CN113581214B - Automatic driving vehicle pit passing detection method and device and automobile - Google Patents
Automatic driving vehicle pit passing detection method and device and automobile Download PDFInfo
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- CN113581214B CN113581214B CN202111016913.9A CN202111016913A CN113581214B CN 113581214 B CN113581214 B CN 113581214B CN 202111016913 A CN202111016913 A CN 202111016913A CN 113581214 B CN113581214 B CN 113581214B
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- wheel speed
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- pothole
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. potholes
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a method and a device for detecting pit passing of an automatic driving vehicle and an automobile, which are used for monitoring the size of a pit when the vehicle passes through the pit. The method comprises the following steps: acquiring a left front wheel speed signal and a right front wheel speed signal; judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not; if the left front wheel speed signal and the right front wheel speed signal are effective signals, determining a left front wheel speed maximum value, a left front wheel speed minimum value, a right front wheel speed maximum value and a right front wheel speed minimum value which are acquired in a preset period; determining the difference between the maximum value of the wheel speed of the left front wheel and the minimum value of the wheel speed of the left front wheel as the wheel speed jumping amount of the left front wheel, and determining the difference between the maximum value of the wheel speed of the right front wheel and the minimum value of the wheel speed of the right front wheel as the wheel speed jumping amount of the right front wheel; and matching the wheel speed jumping amount of the left front wheel, the wheel speed jumping amount of the left front wheel and a preset pothole grade, and determining a corresponding target pothole grade.
Description
Technical Field
The method is used for detecting whether the vehicle runs on the hollow road surface in the automatic driving or automatic driving auxiliary system, and provides basis for planning control logic of the automatic driving or automatic driving auxiliary system.
Background
The road surface condition that the automatic driving vehicle was driven is complicated various, because the influence of road surface, the behavior of vehicle is also complicated various, and if the vehicle is driven on bad road, the yaw rate of vehicle, steering wheel rotation, steering servo's hand moment all can change, and some data among them can not truly reflect driver's state or intention, causes the inaccurate influence of information to subsequent decision control. There is a need for an autopilot system that can identify whether a vehicle is driving in a pothole to make a reference for subsequent decision control.
The current patent (keyword: crossing pit OR pit) is searched in the Bai Teng patent search library, the condition of the pit on the road surface is identified by using a laser radar OR an infrared light curtain group, the mode identification requires the whole vehicle to be provided with the laser radar OR a special sensor, the cost is high, the method is not suitable for a low-cost automatic driving system OR an automatic driving auxiliary system, the method is only limited to identifying the front road, the current situation of the vehicle cannot be represented, the method can not be represented, the signal of a wheel speed sensor is used for judging whether the vehicle is crossing the pit under the condition that the sensor is not additionally added, and the grade of crossing the pit is output, so that the method is not in conflict with other patents.
Disclosure of Invention
The invention provides a method and a device for detecting pit passing of an automatic driving vehicle and an automobile, which are used for monitoring the size of a pit when the vehicle passes through the pit.
The technical scheme of the invention is as follows:
the invention provides a method for detecting the passing of an automatic driving vehicle through a pit, which comprises the following steps:
step S101, acquiring a left front wheel speed signal acquired by a left ABS wheel speed sensor mounted on a vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor mounted on the vehicle;
step S102, judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not;
Step S103, if the left front wheel speed signal and the right front wheel speed signal are effective signals, determining a left front wheel speed maximum value, a left front wheel speed minimum value, a right front wheel speed maximum value and a right front wheel speed minimum value which are acquired in a preset period;
Step S104, determining the difference between the maximum value of the left front wheel speed and the minimum value of the left front wheel speed as the left front wheel speed jump amount, and determining the difference between the maximum value of the right front wheel speed and the minimum value of the right front wheel speed as the right front wheel speed jump amount;
Step S105, matching the wheel speed jumping amount of the left front wheel, the wheel speed jumping amount of the right front wheel and a preset pit level, and determining a corresponding target pit level;
wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level is, the smaller the corresponding wheel speed jump amount and the pothole area range are; when the target pothole grade is 0, indicating that the vehicle does not pass through the pothole currently; when the target pothole level is greater than or equal to 1, it indicates that the vehicle is currently passing through the pothole.
