CN106708040A - Sensor module of automatic driving system, automatic driving system and automatic driving method - Google Patents

Abstract

The invention discloses a sensor module of an automatic driving system, an automatic driving system and an automatic driving method. The sensor module comprises a front camera, a rear camera, a millimeter-wave radar group and an ultrasonic-wave radar group, and is characterized in that the front camera is used for recognizing lane lines, traffic marking lines, traffic signs and obstacles in front of a vehicle; the rear camera is used for recognizing lane lines and obstacles in rear of the vehicle; the millimeter-wave radar group comprises a plurality of short-range millimeter-wave radars and one or more middle-range millimeter-wave radars, the short-range millimeter-wave radars can cover all areas around the vehicle within 360 degrees and are used for detecting obstacles within the coverage scope and judging the position and the speed of the obstacles, and the middle-range millimeter-wave radars are used for detecting obstacles in front of the vehicle and judging the position and the speed of the obstacles; and the ultrasonic-wave radar group comprises a plurality of ultrasonic-wave radars, can cover all areas around the vehicle within 360 degrees and are used for detecting obstacles. The sensor module disclosed by the invention improves the reliability of the automatic driving system and reduces the security risk.

Description

The sensor assembly of automated driving system, automated driving system and method

Technical field

The invention belongs to automatic Pilot technology, and in particular to a kind of sensor assembly of automated driving system, automatic Pilot System and method.

Background technology

Automated driving system is a kind of active safety system, and the system can automatically control vehicle operation, including travel, change Road, park, driving experience and comfort are improved, while ensure that the security of driving.Current automated driving system is main Using the sensor installed in vehicle, such as：Millimetre-wave radar, laser radar, camera and ultrasonic radar etc., detection and identification Driving environment, including lane line, surrounding vehicles, pedestrian, barrier, traffic lights, traffic sign etc., safely and efficiently automatic control Vehicle traveling processed, while observing traffic rules and regulations.

Specifically, when driving, using camera identification lane line before vehicle, control vehicle is travelled in track just In；When lane-change, the type and traffic sign of lane line are recognized, judging whether can be with lane-change；There is risk of collision When, vehicle periphery sensor is detected in time, makes brake operation, it is ensured that the safety of driving.

Current automated driving system mainly uses four kinds of millimetre-wave radar, laser radar, camera and ultrasonic radar Sensor, realizes to 360 degree of perception of scope of driving environment.Specifically there are two kinds of technical schemes：The first is that roof dress swashs Optical radar adds the preceding camera, laser radar can to scan 360 degree of driving environments, coverage up to 100 meters, but due to being installed at roof On, there is blind area in the range of 5 meters of vehicle periphery, while laser radar high cost, by rainy day present situation, is not suitable for extensive entrucking Volume production.

Second is that preceding millimetre-wave radar adds preceding camera extra bus body ultrasonic radar, and this scheme utilizes preceding millimetre-wave radar Front driving environment is recognized with preceding camera（Lane line, vehicle, pedestrian etc.）, while using ultrasonic radar identification it is left and right and The driving environment at rear.Because ultrasonic radar detection range is near（5 meters or so）, detection angle is relatively small（90 degree or so）. The sensor that this scheme is used is less, but not enough to vehicle parking stall environment detection, there is security risk.

Therefore, it is necessary to develop a kind of sensor assembly of new automated driving system, automated driving system and method.

The content of the invention

It is an object of the invention to provide a kind of sensor assembly of automated driving system, automated driving system and method, energy The reliability of automated driving system is improved, security risk is reduced, to ensure automated driving system safe operation.

The sensor assembly of automated driving system of the present invention, including preceding camera, rear camera, millimetre-wave radar Group, ultrasonic radar group；

The preceding camera is used to recognize lane line, traffic marking, traffic sign and the barrier of vehicle front；

The rear camera is used to recognize the lane line and barrier of rear view of vehicle；

The millimetre-wave radar group includes multiple short distance millimetre-wave radars and one or more middle-range millimetre-wave radar, respectively Short distance millimetre-wave radar can cover all regions of 360 ° of vehicle periphery, the barrier for detecting in coverage, and sentence The position of disconnected barrier and speed；The middle-range millimetre-wave radar is used to detect the barrier of vehicle front, and disturbance in judgement thing Position and speed；

The ultrasonic radar group includes multiple ultrasonic radars, all regions of 360 ° of vehicle periphery can be covered, for detecting Barrier in institute's coverage.

The ultrasonic radar group includes 12 ultrasonic radars, respectively the first ultrasonic radar, the second ultrasonic wave Radar, the 3rd ultrasonic radar, the 4th ultrasonic radar, the 5th ultrasonic radar, the 6th ultrasonic radar, the 7th ultrasonic wave thunder Up to, the 8th ultrasonic radar, the 9th ultrasonic radar, the tenth ultrasonic radar, the 11st ultrasonic radar, the 12nd ultrasonic wave Radar, the detection angle of each ultrasonic radar is about 90 degree, and detection range is about 5 meters；The installation site of each ultrasonic radar is such as Under：

First ultrasonic radar is arranged on the front portion of vehicle left side；

Second ultrasonic radar is arranged on the left part of vehicle front；

3rd ultrasonic radar is arranged on the middle of vehicle front anti-collision beam；

4th ultrasonic radar is arranged on the right part of vehicle front；

5th ultrasonic radar is arranged on the front portion of vehicle right side；

6th ultrasonic radar is arranged on the middle part of vehicle left side；

7th ultrasonic radar is arranged on the middle part of vehicle right side；

8th ultrasonic radar is arranged on the rear portion of vehicle left side；

9th ultrasonic radar is arranged on the left part of rear view of vehicle；

Tenth ultrasonic radar is arranged on the middle of rear view of vehicle anti-collision beam；

11st ultrasonic radar is arranged on the right part of rear view of vehicle；

12nd ultrasonic radar is arranged on the rear portion of vehicle right side；

12 ultrasonic radars can realize that 360 degree are completely covered in the range of 5 meters of vehicle's surroundings more than；

The millimetre-wave radar group includes five short distance millimetre-wave radars and a middle-range millimetre-wave radar, five short distance millimeter waves Radar is respectively the first millimetre-wave radar, the second millimetre-wave radar, the 3rd millimetre-wave radar, the 4th millimetre-wave radar, the 5th milli Metre wave radar；

First millimetre-wave radar, the second millimetre-wave radar, the 3rd millimetre-wave radar, the 4th millimetre-wave radar, the 5th millimeter The detection angle of ripple radar is 120 degree, and detection range is about 60 meters, and five short distance millimetre-wave radars are in vehicle's surroundings more than Realize that 360 degree are completely covered in the range of 60 meters；Installation site is as follows：

First millimetre-wave radar is arranged on the front portion of vehicle left side；

Second millimetre-wave radar is arranged on the front portion of vehicle right side；

3rd millimetre-wave radar is arranged on the rear portion of vehicle left side；

4th millimetre-wave radar is in the middle of rear view of vehicle anti-collision beam；

5th millimetre-wave radar is arranged on the rear portion of vehicle right side；

The middle-range millimetre-wave radar is arranged on the middle of vehicle front, and it has two kinds of scan patterns of middle-range and short distance, its In, the detection angle of middle-range scan pattern is about 18 degree, and detection range is 160 meters；The detection angle of short-range scan pattern is 120 Degree, detection range is about 60 meters；

The preceding camera is arranged on the middle part of vehicle front side, and its identification angle is about 50 degree, about 100 meters of identification distance；

The rear camera is arranged on the middle part of vehicle rear-side, and its identification angle is about 90 degree, about 30 meters of identification distance.

