicle. The at least one processor is connected by signals to the transmit / receive interface and the controller of the vehicle, The at least one processor is A preceding vehicle route estimation step, which generates a preceding vehicle route estimated based on the aforementioned plurality of vehicle information, A path matching step involves generating a path based on the information of multiple preceding vehicles, determining whether the current coordinate system of the own vehicle and adjacent coordinate systems on the estimated path of the preceding vehicle overlap, matching the current position of the own vehicle on the preceding vehicle's wheel speed path to set it as the path-following start point, and generating a path determination based on the state of the path-following start point, the preceding vehicle's wheel speed path, and the estimated path of the preceding vehicle. A path switching step involves controlling the controller based on the determined follow path to switch the follow path of the vehicle itself, causing the vehicle to follow the preceding vehicle's wheel speed path or the preceding vehicle's estimated path. Configured to perform operations including, A system that follows the path of the preceding vehicle.

2. The preceding vehicle path estimation step is, The process involves using multiple past positions of the preceding vehicle in the aforementioned multiple vehicle information as multiple path points, performing a coordinate transformation on the aforementioned multiple path points, and converting the past coordinate system of the vehicle to the current coordinate system of the vehicle. The process involves fitting the aforementioned multiple path points to generate a path to be used as the estimated path of the preceding vehicle, The preceding vehicle path following system according to claim 1, further comprising:

3. The preceding vehicle path following system according to claim 2, wherein the path matching step is a step of calculating a path fitting equation using the coordinates of the plurality of path points of the preceding vehicle, and further using the path fitting equation, comparing whether there are positional errors and directional errors between the current coordinate system of the vehicle itself and the adjacent coordinate system on the estimated path of the preceding vehicle, and determining whether the current coordinate system of the vehicle itself and the adjacent coordinate system overlap.

4. In the aforementioned path matching step, the current position of the vehicle itself in the preceding vehicle's wheel speed path is matched to determine the starting point for path following, and the following path determination is generated based on the state of the preceding vehicle's wheel speed path and the preceding vehicle's estimated path. The relative position between the detected vehicle and the preceding vehicle and the current position of the preceding vehicle are compared to determine the current position of the vehicle in the preceding vehicle's wheel speed path, and this current position is set as the starting point for path following. The current position of the preceding vehicle is included in the information of the multiple preceding vehicles. Multiple path-following points are generated based on the relative positions and direction changes of the vehicle itself and the preceding vehicle, and the multiple path-following points after the path-following start point are fitted to form the determined path. The preceding vehicle path following system according to claim 1, including the above.

5. The preceding vehicle path following system according to claim 1, wherein in the path matching step, the preceding vehicle wheel speed path and the preceding vehicle estimated path are set as the same path.

6. The aforementioned route matching step is, The steps include: diagnosing the state of multiple path points in the preceding vehicle wheel speed path and determining whether the preceding vehicle wheel speed path satisfies multiple following conditions; If the preceding vehicle wheel speed path satisfies the plurality of following conditions, a decision to follow the preceding vehicle wheel speed path is generated; if it does not satisfy the conditions, the state of the plurality of path points in the preceding vehicle estimated path is diagnosed to determine whether the preceding vehicle estimated path satisfies the plurality of following conditions, and the plurality of path points in the preceding vehicle wheel speed path and the plurality of path points in the preceding vehicle estimated path are all located after the path following start point. If the estimated path of the preceding vehicle satisfies the following conditions, a decision is generated to follow the estimated path of the preceding vehicle; otherwise, the preceding vehicle path following system is terminated. A preceding vehicle path following system according to claim 1 or claim 5, including the above.

7. The aforementioned plurality of tracking conditions include whether the distribution of the plurality of path points in the preceding vehicle wheel speed path and the plurality of path points in the preceding vehicle estimated path is uniform and dense, and whether the preview points generated using the Pure Pursuit algorithm are located on the preceding vehicle wheel speed path or the preceding vehicle estimated path. The preceding vehicle path following system according to claim 6.

8. The aforementioned plurality of sensor devices include at least one radar, a vehicle-to-vehicle wireless communication module, a vehicle wheel speed detection device, and an image acquisition device. The at least one radar detects the relative speed and relative distance between the vehicle and the preceding vehicle, The vehicle-to-vehicle wireless communication module acquires the speed, position, and azimuth angle of the preceding vehicle transmitted by the preceding vehicle, and at least one processor uses the position and azimuth angle of the preceding vehicle to generate the wheel speed path of the preceding vehicle and the coordinate system of the preceding vehicle. The vehicle wheel speed detection device detects the position and azimuth angle of the vehicle, and the at least one processor uses the position and azimuth angle of the vehicle to generate the current coordinate system and the past coordinate system of the vehicle. The image acquisition device acquires a plurality of forward road images, and at least one processor acquires an image of the preceding vehicle from the plurality of forward road images and calculates the relative position of the own vehicle and the preceding vehicle from the image of the preceding vehicle. The preceding vehicle path following system according to claim 2.

9. The aforementioned information on multiple preceding vehicles includes the speed, acceleration, position, and azimuth of the preceding vehicle, wherein the speed and acceleration of the preceding vehicle are data fed back from the chassis of the preceding vehicle, and the position and azimuth of the preceding vehicle are measured by the preceding vehicle's wheel speed detection device. The preceding vehicle path following system according to claim 8.

