CN111516692A - Control system and method for vehicle running on hollow road surface - Google Patents
Control system and method for vehicle running on hollow road surface Download PDFInfo
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- CN111516692A CN111516692A CN202010313267.1A CN202010313267A CN111516692A CN 111516692 A CN111516692 A CN 111516692A CN 202010313267 A CN202010313267 A CN 202010313267A CN 111516692 A CN111516692 A CN 111516692A
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- 238000012360 testing method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a control method for a vehicle to run on a pothole road surface, which comprises the following steps: recognizing the motion state information, lane information, traffic identification and road surface condition of a front target vehicle; when the uneven road surface in front is detected, or the vehicle body of the front target vehicle has sudden fluctuation and change and a hollow traffic sign, the size of the hollow is comprehensively calculated through the motion state information of the front target vehicle and the recognized road surface image; judging whether the current vehicle speed and the pothole size of the vehicle meet the matching value of the speed comfort degree of the pothole corresponding to the pothole-speed curve matched with the vehicle type; the vehicle can pass through the pothole in a smooth and comfortable state by controlling the speed of the vehicle. The invention also discloses a control system for the vehicle to run on the hollow road surface. By the method and the system, when the vehicle passes through the pothole road surface, the comfort and the safety of passengers are improved.
Description
Technical Field
The invention relates to the technical field of safe driving of automobiles, in particular to a control system and a control method for driving a vehicle on a hollow road surface.
Background
With the increase and maturity of automobile intellectualization and active safety requirements, the intelligent driving auxiliary system becomes the mainstream configuration of high-mix automobile models in each host factory, and automatic driving is also the main attack direction of each host factory to future automobiles. In the process of starting cruising, if the vehicle runs along with a front vehicle, the front vehicle or the vehicle easily loses a front target when passing through a pothole road surface, and the vehicle can be accelerated suddenly; if the vehicle runs in a centered manner in constant-speed cruising, the vehicle may deviate from the original driving route due to direction deviation or excessive deviation correction when passing through a pothole road surface, so that the collision danger is caused; even if the driver does not find the front cliff in time during cruising, the driver can lose the estimation. These conditions are in some cases extremely dangerous and, even if smooth passage is possible, a great attenuation of comfort is obtained if the speed is too high.
In view of safety and comfort, it is important to alarm and control the cruising speed when the vehicle passes through a pothole road.
Disclosure of Invention
The invention aims to provide a control system and a control method for driving a vehicle on a pothole road surface, which improve the comfort and safety of passengers when the vehicle passes through the pothole road surface.
To achieve the above object, the present invention provides a control method for a vehicle traveling on a pothole road surface, comprising the steps of:
(S1) recognizing the motion state information, lane information, traffic sign and road surface situation of the preceding object vehicle;
(S2) when it is detected that the road surface in front is uneven, or the vehicle body of the front target vehicle has sudden fluctuation and a traffic sign with a hole, comprehensively calculating the size of the hole by the motion state information of the front target vehicle and the recognized road surface image;
(S3) judging whether the current speed and the size of the vehicle meet the matching value of the speed comfort degree of the pothole corresponding to the pothole-speed curve matched with the vehicle type;
(S4) if it is determined that the current speed of the host vehicle is lower than the matching value of the speed comfort level corresponding to the hole, then the host vehicle is driven normally; if the current speed of the vehicle is judged to be too high and the vehicle is in the self-adaptive cruise mode, outputting a deceleration command and a deceleration value to a brake system, and decelerating according to a matching value of the speed comfort degree corresponding to the pothole; and if the current speed of the vehicle is judged to be too high and the vehicle is not in the adaptive cruise mode, the driver is informed that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
Further, still include: and controlling the longitudinal speed of the vehicle according to the current speed of the vehicle, the steering angle and the distance between the vehicle and the front vehicle.
Further, the step (S4) further includes: if the electronic control unit judges that a front crack cannot be crossed, whether the driver has active deceleration or braking is judged according to the state of the brake pedal, and when the driver does not actively decelerate or the braking force is insufficient, a braking request is actively sent to the braking module to execute active emergency braking.