Automated driving system of the present invention, it is characterised in that：Including central controller, map location module and sheet The described sensor assembly of invention；

The sensor assembly, map location module are connected with central controller respectively；

The map location module is used for the global path planning from the first place to the second place；

The central controller is based on the global path planning that is exported of map location module, and sensor assembly is detected Data carry out Driving Decision-making treatment and wagon control, vehicle is carried out automatic Pilot.

Automatic Pilot method of the present invention, using automated driving system of the present invention, its method includes following Step：

Step one, it is eight sub-regions, respectively vehicle left front region, right ahead area by vehicle's surroundings region division Domain, vehicle right front region, vehicle left side region, vehicle right side region, vehicle left back region, vehicle dead astern region and car Right back region；The millimetre-wave radar group and ultrasonic radar group can cover this eight sub-regions；

Step 2, the lane line of preceding camera identification vehicle front, traffic marking, traffic sign and barrier；Camera is known afterwards The lane line and barrier of other rear view of vehicle；Millimetre-wave radar group detects the barrier of vehicle peripheral regions, and disturbance in judgement thing The position at place and speed；Ultrasonic radar group detects the barrier of vehicle peripheral regions；

Step 3, map location module carry out the first place to the global path planning in the second place；

Step 4, central controller are based on the global path planning that map location module is exported, and preceding camera, rear shooting The data that head, millimetre-wave radar group, ultrasonic radar group are detected carry out Driving Decision-making treatment and wagon control, carry out vehicle Automatic Pilot；Wherein, the wagon control is controlled and automatic parking including the bicycle road Driving control to vehicle, automatic lane-change Control.

The bicycle road Driving control includes：

（11）Automatic start-stop is controlled：

When following condition is met simultaneously, automated driving system automatic；

Condition 11a, whole vehicle state are normal；

Condition 11b, vehicle sensors state are normal；

Condition 11c, current location lane line it is clear, track can be judged；

Condition 11d, current weather condition are good and be daytime；

Condition 11e, right ahead region do not have vehicle to hinder to drive, if there is obstruction vehicle in right ahead region, detect Whether vehicle left front region and vehicle right front region allow to pass through, while detecting whether vehicle front lane line allows to change Road, if allowed, starts lane-change operation, preferentially from left side lane-change, after the completion of lane-change, restarts bicycle road and drives automatically Sail；

（12）Adaptive-feedrate adjustment：

According to the speed that driver sets, Vehicle Speed, below appearance during any one or more situation, driver are controlled Setting speed control does not work；

（12a）Front truck low running speed, driver is not desired to lane-change, then adjust speed, is travelled with the speed of front truck in track；

（12b）During traffic congestion, then follow the car start-stop；

（12c）The speed(-)limit sign for recognizing is less than driver's setting speed, then travelled according to speed limit；

（12d）The setting speed of the speed limit less than driver in map input section, then travel according to map speed limit；

（13）Track centering control：

In driving procedure, real-time monitoring lane line judges the angle of travel direction and lane line, by this angle real-time control car Electric boosting steering system, realize automatic Heading control：

（13a）If lane line exports left steering moment of torsion to left avertence to electric boosting steering system；

（13b）If lane line exports right turn moment of torsion to right avertence to electric boosting steering system；

（13c）If lane line curvature is excessive, the steering torque of output is caused to be limited more than maximum safe steering torque（± 5Nm）, then driver's adapter is pointed out, automated driving system is exited；

（14）Collision avoids control：

（14a）Forward collision avoidance：In driving procedure, the vehicle in right ahead region slow down suddenly or occur suddenly pedestrian, Barrier, when front has risk of collision, then vehicle automatically speeds up；If vehicle dead astern region does not have vehicle, with maximum Deceleration is decelerated to stopping, if vehicle dead astern region has vehicle to approach, being slowed down with appropriate deceleration, while opening automatically Open brake lamp warning rear car；

（14b）Backward being rebuffed avoids：In driving procedure, if vehicle dead astern region finds that vehicle is rapidly approached, if vehicle is just Front region does not have vehicle or vehicle distances farther out, then appropriate to accelerate to avoid, if there are car and distance in vehicle dead astern region It is relatively near, then detect vehicle left front region, vehicle right front region, vehicle left side region, vehicle right side region, vehicle left back Region, vehicle right back region, realize that lane-change is operated；

（14c）If collision cannot be avoided, driver's adapter is reminded, tense safety belt, airbag opening carries out collision accurate It is standby.

The automatic lane-change control includes：

（21）Lane-change triggering control：

When wherein one or more in meeting condition 21a~condition 21c, lane-change triggering；

Condition 21a, automatic Pilot path planning and actual travel road direction are inconsistent；

Condition 21b, the front vehicles in same track travel slower or same track front barrier, there is risk of collision；

Condition 21c, automated driving system receive lane-change instruction；

（22）Lane-change walking direction is controlled：

（22a）Lane-change direction is judged according to path planning, priority is low；

（22b）Front vehicles according to same track run over slow or same track front barrier, there is risk of collision, sentences Disconnected lane-change direction, during priority is；

（22c）Lane-change instruction according to receiving judges lane-change direction, and priority is height；

When lane-change direction collides with each other, the lane-change direction of judgement is defined by priority direction high；

（23）Lane-change performs control：

When lane-change direction is lane-change to the left, and when meeting condition 23a and condition 23b simultaneously, automated driving system just starts to hold Capable lane-change to the left；

Condition 23a, the equal clear in vehicle left front region and vehicle left side region；

Condition 23b, vehicle left back region do not have barrier, or there is barrier in vehicle left back region but will not swarm into a vehicle left side Side region；

When lane-change direction is lane-change to the right, and when meeting condition 23c and condition 23d simultaneously, automated driving system just starts to hold Capable lane-change to the right；

Condition 23c, the equal clear in vehicle right front region and vehicle right side region；

Condition 23d, vehicle right back region do not have barrier, or there is barrier in vehicle right back region but will not swarm into the vehicle right side Side region；

（24）Lane-change exits control：

In lane-change to the left, when wherein one or more in meeting condition 24a~condition 24g, lane-change is exited；

In lane-change to the right, when wherein one or more in meeting condition 24e~condition 24k, lane-change is exited；

Condition 24a, left-hand lane line are solid lines；

There is barrier in condition 24b, vehicle left side region；

Condition 24c, the barrier in vehicle left back region are accelerating or are being possible to swarm into vehicle left side region；

Condition 24d, the barrier in vehicle left front region are slowing down or are being possible to swarm into vehicle left side region；

Condition 24e, traffic marking, traffic sign are to forbid lane-change；

Condition 24f, receive termination lane-change instruction；

Condition 24g, completion lane-change；

There is barrier in condition 24h, vehicle right side region；

Condition 24i, the barrier in vehicle right back region are accelerating or are being possible to swarm into vehicle right side region；

Condition 24j, the barrier in vehicle right front region are slowing down or are being possible to swarm into vehicle right side region；

Condition 24k, right-hand lane line are solid lines.

The automatic parking control includes：

（31）Automatic parking stall selection control：

When function on is parked, whether vehicle is first determined whether in parking lot, if it is, parking stall is begun look for, if not It is then to be judged as maloperation, exits and park；

（32）Parking path planning control：

After parking stall is searched out, the type projects according to parking stall go out parking path；

（33）Park execution control：

According to the parking path planned, gear is automatically controlled, parked；

（3a）During parking, if vehicle left back region, vehicle dead astern region, vehicle right back region occur pedestrian, Vehicle, then avoided, and pause is parked, and after pedestrian and vehicle output scope, is further continued for parking manoeuvres；

（3b）During parking, driver sends stopping request, and termination is parked and exited；

（3c）After vehicle reaches parking stall formulation position, completion of parking is exited and parked.