10. A preceding vehicle path following method applied to a preceding vehicle path following system of the vehicle, wherein the vehicle executes the preceding vehicle path following method after receiving a plurality of vehicle information detected by a plurality of sensor devices and a plurality of preceding vehicle information received by the plurality of sensor devices, and the preceding vehicle path following method is A preceding vehicle route estimation step, which generates a preceding vehicle route estimated based on the aforementioned plurality of vehicle information, A path matching step is performed in which a path is determined based on the information of the multiple preceding vehicles, a path is generated based on the wheel speed of the preceding vehicle, and it is determined whether the current coordinate system of the own vehicle and an adjacent coordinate system on the estimated path of the preceding vehicle overlap. If they overlap, the current position of the own vehicle on the wheel speed of the preceding vehicle is matched to set as the path following start point. Based on the state of the path following start point, the wheel speed of the preceding vehicle, and the estimated path of the preceding vehicle, a path following determination is generated, and the information of the multiple preceding vehicles is transmitted from the preceding vehicle to the own vehicle. A path switching step involves controlling the controller based on the determined follow path to switch the follow path of the vehicle itself, causing the vehicle to follow the preceding vehicle's wheel speed path or the preceding vehicle's estimated path. A method for following the path of a preceding vehicle, including the method described above.

11. The preceding vehicle path estimation step is, The process involves using multiple past positions of the preceding vehicle in the aforementioned multiple vehicle information as multiple path points, performing a coordinate transformation on the aforementioned multiple path points, and converting the past coordinate system of the vehicle to the current coordinate system of the vehicle. The process involves fitting the aforementioned multiple path points to generate a path to be used as the estimated path of the preceding vehicle, The preceding vehicle path following method according to claim 10, further comprising:

12. The aforementioned path matching step involves calculating a path fitting equation using the coordinates of the multiple path points of the preceding vehicle, and further using the path fitting equation to compare whether there are positional errors and / or directional errors between the current coordinate system of the vehicle itself and adjacent coordinate systems on the estimated path of the preceding vehicle, and determining whether the current coordinate system of the vehicle itself and the adjacent coordinate systems overlap. The method for following the path of a preceding vehicle according to claim 10.

13. In the aforementioned path matching step, the current position of the vehicle itself in the preceding vehicle's wheel speed path is matched to determine the starting point for path following, and the following path determination is generated based on the state of the preceding vehicle's wheel speed path and the preceding vehicle's estimated path. The relative position between the detected vehicle and the preceding vehicle and the current position of the preceding vehicle are compared to determine the current position of the vehicle in the preceding vehicle's wheel speed path, and this current position is set as the starting point for path following. The current position of the preceding vehicle is included in the information of the multiple preceding vehicles. Multiple path-following points are generated based on the relative positions and direction changes of the vehicle itself and the preceding vehicle, and the multiple path-following points after the path-following start point are fitted to form the determined path. The preceding vehicle path following method according to claim 10, including the above.

14. The method for following a preceding vehicle's path according to claim 10, wherein in the path matching step, the preceding vehicle's wheel speed path and the preceding vehicle's estimated path are set as the same path.

15. The aforementioned route matching step is, The steps include: diagnosing the state of multiple path points in the preceding vehicle wheel speed path and determining whether the preceding vehicle wheel speed path satisfies multiple following conditions; If the preceding vehicle wheel speed path satisfies the plurality of following conditions, a decision to follow the preceding vehicle wheel speed path is generated; if it does not satisfy the conditions, the state of the plurality of path points in the preceding vehicle estimated path is diagnosed to determine whether the preceding vehicle estimated path satisfies the plurality of following conditions, and both the plurality of path points in the preceding vehicle wheel speed path and the plurality of path points in the preceding vehicle estimated path are located after the path following start point. If the estimated path of the preceding vehicle satisfies the following conditions, a decision is generated to follow the estimated path of the preceding vehicle; otherwise, the preceding vehicle path following system is terminated. A method for following the path of a preceding vehicle according to claim 10 or claim 14, including the above.

16. The plurality of tracking conditions include whether the distribution of the plurality of path points in the preceding vehicle wheel speed path and the plurality of path points in the preceding vehicle estimated path is uniform and dense, and whether the preview points generated using the simple tracking algorithm are located on the preceding vehicle wheel speed path or the preceding vehicle estimated path. The method for following the path of a preceding vehicle according to claim 15.

17. The aforementioned plurality of sensor devices include at least one radar, a vehicle-to-vehicle wireless communication module, a vehicle wheel speed detection device, and an image acquisition device. The at least one radar detects the relative speed and relative distance between the vehicle and the preceding vehicle, The vehicle-to-vehicle wireless communication module acquires the speed, position, and azimuth angle of the preceding vehicle transmitted by the preceding vehicle, and at least one processor uses the position and azimuth angle of the preceding vehicle to generate the wheel speed path of the preceding vehicle and the coordinate system of the preceding vehicle. The vehicle wheel speed detection device detects the position and azimuth angle of the vehicle, and the at least one processor uses the position and azimuth angle of the vehicle to generate the current coordinate system and the past coordinate system of the vehicle. The image acquisition device acquires a plurality of forward road images, and at least one processor acquires an image of the preceding vehicle from the plurality of forward road images and calculates the relative position of the own vehicle and the preceding vehicle from the image of the preceding vehicle. The method for following the path of a preceding vehicle according to claim 11.

18. The method for following a preceding vehicle's path according to claim 17, wherein the plurality of preceding vehicle information includes the speed, acceleration, position, and azimuth angle of the preceding vehicle, the speed and acceleration of the preceding vehicle are data fed back from the chassis of the preceding vehicle, and the position and azimuth angle of the preceding vehicle are measured by a preceding vehicle wheel speed detection device of the preceding vehicle.

Images