Further, the target vehicle motion state information includes a preceding vehicle speed, an acceleration, a target vehicle body longitudinal attitude fluctuation, a longitudinal distance and a lateral distance between the own vehicle and the preceding vehicle.
Further, the speed and the acceleration of the front vehicle, and the longitudinal distance and the transverse distance between the vehicle and the front vehicle are acquired by a radar; acquiring the longitudinal attitude fluctuation of the target vehicle body, lane information, traffic identification and road surface conditions by a camera; the determination and control methods of step (S3) and step (S4) are both implemented by an electronic control unit.
Further, information acquired through the camera is transmitted to the radar to be subjected to information interaction and fusion analysis to obtain the size of the depression, and the result is transmitted to the electronic control unit.
Further, the pothole-speed curve is obtained by performing national road driving tests on vehicles through the following steps, subjective feeling is provided by a driver and a passenger, and a plurality of tests are performed on the same pothole; and subjective feeling is taken as the main point, a reasonable hole passing speed is set for different holes respectively, and a hole-speed curve matched with the vehicle type is formed by combining the sizes of the holes identified by the camera.
The invention also provides a control system for a vehicle running on a pothole road surface, comprising:
the target recognition module is used for recognizing the motion state information, lane information, traffic identification and road surface condition of a front target vehicle;
the vehicle state identification module is used for detecting the current vehicle speed, the acceleration, the steering angle and the target distance information of the vehicle;
the power module is used for controlling the speed of the vehicle;
a braking module for braking the vehicle;
the target recognition module, the vehicle state recognition module, the power module and the brake module are all connected with the electronic control unit; the electronic control unit is used for calculating the size of the hollow through the acquired information of the target recognition module and the vehicle state recognition module and judging whether the vehicle speed of the vehicle meets the matching value of the speed comfort degree of the corresponding hollow or not, and if the electronic control unit judges that the current speed of the vehicle is lower than the matching value of the speed comfort degree of the corresponding hollow, the vehicle normally runs; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is in the self-adaptive cruise mode, the controller outputs a deceleration command and a deceleration value to the brake system, and decelerates according to a matching value of the speed comfort degree corresponding to the pothole; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is not in the adaptive cruise mode, the electronic control unit informs a driver that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
The electronic control unit is used for judging whether the driver has active deceleration or braking according to the state of the brake pedal when judging that a gap which cannot be crossed exists in the front of the driver, and the electronic control unit actively sends a braking request to the braking module to execute active emergency braking when judging that the driver does not have active deceleration or insufficient braking force.
Further, the object recognition module comprises a first object recognition unit and a second object recognition unit; the target vehicle motion state information comprises the speed and the acceleration of the front vehicle, the fluctuation change of the longitudinal attitude of the target vehicle body, the longitudinal distance and the transverse distance between the front vehicle and the vehicle; the first target recognition unit is used for recognizing the speed and the acceleration of a front vehicle, the longitudinal distance and the transverse distance between the vehicle and the front vehicle, and the second target recognition unit is used for recognizing the longitudinal attitude fluctuation change of a target vehicle body, lane information, traffic signs and road surface conditions.
Compared with the prior art, the invention has the following advantages:
the invention relates to a control system and a method for driving a vehicle on a hollow road surface, which are mainly applied to the existing L2-level driving auxiliary system hardware, wherein the system comprises a forward millimeter wave radar and a camera, the information of the vehicle in front is acquired through the millimeter wave radar, the lane, the state of the vehicle in front and the related surrounding environment information are acquired through the multifunctional camera, the size of the hollow is obtained through calculation, and the matching value of the speed comfort degree of the vehicle passing through the corresponding hollow road surface is obtained through the calculation of the hollow-speed curve matched with the model of the vehicle, so that the vehicle can drive at the speed meeting the comfort degree, and the comfort degree and the safety of passengers are improved; furthermore, the vehicle longitudinal speed is controlled by combining the current speed, the acceleration, the steering angle and the target distance information of the vehicle, so that the vehicle can more comfortably and safely pass through the hollow surface.