During lane-change is performed, there is barrier accelerating when millimetre-wave radar detects vehicle dead astern region When, then camera detects vehicle dead astern region after triggering, if rear camera identifies that barrier is proximate to lane-change direction side Lane line traveling, then it represents that have risk of collision, automated driving system sends alarm, changed with pointing out driver whether to exit Road, otherwise represents collisionless risk, continues executing with lane-change.

The step 22a is specially：

When path planning is for the right, actual path is straight trip, then lane-change walking direction is lane-change to the right；

When path planning is for the right, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is straight trip, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is for the left, actual path is straight trip, then lane-change walking direction is disconnected lane-change to the left；

When path planning is for the left, actual path is right lateral, then lane-change walking direction is lane-change to the left；

When path planning is straight trip, actual path is right lateral, then lane-change walking direction is lane-change to the left.

The step 22b is specially：

There is barrier when the front vehicles in same track run over slow or same track front, when there is risk of collision, then lane-change Walking direction is lane-change to the right.

The step 22c is specially：

When the instruction for receiving is lane-change to the right, then lane-change walking direction is lane-change to the right；

When the instruction for receiving is lane-change to the left, then lane-change walking direction is lane-change to the left.

The present invention has advantages below：Millimetre-wave radar group, ultrasonic radar group, preceding camera and rear shooting in the present invention The overlay area of head is overlapped mutually, and forms three layers of covering circle：Including 5 meters, 60 meters and 160 meters these three scopes, Neng Gouhan The safe range of lid automatic Pilot.Wherein 5 meters and 60 meters reach 360 degree and are completely covered, and can be reached in the front of vehicle 160 meters of long range covering.By sensor assembly of the present invention can gamut cover vehicle running environment, increased The environment sensing ability of automated driving system, can effectively solve the problem that the traveling in automatic Pilot, lane-change and the problem parked.This Invention improves the reliability of automated driving system, reduces security risk, it is ensured that automated driving system safe operation, while Only about 8000 yuan or so of the cost of system, cost is very low, is conducive to promoting the scale of mass production of automated driving system.

Brief description of the drawings

Fig. 1 is theory diagram of the invention；

Fig. 2 is millimetre-wave radar, ultrasonic radar, preceding camera, the distribution map of rear camera in the present invention；

Fig. 3 is the distribution map of ultrasonic radar overlay area in the present invention；

Fig. 4 is the distribution map of millimetre-wave radar overlay area in the present invention；

Fig. 5 is preceding camera, the distribution map of rear camera overlay area in the present invention；

Fig. 6 is the division figure of vehicle running region in the present invention；

Fig. 7 is bicycle road drive logic flow chart in the present invention；

Fig. 8 is automatic lane-change logical flow chart in the present invention；

Fig. 9 is automatic parking logical flow chart in the present invention；

Figure 10 is automatic parking parallel path planning in the present invention；

Figure 11 is automatic parking vertical-path planning in the present invention.

Specific embodiment

The invention will be further described below in conjunction with the accompanying drawings.

The sensor assembly of automated driving system as shown in Figure 1, including preceding camera 10, rear camera 16, millimeter wave Radar group 30 and ultrasonic radar group 31.The preceding camera 10 is used to recognize lane line, traffic marking, the traffic of vehicle front Mark and barrier.The rear camera 16 is used to recognize the lane line and barrier of rear view of vehicle.The millimetre-wave radar group 30 include multiple short distance millimetre-wave radars and one or more middle-range millimetre-wave radar, and each short distance millimetre-wave radar can cover Position and the speed of all regions of 360 ° of lid vehicle periphery, the barrier for detecting in coverage, and disturbance in judgement thing Degree.The middle-range millimetre-wave radar is used to detecting the barrier of vehicle front, and disturbance in judgement thing position and speed.It is described super Sound radar group 31 includes multiple ultrasonic radars, can cover all regions of 360 ° of vehicle periphery, and model is covered for detecting Enclose interior barrier.

The preceding camera 10 is arranged on the middle part of vehicle front side, for recognize the lane line of vehicle front, traffic marking, Traffic sign and barrier（Including pedestrian, vehicle or other）.Camera 16 is arranged on the middle part of vehicle rear-side afterwards, for recognizing The lane line and barrier of rear view of vehicle.Preceding camera 10, rear camera 16 in the present invention include camera and image respectively Processing module, preceding camera 10 and rear camera 16 can also share an image processing module.

As shown in Fig. 2 the ultrasonic radar group 31 includes 12 ultrasonic radars, respectively the first ultrasonic radar 2nd, the second ultrasonic radar 3, the 3rd ultrasonic radar 5, the 4th ultrasonic radar 6, the 5th ultrasonic radar 8, the 6th ultrasonic wave Radar 9, the 7th ultrasonic radar 11, the 8th ultrasonic radar 14, the 9th ultrasonic radar 15, the tenth ultrasonic radar 18, 11 ultrasonic radars 19, the 12nd ultrasonic radar 21, the detection angle of each ultrasonic radar are about 90 degree, and detection range is about It is 5 meters.

The installation site and coverage of each ultrasonic radar are as follows above：

First ultrasonic radar 2 is arranged on the front portion of vehicle left side, apart from vehicle front apart from about 20 centimetres, apart from ground about It it is 15 centimetres, its coverage is region 2-2.

Second ultrasonic radar 3 is arranged on the left part of vehicle front, and apart from vehicle front left side, distance is about 30 centimetres, away from About 30 centimetres from the ground, its coverage is region 2-3.

3rd ultrasonic radar 5 is arranged on the middle of vehicle front anti-collision beam, and 30 centimetres are about apart from ground, and it covers Lid scope is region 2-5.

4th ultrasonic radar 6 is arranged on the right part of vehicle front, and apart from vehicle front right side, distance is about 30 centimetres, away from About 30 centimetres from the ground, its coverage is region 2-6.

5th ultrasonic radar 8 is arranged on the front portion of vehicle right side, apart from vehicle front apart from about 20 centimetres, distance ground Face is about 15 centimetres, and its coverage is region 2-8.

6th ultrasonic radar 9 is arranged at the middle part of vehicle left side, i.e. A posts lower section 30cm to the rear, is about apart from ground 30 centimetres, its coverage is region 2-9.

7th ultrasonic radar 11 is arranged at the middle part of vehicle right side, i.e. A posts lower section 30cm to the rear, is about apart from ground 30 centimetres, its coverage is region 2-11.

8th ultrasonic radar 14 is arranged on the rear portion of vehicle left side, apart from rear vehicle end distance about 20 centimetres, distance Ground is about 50 centimetres, and its coverage is region 2-14.

9th ultrasonic radar 15 is arranged on the left part of rear view of vehicle, and apart from rear vehicle end left side, distance is about 30 centimetres, It is about 50 centimetres apart from ground, its coverage is region 2-15.

Tenth ultrasonic radar 18 is arranged on the middle of rear view of vehicle anti-collision beam, and 50 centimetres are about apart from ground, its Coverage is region 2-18.

11st ultrasonic radar 19 is arranged on the right part of rear view of vehicle, and apart from rear vehicle end right side, distance is about 30 lis Rice, 50 centimetres are about apart from ground, and its coverage is region 2-19.

12nd ultrasonic radar 21 is arranged on the rear portion of vehicle right side, apart from rear vehicle end apart from about 20 centimetres, away from About 50 centimetres from the ground, its coverage is region 2-21.

As shown in Figure 2 and shown in Fig. 4, the millimetre-wave radar group 30 includes five short distance millimetre-wave radars and a middle-range Millimetre-wave radar 4, five short distance millimetre-wave radars be respectively the first millimetre-wave radar 1, the second millimetre-wave radar 7, the 3rd millimeter Ripple radar 13, the 4th millimetre-wave radar 17, the 5th millimetre-wave radar 20；

Wherein：First millimetre-wave radar 1, the second millimetre-wave radar 7, the 3rd millimetre-wave radar 13, the 4th millimetre-wave radar 17, Five millimetre-wave radars 20 are detected for blind area（BSD）Millimetre-wave radar, its detection angle be 120 degree, detection range is about 60 meters. Middle-range millimetre-wave radar 4 is adaptive cruise（ACC）Millimetre-wave radar, it has two kinds of scan patterns of middle-range and short distance：In It is about 18 degree away from scan pattern detection angle, detection range is 160 meters；Short-range scan mode detection angle be 120 degree, detect away from From about 60 meters.

As shown in Figure 2 and Figure 4, the installation site and coverage of each millimetre-wave radar of the above are as follows：

Middle-range millimetre-wave radar 4 is arranged on the middle of vehicle front, positioned at the lower section of preceding anti-collision beam, 20 is about apart from ground Centimetre, its coverage is region 3-4.

First millimetre-wave radar 1 is arranged on the front portion of vehicle left side, apart from vehicle front apart from about 20 centimetres, distance ground Face is about 30 centimetres, and its coverage is region 3-1.

Second millimetre-wave radar 7 is arranged on the front portion of vehicle right side, apart from vehicle front apart from about 20 centimetres, distance ground Face is about 30 centimetres, and its coverage is region 3-7.

3rd millimetre-wave radar 13 is arranged on the rear portion of vehicle left side, apart from rear vehicle end distance about 20 centimetres, distance Ground is about 40 centimetres, and its coverage is region 3-13.

4th millimetre-wave radar 17 is about 40 centimetres in the middle of rear view of vehicle anti-collision beam apart from ground, its covering Scope is region 3-17.

5th millimetre-wave radar 20 is arranged on the rear portion of vehicle right side, apart from rear vehicle end distance about 20 centimetres, distance Ground is about 40 centimetres, and its coverage is region 3-20.

As shown in Fig. 2 preceding camera 10 keeps for track（LKA）Camera, can recognize front lane line, vehicle, OK People etc., in windshield rearview mirror, apart from windshield plan vertical apart from about 15 centimetres, its identification angle is about 50 degree, about 160 meters of identification distance.Its coverage is the region 3-10 in Fig. 5.

As shown in Fig. 2 rear camera 16 is reversing auxiliary camera, rear lane line, pedestrian, vehicle etc. can be recognized, In windshield rearview mirror, apart from windshield plan vertical apart from about 15 centimetres, its identification angle is about 90 degree, About 30 meters of identification distance.Its coverage is shown in the region 3-16 in Fig. 5.

Mutually fold the overlay area of millimetre-wave radar group 30, ultrasonic radar group 31, preceding camera 10 and rear camera 16 Plus, form three layers of covering circle：Including 5 meters, 60 meters and 160 meters three kinds of scopes, the safe range of automatic Pilot can be covered.Wherein 5 meters and 60 meters can be completely covered with 360 degree.

As shown in figure 1, automated driving system of the present invention, including central controller 12, map location module 33 with And sensor assembly of the present invention.The sensor assembly, map location module 33 are connected with central controller 12 respectively. The map location module 33 is used for the global path planning from the first place to the second place.The central controller 12 is based on The global path planning that map location module 33 is exported, and the data that sensor assembly is detected carry out Driving Decision-making treatment And wagon control, vehicle is carried out automatic Pilot.When using, central controller 12 is connected with the executing agency 32 of vehicle.This The executing agency 32 of vehicle includes the engine and speed change of electric boosting steering system, electronic brake system,electronic antiskid system and vehicle in invention Device.

The central controller 12 receives the primary signal of sensor, with map location module 33 and vehicle CAN network phase Even, it completes driving environment reconstruct, driving path planning and Driving Decision-making.Specially：Central controller 12 is based on Orientation on map The global path planning that module 33 is exported, and preceding camera 10, rear camera 16, millimetre-wave radar group 30, ultrasonic wave thunder The data detected up to group 31 carry out Driving Decision-making treatment and wagon control, vehicle is carried out automatic Pilot.Go out in automatic Pilot When now abnormal, automated driving system also reminds driver to take over by HMI module 34, and HMI module 34 connects with central controller 12 Connect.

Automatic Pilot method of the present invention, using automated driving system of the present invention, its method includes following Step：

Step one, it is eight sub-regions, respectively vehicle left front region 22, right ahead area by vehicle's surroundings region division Domain 23, vehicle right front region 24, vehicle left side region 25, vehicle right side region 26, vehicle left back region 27, vehicle just after Square region 28 and vehicle right back region 29；The millimetre-wave radar group 30 and ultrasonic radar group 31 can cover this eight sons Region；

Step 2, the lane line of the identification vehicle front of preceding camera 10, traffic marking, traffic sign and barrier；Camera afterwards The lane line and barrier of 16 identification rear view of vehicle；Millimetre-wave radar group 30 detects the barrier of vehicle peripheral regions, and judges Position and speed where barrier；Ultrasonic radar group 31 detects the barrier of vehicle peripheral regions；

Step 3, map location module 33 carry out the first place to the global path planning in the second place；

The global path planning that step 4, central controller 12 are exported based on map location module 33, and preceding camera 10, The data that camera 16, millimetre-wave radar group 30, ultrasonic radar group 31 are detected afterwards carry out Driving Decision-making treatment and vehicle control System, makes vehicle carry out automatic Pilot；Wherein, the wagon control includes bicycle road Driving control, the automatic lane-change control to vehicle System and automatic parking control.

In bicycle road Driving control, vehicle front Obstacle Position, the speed letter that middle-range millimetre-wave radar 4 is recognized Breath, the vehicle front lane line and information of vehicles of the identification of preceding camera 10 carry out fusion treatment, to obtain road ahead and vehicle Information, realizes that vehicle lane is kept and collision is avoided.

In automatic lane-change control process, preceding camera 10 detection left forward side or right-hand lane line, if left side or the right side Side lane line is dotted line, then judging can lane-change to the left or to the right.Vehicle and obstacle in front of the detection of middle-range millimetre-wave radar 4 Thing, the detection rear of the 4th millimetre-wave radar 17 is near vehicle.If lane-change, the first millimetre-wave radar 1, the 3rd millimeter wave thunder to the left Up to 13 positions and movement velocity for detecting vehicle and other objects in the range of left front, left, 60 meters of left rear side, the first ultrasonic wave thunder Vehicle and object on the left of up to the detection of the 2, the 6th ultrasonic radar 9, the 8th ultrasonic radar 14 in the range of 5 meters；If changed to the right Road, before the second millimetre-wave radar 7, the 5th millimetre-wave radar 20 detect the right side, in the right side, vehicle and other things in the range of 60 meters of right lateral side The position of body and movement velocity, the 5th ultrasonic radar 8, the 7th ultrasonic radar 11, the 12nd ultrasonic radar 21 detect a left side Vehicle and object in the range of 5 meters of side.Lane-change path planning determines the position of current lane using preceding camera 10, using left side The first millimetre-wave radar 1, the 3rd millimetre-wave radar 13 or right side the second millimetre-wave radar 7, the and of the 5th millimetre-wave radar 20 5th ultrasonic radar on first ultrasonic radar 2 in left side, the 6th ultrasonic radar 9, the 8th ultrasonic radar 14 or right side The 8, the 7th ultrasonic radar 11, the 12nd ultrasonic radar 21 of group determines Obstacle Position, so as to judge the border of lane-change.These Information is sent to central controller 12, and it is according to current vehicle location and lane-change border, planning lane-change path.In lane-change process In, using the detection target of preceding camera 10 track lane line, correct lane-change boundary condition.