Drawings
FIG. 1 is a flow chart of a control method of the present invention for a vehicle traveling over a pothole;
fig. 2 is a schematic structural diagram of a control system for driving a vehicle on a pothole road surface.
In the figure:
1-an electronic control unit; 2-object recognition module, 21-first object recognition unit, 22-second object recognition unit; 3-vehicle state identification module; 4-a braking module; 5-a brake pedal state detection module; 6-a power module; 7-display module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the present embodiment discloses a control method for a vehicle to travel on a pothole road surface, including the steps of:
(S1) recognizing the motion state information, lane information, traffic sign and road surface situation of the preceding object vehicle;
(S2) when it is detected that the road surface in front is uneven, or the vehicle body of the front target vehicle has sudden fluctuation and a traffic sign with a hole, comprehensively calculating the size of the hole by the motion state information of the front target vehicle and the recognized road surface image;
(S3) judging whether the current speed and the size of the vehicle meet the matching value of the speed comfort degree of the pothole corresponding to the pothole-speed curve matched with the vehicle type;
(S4) if it is determined that the current speed of the host vehicle is lower than the matching value of the speed comfort level corresponding to the hole, then the host vehicle is driven normally; if the current speed of the vehicle is judged to be too high and the vehicle is in the self-adaptive cruise mode, outputting a deceleration command and a deceleration value to a brake system, and decelerating according to a matching value of the speed comfort degree corresponding to the pothole; and if the current speed of the vehicle is judged to be too high and the vehicle is not in the adaptive cruise mode, the driver is informed that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
In the present embodiment, in the step (S4), informing the driver that the front pothole needs to be braked or decelerated through the meter display specifically includes: and carrying out scene reconstruction and mark display on the identified potholes on the instrument, and displaying the potholes to the driver through animation amplification.
In the present embodiment, in the step (S4), the method further includes: after or at the same time of decelerating according to the matching value of the speed comfort degree of the corresponding pothole, the front pothole information and the speed adjustment condition are presented to the driver through images and/or sound.
In the present embodiment, in the step (S4), the method further includes: if the front part is judged to have a crack which can not be crossed, whether the driver has active deceleration or braking is judged according to the state of the brake pedal, and when the driver is judged not to have active deceleration or insufficient braking force, a braking request is actively sent to the braking module to execute active emergency braking.
In this embodiment, the method further includes: and controlling the longitudinal speed of the vehicle according to the current speed of the vehicle, the steering angle and the distance between the vehicle and the front vehicle. The vehicle can more stably pass through the hollow road surface, and the comfort level and the safety are further improved.
In the present embodiment, the target vehicle motion state information includes the speed of the preceding vehicle, the deceleration, the fluctuation of the longitudinal attitude of the target vehicle body, the longitudinal distance and the lateral distance between the own vehicle and the preceding vehicle; the size of the depression is obtained through comprehensive calculation of vehicle speed, deceleration, fluctuation of the longitudinal attitude of the target vehicle body and the recognized images.
In the embodiment, the speed and the acceleration of the front vehicle, and the longitudinal distance and the transverse distance between the vehicle and the front vehicle are acquired by radar; acquiring the longitudinal attitude fluctuation of the target vehicle body, lane information, traffic identification and road surface conditions by a camera; the determination and control methods of step (S3) and step (S4) are both implemented by an electronic control unit. The radar is a millimeter wave radar, and in other embodiments, the radar may be other types of radars.
In the embodiment, the information acquired by the camera is transmitted to the radar for information interaction and fusion analysis to obtain the size of the depression, and the result is transmitted to the electronic control unit.
In the present embodiment, the vehicle-type matched dimple-speed curve is stored in an Electronic Control Unit (ECU).
In the present embodiment, the dimple-speed curve is obtained by: carrying out national road driving tests on vehicles, and carrying out a plurality of tests on the same pothole by subjective feelings of drivers and passengers; and based on subjective feeling, respectively determining a reasonable pit passing speed for different pits, and combining the sizes of the pits identified by the camera to form a pit-speed curve matched with the vehicle type.