In automatic parking control, preceding camera 10 and rear camera 16 detect parking stall lane line, recognize parking stall, really Determine the position of parking stall；Using the width and depth of whole ultrasonic radars identification parking stall, while the obstacle information around recognizing. Central controller 12 merges parking stall space and parking lot lane line, lock onto target parking stall, and plans parking path, control vehicle edge Parking path traveling.In the process, preceding camera 10 and rear camera 16 monitor the things such as pedestrian, the vehicle of front and back simultaneously Body, in their close vehicles, central controller 10 will stop to park, and after barrier away from after, parking path be planned again.

As shown in fig. 7, heretofore described bicycle road Driving control includes：

（11）Automatic start-stop is controlled：

When following condition is met simultaneously, automated driving system automatic；

Condition 11a, whole vehicle state are normal；Including executing agency, driver's manipulation state（Car door, safety belt etc.）.

Condition 11b, vehicle sensors state are normal；

Condition 11c, current location lane line it is clear, track can be judged；

Condition 11d, current weather condition are good and be daytime；

Condition 11e, right ahead region do not have vehicle to hinder to drive（I.e. no vehicle or vehicle distances are farther out or relatively Speed）If there is an obstruction vehicle in right ahead region, whether detection vehicle left front region and vehicle right front region Allow to pass through（With the presence or absence of barrier）, while detecting whether vehicle front lane line allows lane-change, if allowed, start Lane-change is operated, and preferentially from left side lane-change, after the completion of lane-change, restarts bicycle road automatic Pilot；

（12）Adaptive-feedrate adjustment：

According to the speed that driver sets, Vehicle Speed, below appearance during any one or more situation, driver are controlled Setting speed control does not work；

（12a）Front truck low running speed, driver is not desired to lane-change, then adjust speed, is travelled with the speed of front truck in track；

（12b）During traffic congestion, then follow the car start-stop；

（12c）The speed(-)limit sign for recognizing is less than driver's setting speed, then travelled according to speed limit；

（12d）Map is input into section（Such as：Straight way, bend, tunnel, bridge etc.）Speed limit less than driver setting speed, Then travelled according to map speed limit；

（13）Track centering control：

In driving procedure, real-time monitoring lane line judges the angle of travel direction and lane line, by this angle real-time control car Electric boosting steering system, realize automatic Heading control：

（13a）If lane line exports left steering moment of torsion to left avertence to electric boosting steering system；

（13b）If lane line exports right turn moment of torsion to right avertence to electric boosting steering system；

（13c）If lane line curvature is excessive, the steering torque of output is caused to be limited more than maximum safe steering torque（± 5Nm）, then driver's adapter is pointed out, automated driving system is exited；

（14）Collision avoids control：

（14a）Forward collision avoidance：In driving procedure, the vehicle in right ahead region 23 slows down suddenly or goes out suddenly existing People, barrier, when front has risk of collision, then vehicle automatically speeds up；If the no vehicle in vehicle dead astern region 28, with Maximum deceleration is decelerated to stopping, if vehicle dead astern region 28 has vehicle to approach, being slowed down with appropriate deceleration, while Automatically turn on brake lamp warning rear car.

（14b）Backward being rebuffed avoids：In driving procedure, if vehicle dead astern region 28 finds that vehicle is rapidly approached, if Without vehicle or vehicle distances farther out, then appropriate acceleration is avoided, if vehicle dead astern region 28 in right ahead region 23 There is car and closer to the distance, then detect that vehicle left front region 22, vehicle right front region 24, vehicle left side region 25, vehicle are right Side region 26, vehicle left back region 27, vehicle right back region 29, realize that lane-change is operated.

（14c）If collision cannot be avoided, driver's adapter is reminded, tense safety belt, airbag opening carries out collision Prepare.

As shown in figure 8, heretofore described automatic lane-change control includes：

（21）Lane-change triggering control：

When wherein one or more in meeting condition 21a~condition 21c, lane-change triggering.

Condition 21a, automatic Pilot path planning and actual travel road direction are inconsistent.

Condition 21b, the front vehicles in same track travel slower or same track front barrier, there is collision wind Danger.

Condition 21c, automated driving system receive lane-change instruction.

（22）Lane-change walking direction is controlled：

（22a）Lane-change direction is judged according to path planning, priority is low；Specially：

When path planning is for the right, actual path is straight trip, then lane-change walking direction is lane-change to the right；

When path planning is for the right, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is straight trip, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is for the left, actual path is straight trip, then lane-change walking direction is disconnected lane-change to the left；

When path planning is for the left, actual path is right lateral, then lane-change walking direction is lane-change to the left；

When path planning is straight trip, actual path is right lateral, then lane-change walking direction is lane-change to the left.

（22b）Front vehicles according to same track run over slow or same track front barrier, there is collision wind Danger, judges lane-change direction, during priority is；Specially：When the front vehicles in same track run over slow or same track front There is barrier, when there is risk of collision, then lane-change walking direction is lane-change to the right.

（22c）Lane-change instruction according to receiving judges lane-change direction, and priority is height；Specially：When the instruction for receiving It is lane-change to the right, then lane-change walking direction is lane-change to the right；When the instruction for receiving is lane-change to the left, then lane-change walking direction be to Left lane-change.

When lane-change direction collides with each other, the lane-change direction of judgement is defined by priority direction high.

（23）Lane-change performs control：

When lane-change direction is lane-change to the left, and when meeting condition 23a and condition 23b simultaneously, automated driving system just starts to hold Capable lane-change to the left.

Condition 23a, the equal clear in vehicle left front region 22 and vehicle left side region 25.

There is barrier in condition 23b, vehicle left back region 27 but will not rush without barrier, or vehicle left back region 27 Enter vehicle left side region 25.

When lane-change direction is lane-change to the right, and when meeting condition 23c and condition 23d simultaneously, automated driving system is just opened Begin to perform lane-change to the right.

Condition 23c, the equal clear in vehicle right front region 24 and vehicle right side region 26.

There is barrier in condition 23d, vehicle right back region 29 but will not rush without barrier, or vehicle right back region 29 Enter vehicle right side region 26.

（24）Lane-change exits control：

In lane-change to the left, when wherein one or more in meeting condition 24a~condition 24g, lane-change is exited.

In lane-change to the right, when wherein one or more in meeting condition 24e~condition 24k, lane-change is exited.

Condition 24a, left-hand lane line are solid lines；

There is barrier in condition 24b, vehicle left side region 25；

Condition 24c, the barrier in vehicle left back region 27 are accelerating or are being possible to swarm into vehicle left side region 25；

Condition 24d, the barrier in vehicle left front region 22 are slowing down or are being possible to swarm into vehicle left side region 25；

Condition 24e, traffic marking, traffic sign are to forbid lane-change；

Condition 24f, receive termination lane-change instruction；

Condition 24g, completion lane-change；

There is barrier in condition 24h, vehicle right side region 26；

Condition 24i, the barrier in vehicle right back region 29 are accelerating or are being possible to swarm into vehicle right side region 26；

Condition 24j, the barrier in vehicle right front region 24 are slowing down or are being possible to swarm into vehicle right side region 26；

Condition 24k, right-hand lane line are solid lines.

Below in conjunction with each sensor（Including preceding camera 10, rear camera 16, ultrasonic radar group 31 and millimetre-wave radar One or more in group 30）Position to automatic lane-change control be specifically described：

First, left side lane-change risk judgment

When lane-change starts to the left, detect vehicle left front region 22 using sensor and vehicle left side region 25 does not hinder Hindering does not have vehicle or Vehicle Speed relatively slow (this is that automatic Pilot opens premise bar in thing, and vehicle left back region 27 Part, has verified when lane-change starts).It is left to vehicle left front region 22, vehicle left side region 25, vehicle using each sensor Rear area 27 and this four regions of vehicle dead astern region 28 carry out real-time detection, the data detected based on each sensor come Judge risk of collision, if there is risk of collision, then automatic Pilot is exited, while reminding technology person.Here risk of collision point It is three kinds of situations：

（1）There is risk of collision in vehicle left front region 22 and the two regions of vehicle left side region 25：Due to the spy of sensor Survey ability or target（Pedestrian, vehicle）Suddenly swarm into, can cause vehicle left front and vehicle left side region in occur collide It is dangerous.First millimetre-wave radar 1 and the scanning vehicle left front region 22 of the 3rd millimetre-wave radar 13 and vehicle left side region 25 Target, if target is shifted left close to certain speed, can find in time.When object is near 5 meters of vehicle, now the One ultrasonic radar 2, the 6th ultrasonic radar 9, the 8th ultrasonic radar 14 it can be found that comprehensive two kinds of radars, it can be found that Left side is near vehicle.If object is static or speed is relatively low, millimetre-wave radar cannot be detected, the first ultrasonic radar 2, Whether 6th ultrasonic radar 9, the 8th ultrasonic radar 14 can find target at 5 meters, can be in lane-change with hard objectives On path, if it is, there is lane-change risk.

（2）There is potential risk of collision in vehicle left back region 27：During lane-change, the 3rd millimetre-wave radar 13, the Four millimetre-wave radar 17 detects vehicle left back region 27, very fast if there is vehicle relative velocity, then be potentially present of lane-change wind Danger.

（3）There is potential risk of collision in vehicle dead astern region 28：During lane-change, vehicle dead astern region 28 is possible to Have quick the sailing of vehicle to come, because vehicle has not been completed lane-change, the vehicle in vehicle dead astern region 28 it is very possible to Left lane-change, is potentially present of risk of collision.This kind of risk situation is verified, it is necessary to multiple sensors complex probe.First the 4th milli Metre wave radar 17 can find that rear has vehicle quickly to sail and comes and do not have deceleration trend at 60 meters.Automated driving system needs to start Camera 16 monitors back car afterwards.Camera 16 can recognize the lane line and vehicle at rear, identification distance about 30 afterwards Rice.If always car traveling is reduced in lane center or relative velocity after recognizing, collisionless risk is, it is necessary to get done with Lane-change.If carrying out car to keep left side lane line traveling and speed, the possibility of its lane-change to the left is larger, is potentially present of lane-change Risk.At this moment alerting drivers are needed, according to relative velocity gap and the time of current lane-change, judges whether to need termination to change Road.

2nd, right side lane-change risk judgment

When lane-change starts to the right, vehicle right front region 24 and vehicle right side region 26 are detected using sensor and have not hindered Hinder thing, and without vehicle or Vehicle Speed, relatively slow (this is that automatic Pilot opens premise bar in vehicle right back region 29 Part).During lane-change to the right, real-time detection vehicle right front region 24, vehicle right side region 26, vehicle right back region 29 With this four regions of vehicle dead astern region 28, risk of collision is judged, if there is risk of collision, then exit automatic Pilot, together When remind driver.Three kinds of situations of risk of collision now point：

（1）There is risk of collision in vehicle right front region 24 and vehicle right side region 26：Due to sensor detectivity or Target（Pedestrian, vehicle）Suddenly swarm into, vehicle right front region 24 and vehicle right side region 26 can be caused risk of collision occur. Second millimetre-wave radar 7 and the scanning vehicle right front of the 5th millimetre-wave radar 20 region 24 and the two areas of vehicle right side region 26 The target in domain, if object is close to the right with certain speed, can find in time.When object is near 5 meters of vehicle, this When the 5th ultrasonic radar 8, the 7th ultrasonic radar 11, the 12nd ultrasonic radar 21 it can be found that comprehensive two kinds of radars, can To find left side near vehicle.If object is static or speed is relatively low, millimetre-wave radar cannot be detected, the 5th ultrasonic wave Radar 8, the 7th ultrasonic radar 11, the 12nd ultrasonic radar 21 can find target at 5 meters, can with hard objectives whether On lane-change path, if it is, there is lane-change risk.

（2）The potential risk of collision in vehicle right back region 29：During lane-change, the 4th millimetre-wave radar 17, the 5th milli Metre wave radar 20 detects vehicle right back region 29, very fast if there is vehicle relative velocity, then be potentially present of lane-change risk.

（3）The potential risk of collision in vehicle dead astern region 28：During lane-change, vehicle dead astern region 28 there may exist Vehicle is quickly sailed and, and because vehicle has not been completed lane-change, the vehicle in vehicle dead astern region 28 is probably changed to the right Road, is potentially present of risk of collision.This kind of risk situation is verified, it is necessary to multiple sensors complex probe.4th millimetre-wave radar 17 and rear camera 16 monitoring back car.If always car traveling is reduced in lane center or relative velocity after recognizing, Then collisionless risk is, it is necessary to get done with lane-change.If coming car lane line traveling and speed, its lane-change to the right on the right side Possibility it is larger, be potentially present of lane-change risk.At this moment alerting drivers are needed, according to relative velocity gap and current lane-change Time, judge whether to need to terminate lane-change.

As shown in figure 9, the detection of existing automatic parking parking stall mainly uses ultrasonic radar, due to ultrasonic radar detect away from Close to, and the space between two objects can only be recognized, function of parking relatively is limited.Parking stall detection uses ultrasound in this present invention Ripple radar, millimetre-wave radar and camera, can recognize the parking stall based on lane line.

Heretofore described automatic parking control includes：

（31）Automatic parking stall selection control：

When function on is parked, whether vehicle is first determined whether in parking lot, if it is, parking stall is begun look for, if not It is then to be judged as maloperation, exits and park；Park startup when, vehicle automatically with idling travel, find parking stall, parking stall is sentenced automatically Broken strip part：

（31a）When the depth of parking stall is more than 2.4m, and less than or equal to 5m, when width is more than 7m, then the parking stall is parallel space；

（31b）When the depth of parking stall is more than 5.0m, and width more than 2.5m, then the parking stall is vertical parking stall；

（32）Parking path planning control：

After parking stall is searched out, the type projects according to parking stall go out parking path.

Parking path planning depends on vehicle min. turning radius R, and it is relevant with vehicle wheelbase and length；

（32a）Parallel space is parked control：

When parallel space is parked, vehicle need to be controlled to travel in two the two of circumcircle sections of circular arcs, referring to Figure 10, the R in Figure 10 It is radius of turn, θ is steering angle, and parking path is as follows:

Park and vertically move apart from x=2*R*（1-cosθ）；

Lateral distance of parking y=2*R*sin θ；

It is laterally dy=x-0.9 that sensor is measured apart from parking position；

Wherein vehicle min. turning radius R>10；

By above-mentioned formula, minimum can be tried to achieve and vertically move distance, so as to try to achieve R and θ.

（32b）Vertical parking stall is parked control

Park, it is necessary to control vehicle to travel in a circular arc, referring to Figure 11, the R in Figure 11 is radius of turn, and θ is vertical parking stall Steering angle, parking path planning needs to solve R and θ；Due to vertical θ=90 degree of parking, arc radius R=dy+0.9, dy are car At a distance of the innermost lateral separation in parking stall.

（33）Park execution control：

According to the parking path planned, gear is automatically controlled, parked.