Referring to fig. 2, an embodiment of the present invention further discloses a control system for a vehicle to travel on a pothole road surface, including:
the target recognition module 2 is used for recognizing the motion state information, lane information, traffic identification and road surface condition of a front target vehicle;
the vehicle state identification module 3 is used for detecting the current vehicle speed, the acceleration, the steering angle and the target distance information of the vehicle;
a power module 6 for controlling the speed of the vehicle;
a braking module 4 for braking the vehicle;
the electronic control unit 1 is connected with the target recognition module 2, the vehicle state recognition module 3, the power module 6 and the brake module 4; the electronic control unit 1 is used for calculating the size of the pothole through the acquired information of the target recognition module 2 and the vehicle state recognition module 3 and judging whether the vehicle speed of the vehicle meets the matching value of the speed comfort degree of the corresponding pothole or not, and if the electronic control unit judges that the current speed of the vehicle is lower than the matching value of the speed comfort degree of the corresponding pothole, the vehicle normally runs; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is in the self-adaptive cruise mode, the controller outputs a deceleration command and a deceleration value to the brake system, and decelerates according to a matching value of the speed comfort degree corresponding to the pothole; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is not in the adaptive cruise mode, the electronic control unit informs a driver that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
In this embodiment, the brake pedal state detection module 5 is further included for detecting the state of the brake pedal, the brake pedal state detection module 5 is connected with the electronic control unit 1, if the electronic control unit determines that there is a gap that cannot be crossed in front, whether the driver has active deceleration or braking is determined according to the state of the brake pedal, and when it is determined that the driver does not actively decelerate or the braking force is insufficient, the electronic control unit actively sends a braking request to the brake module to execute active emergency braking.
In the present embodiment, the object recognition module 2 includes a first object recognition unit 21 and a second object recognition unit 22; the target vehicle motion state information comprises the speed and the acceleration of the front vehicle, the fluctuation change of the longitudinal attitude of the target vehicle body, the longitudinal distance and the transverse distance between the front vehicle and the vehicle; the first target recognition unit 21 is used for recognizing the speed and the acceleration of the front vehicle, the longitudinal distance and the transverse distance between the vehicle and the front vehicle, and the second target recognition unit 22 is used for recognizing the longitudinal attitude fluctuation of the target vehicle body, lane information, traffic signs and road surface conditions. The first target recognition unit 21 is a radar and the second target recognition unit 22 is a camera.
In the present embodiment, the second object recognition unit 22 is connected to the first object recognition unit 21 via a bus, and the information acquired by the second object recognition unit 22 is transmitted to the first object recognition unit 21 for information interaction and fusion analysis to obtain the size of the hollow, and the result is transmitted to the electronic control unit. Optionally, the camera is connected with the radar, information obtained through the camera is transmitted to the radar to be subjected to information interaction and fusion analysis to obtain the size of the depression, and the result is transmitted to the electronic control unit.
In the present embodiment, a display module 7 for displaying the hole information and the suggested speed is further included. So as to prompt and warn the driver.
The invention relates to a control system and a method for driving a vehicle on a hollow road surface, which are mainly applied to the existing L2-level driving auxiliary system hardware, wherein the system comprises a forward millimeter wave radar and a camera, the information of the vehicle in front is acquired through the millimeter wave radar, the lane, the state of the vehicle in front and the related ambient environment information are acquired through the camera, the size of the hollow is obtained through calculation, and a hollow-speed curve matched with the model of the vehicle is combined, so that a matching value of the speed comfort degree when the vehicle passes through the corresponding hollow road surface is obtained, and the vehicle is driven at the speed meeting the comfort degree, and the comfort degree and the safety of passengers are improved; furthermore, the longitudinal speed of the vehicle is controlled by combining the speed and the steering angle of the vehicle and the distance between the vehicle and the front vehicle, so that the vehicle can more comfortably and safely pass through the hollow surface.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A method for controlling a vehicle to travel over a pothole, comprising the steps of:
(S1) recognizing the motion state information, lane information, traffic sign and road surface situation of the preceding object vehicle;
(S2) when it is detected that the road surface in front is uneven, or the vehicle body of the front target vehicle has sudden fluctuation and a traffic sign with a hole, comprehensively calculating the size of the hole by the motion state information of the front target vehicle and the recognized road surface image;
(S3) judging whether the current speed and the size of the vehicle meet the matching value of the speed comfort degree of the pothole corresponding to the pothole-speed curve matched with the vehicle type;
(S4) if it is determined that the current speed of the host vehicle is lower than the matching value of the speed comfort level corresponding to the hole, then the host vehicle is driven normally; if the current speed of the vehicle is judged to be too high and the vehicle is in the self-adaptive cruise mode, outputting a deceleration command and a deceleration value to a brake system, and decelerating according to a matching value of the speed comfort degree corresponding to the pothole; and if the current speed of the vehicle is judged to be too high and the vehicle is not in the adaptive cruise mode, the driver is informed that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
2. The method of controlling a vehicle traveling on a pothole road surface according to claim 1, further comprising: and controlling the longitudinal speed of the vehicle according to the current speed of the vehicle, the steering angle and the distance between the vehicle and the front vehicle.