（3a）During parking, if vehicle left back region 27, vehicle dead astern region 28, vehicle right back region 29 There is pedestrian, vehicle, then avoided, pause is parked, and after pedestrian and vehicle output scope, is further continued for parking manoeuvres.

（3b）During parking, driver sends stopping request, and termination is parked and exited.

（3c）After vehicle reaches parking stall formulation position, completion of parking is exited and parked.

During lane-change is performed, there is barrier accelerating when millimetre-wave radar detects vehicle dead astern region 28 When, then camera 16 detects vehicle dead astern region 28 after triggering, if rear camera 16 identifies that barrier is proximate to lane-change The lane line traveling of direction side, then it represents that have risk of collision, automated driving system sends alarm, to point out whether driver moves back Go out lane-change, otherwise represent collisionless risk, continue executing with lane-change.

Claims (10)

1. a kind of sensor assembly of automated driving system, it is characterised in that：Including preceding camera（10）, rear camera（16）、 Millimetre-wave radar group（30）, ultrasonic radar group（31）；

The preceding camera（10）Lane line, traffic marking, traffic sign and barrier for recognizing vehicle front；

The rear camera（16）Lane line and barrier for recognizing rear view of vehicle；

The millimetre-wave radar group（30）Including multiple short distance millimetre-wave radars and one or more middle-range millimeter wave thunder Reach, each short distance millimetre-wave radar can cover all regions of 360 ° of vehicle periphery, the obstacle for detecting in coverage Thing, and disturbance in judgement thing position and speed；The middle-range millimetre-wave radar is used to detect the barrier of vehicle front, and judges The position of barrier and speed；

The ultrasonic radar group（31）Including multiple ultrasonic radars, all regions of 360 ° of vehicle periphery can be covered, be used for Barrier in detection institute coverage.

2. the sensor assembly of automated driving system according to claim 1, it is characterised in that：The ultrasonic radar group （31）Including 12 ultrasonic radars, respectively the first ultrasonic radar（2）, the second ultrasonic radar（3）, the 3rd ultrasonic wave Radar（5）, the 4th ultrasonic radar（6）, the 5th ultrasonic radar（8）, the 6th ultrasonic radar（9）, the 7th ultrasonic radar （11）, the 8th ultrasonic radar（14）, the 9th ultrasonic radar（15）, the tenth ultrasonic radar（18）, the 11st ultrasonic wave thunder Reach（19）, the 12nd ultrasonic radar（21）, the detection angle of each ultrasonic radar is about 90 degree, and detection range is about 5 meters；Respectively The installation site of ultrasonic radar is as follows：

First ultrasonic radar（2）Installed in the front portion of vehicle left side；

Second ultrasonic radar（3）Installed in the left part of vehicle front；

3rd ultrasonic radar（5）Installed in the middle of vehicle front anti-collision beam；

4th ultrasonic radar（6）Installed in the right part of vehicle front；

5th ultrasonic radar（8）Installed in the front portion of vehicle right side；

6th ultrasonic radar（9）Installed in the middle part of vehicle left side；

7th ultrasonic radar（11）Installed in the middle part of vehicle right side；

8th ultrasonic radar（14）Installed in the rear portion of vehicle left side；

9th ultrasonic radar（15）Installed in the left part of rear view of vehicle；

Tenth ultrasonic radar（18）Installed in the middle of rear view of vehicle anti-collision beam；

11st ultrasonic radar（19）Installed in the right part of rear view of vehicle；

12nd ultrasonic radar（21）Installed in the rear portion of vehicle right side；

12 ultrasonic radars can realize that 360 degree are completely covered in the range of 5 meters of vehicle's surroundings more than；

The millimetre-wave radar group（30）Including five short distance millimetre-wave radars and a middle-range millimetre-wave radar（4）, five short The first millimetre-wave radar is respectively away from millimetre-wave radar（1）, the second millimetre-wave radar（7）, the 3rd millimetre-wave radar（13）, the 4th Millimetre-wave radar（17）, the 5th millimetre-wave radar（20）；

First millimetre-wave radar（1）, the second millimetre-wave radar（7）, the 3rd millimetre-wave radar（13）, the 4th millimetre-wave radar （17）, the 5th millimetre-wave radar（20）Detection angle be 120 degree, detection range is about 60 meters, by the above five short distances in the least Metre wave radar realizes that 360 degree are completely covered in the range of 60 meters of vehicle's surroundings；Installation site is as follows：

First millimetre-wave radar（1）Installed in the front portion of vehicle left side；

Second millimetre-wave radar（7）Installed in the front portion of vehicle right side；

3rd millimetre-wave radar（13）Installed in the rear portion of vehicle left side；

4th millimetre-wave radar（17）In the middle of rear view of vehicle anti-collision beam；

5th millimetre-wave radar（20）Installed in the rear portion of vehicle right side；

The middle-range millimetre-wave radar（4）Installed in the middle of vehicle front, it has two kinds of scan patterns of middle-range and short distance, Wherein, the detection angle of middle-range scan pattern is about 18 degree, and detection range is 160 meters；The detection angle of short-range scan pattern is 120 degree, detection range is about 60 meters；

The preceding camera（10）Installed in the middle part of vehicle front side, its identification angle is about 50 degree, identification distance about 100 Rice；

The rear camera（16）Installed in the middle part of vehicle rear-side, its identification angle is about 90 degree, about 30 meters of identification distance.

3. a kind of automated driving system, it is characterised in that：Including central controller（12）, map location module（33）And as weighed Profit requires the sensor assembly described in 1 or 2；

The sensor assembly, map location module（33）Respectively with central controller（12）Connection；

The map location module（33）For the global path planning from the first place to the second place；

The central controller（12）Based on map location module（33）The global path planning for being exported, and sensor assembly The data for being detected carry out Driving Decision-making treatment and wagon control, vehicle is carried out automatic Pilot.

4. a kind of automatic Pilot method, it is characterised in that：Using automated driving system as claimed in claim 3, its method bag Include following steps：

Step one, it is eight sub-regions, respectively vehicle left front region by vehicle's surroundings region division（22）, right ahead Region（23）, vehicle right front region（24）, vehicle left side region（25）, vehicle right side region（26）, vehicle left back region （27）, vehicle dead astern region（28）With vehicle right back region（29）；The millimetre-wave radar group（30）And ultrasonic radar Group（31）This eight sub-regions can be covered；

Step 2, preceding camera（10）Recognize lane line, traffic marking, traffic sign and the barrier of vehicle front；After image Head（16）Recognize the lane line and barrier of rear view of vehicle；Millimetre-wave radar group（30）The barrier of vehicle peripheral regions is detected, And the position where disturbance in judgement thing and speed；Ultrasonic radar group（31）Detect the barrier of vehicle peripheral regions；

Step 3, map location module（33）Carry out the first place to the global path planning in the second place；

Step 4, central controller（12）Based on map location module（33）The global path planning for being exported, and proactive picture Head（10）, rear camera（16）, millimetre-wave radar group（30）, ultrasonic radar group（31）The data for being detected carry out Driving Decision-making Treatment and wagon control, make vehicle carry out automatic Pilot；Wherein, the wagon control includes driving control to the bicycle road of vehicle System, the control of automatic lane-change and automatic parking control.