3. The control method of the vehicle running on the pot-hole road surface according to claim 1 or 2, characterized by further comprising, in step (S4): if the front part is judged to have a crack which can not be crossed, whether the driver has active deceleration or braking is judged according to the state of the brake pedal, and when the driver is judged not to have active deceleration or insufficient braking force, a braking request is actively sent to the braking module to execute active emergency braking.
4. The method of claim 1, wherein the target vehicle motion state information includes a leading vehicle speed, an acceleration, a target vehicle body longitudinal attitude fluctuation, a longitudinal distance and a lateral distance between the leading vehicle and the leading vehicle.
5. The control method of a vehicle running on a pot-hole road surface according to claim 4, characterized in that a preceding vehicle speed, an acceleration, a longitudinal distance and a lateral distance between the own vehicle and the preceding vehicle are acquired by radar; acquiring the longitudinal attitude fluctuation of the target vehicle body, lane information, traffic identification and road surface conditions by a camera; the determination and control methods of step (S3) and step (S4) are both implemented by an electronic control unit.
6. The method for controlling the vehicle to run on the pothole road surface according to claim 5, wherein information acquired through the camera is transmitted to a radar to be subjected to information interaction and fusion analysis to obtain the pothole size, and the result is transmitted to an electronic control unit.
7. Method for controlling the travel of a vehicle over a pothole road surface according to claim 1, characterized in that a pothole-speed curve is obtained by: carrying out national road driving tests on vehicles, and carrying out a plurality of tests on the same pothole by subjective feelings of drivers and passengers; and subjective feeling is taken as the main point, a reasonable hole passing speed is set for different holes respectively, and a hole-speed curve matched with the vehicle type is formed by combining the sizes of the holes identified by the camera.
8. A control system for a vehicle traveling over a pothole, comprising:
the target recognition module (2) is used for recognizing the motion state information, the lane information, the traffic identification and the road surface condition of the front target vehicle;
the vehicle state identification module (3) is used for detecting the current vehicle speed, the acceleration, the steering angle and the target distance information of the vehicle;
a power module (6) for controlling the speed of the vehicle;
a braking module (4) for braking the vehicle;
the electronic control unit (1), the target recognition module (2), the vehicle state recognition module (3), the power module (6) and the brake module (4) are all connected with the electronic control unit (1); the electronic control unit (1) is used for calculating the size of the pothole and judging whether the vehicle speed of the vehicle meets the matching value of the speed comfort degree of the corresponding pothole or not through the acquired information of the target recognition module (2) and the vehicle state recognition module (3), and if the electronic control unit judges that the current speed of the vehicle is lower than the matching value of the speed comfort degree of the corresponding pothole, the vehicle normally runs; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is in the self-adaptive cruise mode, the controller outputs a deceleration command and a deceleration value to the brake system, and decelerates according to a matching value of the speed comfort degree corresponding to the pothole; if the electronic control unit judges that the current speed of the vehicle is too high and the vehicle is not in the adaptive cruise mode, the electronic control unit informs a driver that the vehicle needs to be braked or decelerated due to depression in front through instrument display and sound alarm.