5. automatic Pilot method according to claim 4, it is characterised in that：The bicycle road Driving control includes：

（11）Automatic start-stop is controlled：

When following condition is met simultaneously, automated driving system automatic；

Condition 11a, whole vehicle state are normal；

Condition 11b, vehicle sensors state are normal；

Condition 11c, current location lane line it is clear, track can be judged；

Condition 11d, current weather condition are good and be daytime；

Condition 11e, right ahead region（23）There is no vehicle to hinder to drive, if right ahead region（23）There is obstruction car , then detect vehicle left front region（22）With vehicle right front region（24）Whether allow to pass through, while detecting vehicle front Whether lane line allows lane-change, if allowed, starts lane-change operation, preferentially from left side lane-change, after the completion of lane-change, then opens Dynamic bicycle road automatic Pilot；

（12）Adaptive-feedrate adjustment：

According to the speed that driver sets, Vehicle Speed, below appearance during any one or more situation, driver are controlled Setting speed control does not work；

（12a）Front truck low running speed, driver is not desired to lane-change, then adjust speed, is travelled with the speed of front truck in track；

（12b）During traffic congestion, then follow the car start-stop；

（12c）The speed(-)limit sign for recognizing is less than driver's setting speed, then travelled according to speed limit；

（12d）The setting speed of the speed limit less than driver in map input section, then travel according to map speed limit；

（13）Track centering control：

In driving procedure, real-time monitoring lane line judges the angle of travel direction and lane line, by this angle real-time control car Electric boosting steering system, realize automatic Heading control：

（13a）If lane line exports left steering moment of torsion to left avertence to electric boosting steering system；

（13b）If lane line exports right turn moment of torsion to right avertence to electric boosting steering system；

（13c）If lane line curvature is excessive, cause the steering torque of output to be limited more than maximum safe steering torque, then point out Driver is taken over, and automated driving system is exited；

（14）Collision avoids control：

（14a）Forward collision avoidance：In driving procedure, right ahead region（23）Vehicle suddenly slow down or go out suddenly existing People, barrier, when front has risk of collision, then vehicle automatically speeds up；If vehicle dead astern region（28）There is no vehicle, then Stopping is decelerated to maximum deceleration, if vehicle dead astern region（28）There is vehicle to approach, then slowed down with appropriate deceleration, Brake lamp warning rear car is automatically turned on simultaneously；

（14b）Backward being rebuffed avoids：In driving procedure, if vehicle dead astern region（28）It was found that vehicle is rapidly approached, if car Region immediately ahead of（23）There is no vehicle or vehicle distances farther out, then it is appropriate to accelerate to avoid, if vehicle dead astern region （28）There is car and closer to the distance, then detect vehicle left front region（22）, vehicle right front region（24）, vehicle left side region （25）, vehicle right side region（26）, vehicle left back region（27）, vehicle right back region（29）, realize that lane-change is operated；

（14c）If collision cannot be avoided, driver's adapter is reminded, tense safety belt, airbag opening carries out collision accurate It is standby.

6. automatic Pilot method according to claim 5, it is characterised in that：The automatic lane-change control includes：

（21）Lane-change triggering control：

When wherein one or more in meeting condition 21a~condition 21c, lane-change triggering；

Condition 21a, automatic Pilot path planning and actual travel road direction are inconsistent；

Condition 21b, the front vehicles in same track travel slower or same track front barrier, there is risk of collision；

Condition 21c, automated driving system receive lane-change instruction；

（22）Lane-change walking direction is controlled：

（22a）Lane-change direction is judged according to path planning, priority is low；

（22b）Front vehicles according to same track run over slow or same track front barrier, there is risk of collision, sentences Disconnected lane-change direction, during priority is；

（22c）Lane-change instruction according to receiving judges lane-change direction, and priority is height；

When lane-change direction collides with each other, the lane-change direction of judgement is defined by priority direction high；

（23）Lane-change performs control：

When lane-change direction is lane-change to the left, and when meeting condition 23a and condition 23b simultaneously, automated driving system just starts to hold Capable lane-change to the left；

Condition 23a, vehicle left front region（22）With vehicle left side region（25）Equal clear；

Condition 23b, vehicle left back region（27）There is no barrier, or vehicle left back region（27）There is barrier but will not rush Enter vehicle left side region（25）；

When lane-change direction is lane-change to the right, and when meeting condition 23c and condition 23d simultaneously, automated driving system just starts to hold Capable lane-change to the right；

Condition 23c, vehicle right front region（24）With vehicle right side region（26）Equal clear；

Condition 23d, vehicle right back region（29）There is no barrier, or vehicle right back region（29）There is barrier but will not rush Enter vehicle right side region（26）；

（24）Lane-change exits control：

In lane-change to the left, when wherein one or more in meeting condition 24a~condition 24g, lane-change is exited；

In lane-change to the right, when wherein one or more in meeting condition 24e~condition 24k, lane-change is exited；

Condition 24a, left-hand lane line are solid lines；

Condition 24b, vehicle left side region（25）There is barrier；

Condition 24c, vehicle left back region（27）Barrier accelerating or be possible to swarm into vehicle left side region（25）；

Condition 24d, vehicle left front region（22）Barrier slowing down or be possible to swarm into vehicle left side region（25）；

Condition 24e, traffic marking, traffic sign are to forbid lane-change；

Condition 24f, receive termination lane-change instruction；

Condition 24g, completion lane-change；

Condition 24h, vehicle right side region（26）There is barrier；

Condition 24i, vehicle right back region（29）Barrier accelerating or be possible to swarm into vehicle right side region（26）；

Condition 24j, vehicle right front region（24）Barrier slowing down or be possible to swarm into vehicle right side region（26）；

Condition 24k, right-hand lane line are solid lines.

7. automatic Pilot method according to claim 5, it is characterised in that：The automatic parking control includes：

（31）Automatic parking stall selection control：

When function on is parked, whether vehicle is first determined whether in parking lot, if it is, parking stall is begun look for, if not It is then to be judged as maloperation, exits and park；

（32）Parking path planning control：

After parking stall is searched out, the type projects according to parking stall go out parking path；

（33）Park execution control：

According to the parking path planned, gear is automatically controlled, parked；

（3a）During parking, if vehicle left back region（27）, vehicle dead astern region（28）, vehicle right back region （29）There is pedestrian, vehicle, then avoided, pause is parked, and after pedestrian and vehicle output scope, is further continued for parking manoeuvres；

（3b）During parking, driver sends stopping request, and termination is parked and exited；

（3c）After vehicle reaches parking stall formulation position, completion of parking is exited and parked.

8. automatic Pilot method according to claim 6, it is characterised in that：During lane-change is performed, when millimeter wave thunder Up to detecting vehicle dead astern region（28）Have barrier accelerate when, then trigger after camera（16）To detect vehicle just Rear area（28）If, rear camera（16）Identify that barrier is proximate to the lane line traveling of lane-change direction side, then it represents that deposit There is risk of collision, automated driving system sends alarm, to point out whether driver exits lane-change, otherwise represent collisionless risk, Continue executing with lane-change.

9. the automatic Pilot method according to claim 6 or 8, it is characterised in that：The step 22a is specially：

When path planning is for the right, actual path is straight trip, then lane-change walking direction is lane-change to the right；

When path planning is for the right, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is straight trip, actual path is left lateral, then lane-change walking direction is lane-change to the right；

When path planning is for the left, actual path is straight trip, then lane-change walking direction is disconnected lane-change to the left；

When path planning is for the left, actual path is right lateral, then lane-change walking direction is lane-change to the left；

When path planning is straight trip, actual path is right lateral, then lane-change walking direction is lane-change to the left.

10. the automatic Pilot method according to claim 6 or 8, it is characterised in that：The step 22b is specially：

There is barrier when the front vehicles in same track run over slow or same track front, when there is risk of collision, then lane-change Walking direction is lane-change to the right；

The step 22c is specially：

When the instruction for receiving is lane-change to the right, then lane-change walking direction is lane-change to the right；

When the instruction for receiving is lane-change to the left, then lane-change walking direction is lane-change to the left.