9. The control system for vehicle running on a pot-like road surface according to claim 8, characterized by further comprising a brake pedal state detection module (5) for detecting the state of the brake pedal, wherein the brake pedal state detection module (5) is connected with the electronic control unit (1), if the electronic control unit judges that there is a gap which cannot be crossed ahead, whether the driver has active deceleration or braking is judged according to the state of the brake pedal, and when the electronic control unit judges that the driver does not have active deceleration or insufficient braking force, the electronic control unit actively sends a braking request to the brake module to execute active emergency braking.
10. Control system of a vehicle travelling on pothole roads according to claim 9, characterized in that said object recognition module (2) comprises a first object recognition unit (21) and a second object recognition unit (22); the target vehicle motion state information comprises the speed and the acceleration of the front vehicle, the fluctuation change of the longitudinal attitude of the target vehicle body, the longitudinal distance and the transverse distance between the front vehicle and the vehicle; the first target recognition unit (21) is used for recognizing the speed, the acceleration, the longitudinal distance and the transverse distance between the vehicle and the front vehicle, and the second target recognition unit (22) is used for recognizing the longitudinal attitude fluctuation change, the lane information, the traffic sign and the road surface condition of the target vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010313267.1A CN111516692A (en) | 2020-04-20 | 2020-04-20 | Control system and method for vehicle running on hollow road surface |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010313267.1A CN111516692A (en) | 2020-04-20 | 2020-04-20 | Control system and method for vehicle running on hollow road surface |
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| CN111516692A true CN111516692A (en) | 2020-08-11 |
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| CN202010313267.1A Pending CN111516692A (en) | 2020-04-20 | 2020-04-20 | Control system and method for vehicle running on hollow road surface |
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| CN112829745A (en) * | 2020-08-25 | 2021-05-25 | 百度（美国）有限责任公司 | HD map speed limit adjustment system based on IMU feedback |
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| CN112109713A (en) * | 2020-09-25 | 2020-12-22 | 闽江学院 | Concrete box girder handling device and control method |
| CN112644483A (en) * | 2020-12-24 | 2021-04-13 | 宝能(西安)汽车研究院有限公司 | Vehicle speed control method, readable storage medium, vehicle speed control device and vehicle |
| CN112885131A (en) * | 2021-01-25 | 2021-06-01 | 中国第一汽车股份有限公司 | Method and system for detecting and early warning roadblock information during vehicle running |
| CN113096387A (en) * | 2021-03-22 | 2021-07-09 | 中国第一汽车股份有限公司 | Vehicle-mounted road surface monitoring and early warning method, system, terminal and storage medium |
| CN113370800A (en) * | 2021-06-04 | 2021-09-10 | 北京新能源汽车股份有限公司 | Vehicle torque control method and device and vehicle |
| CN113665578A (en) * | 2021-08-31 | 2021-11-19 | 浙江亚太机电股份有限公司 | Pavement pit avoiding system based on vision system and millimeter wave radar |
| CN113448337A (en) * | 2021-08-31 | 2021-09-28 | 北京三快在线科技有限公司 | Speed control method and device of unmanned equipment |
| CN114044002A (en) * | 2021-11-30 | 2022-02-15 | 成都坦途智行科技有限公司 | Automatic low-lying road surface identification method suitable for automatic driving |
| CN114435376A (en) * | 2022-02-25 | 2022-05-06 | 重庆长安汽车股份有限公司 | Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium |
| CN114708567A (en) * | 2022-06-06 | 2022-07-05 | 济南融瓴科技发展有限公司 | Road surface depression detection and avoidance method and system based on binocular camera |
| CN115237122A (en) * | 2022-06-27 | 2022-10-25 | 重庆长安汽车股份有限公司 | Pit recognition method for automatic driving memory map and readable storage medium |
| CN116534006A (en) * | 2023-05-05 | 2023-08-04 | 三安车业集团有限公司 | Vehicle power control method, device and storage medium |
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| WO2024146166A1 (en) * | 2023-07-28 | 2024-07-11 | 新汽有限公司 | Visual collection system provided in smart terminal of intelligent logistics vehicle |
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