Preferably, the left front wheel speed signal and the right front wheel speed signal obtained in step S101 each include: wheel speed value and wheel speed signal valid bit;
in step S102, it is determined whether the obtained left and right front wheel speed signals are valid based on the wheel speed signal valid bit.
Preferably, in step S105:
Matching based on the wheel speed jumping amount of the left front wheel and a preset judgment threshold level to obtain a first pothole level;
matching the right front wheel speed jumping amount with a preset judgment threshold level to obtain a second pothole level;
and selecting one pothole grade with a large grade from the first pothole grade and the second pothole grade as the target pothole grade.
The invention also provides a device for detecting the passing of the automatic driving vehicle through the pit, which comprises the following steps:
the acquisition module is used for acquiring a left front wheel speed signal acquired by a left ABS wheel speed sensor carried on the vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor carried on the vehicle;
The judging module is used for judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not;
the first determining module is used for determining a maximum value, a minimum value, a maximum value and a minimum value of the wheel speeds of the left front wheel, the right front wheel and the right front wheel, which are acquired in a preset period, if the wheel speed signals of the left front wheel and the right front wheel are valid signals;
The second determining module is used for determining the difference between the maximum value of the left front wheel speed and the minimum value of the left front wheel speed as the left front wheel speed jumping amount and determining the difference between the maximum value of the right front wheel speed and the minimum value of the right front wheel speed as the right front wheel speed jumping amount;
The third determining module is used for comparing the wheel speed jumping quantity of the left front wheel, the wheel speed jumping quantity of the right front wheel and preset pit levels to determine corresponding pit levels;
wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level, the smaller the corresponding wheel speed runout range and pothole area range.
The invention also provides an automobile, which comprises the device for detecting the passing of the automatic driving automobile through the pit.
The beneficial effects of the invention are as follows:
And respectively calculating fluctuation conditions of wheel speeds in a certain period range by utilizing the two front wheel speed signals to judge whether the vehicle passes through the pothole road surface, and outputting the pothole grade of the road surface according to the fluctuation range.
The invention aims to utilize a wheel speed signal output by a wheel speed sensor necessary for a vehicle on a low-cost automatic driving or automatic driving auxiliary system, calculate the wheel speed difference in a set period in a rolling way, and output a pit grade when the wheel speed difference reaches the setting of a corresponding pit passing grade, so as to provide a basis for subsequent planning and control.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Detailed Description
Referring to fig. 1, the invention provides a method for detecting the passing of an autonomous vehicle, which is used for judging whether the vehicle passes through a pit and judging the size of a pit by receiving wheel speed signals of left and right front wheels and calculating the wheel speed difference in a preset period.
The method provided by the invention specifically comprises the following steps:
step 1, receiving a left front wheel speed signal acquired by a left ABS wheel speed sensor mounted on a vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor mounted on the vehicle.
The automatic driving system receives left front wheel speed signals and right front wheel speed signals from a left ABS wheel speed sensor and a right ABS wheel speed sensor which are carried on the vehicle. And the message period of the wheel speed signal is required to be not more than 20ms, and the ABS is required to be listed in the prior art by the regulations of passenger cars, so that the sensor and the cost are not increased additionally.
Wherein, this left front wheel speed signal and right front wheel speed signal all include: contains a wheel speed value and a wheel speed signal valid bit.
And 2, judging the validity of the left front wheel speed signal and the right front wheel speed signal, and ending if the wheel speed signal is invalid. If the left front wheel speed signal and the right front wheel speed signal are both valid, the step3 is entered.
Judging whether the wheel speed signal of the left front wheel and the wheel speed signal of the right front wheel are valid or not, wherein the wheel speed is used for judging the pit passing condition only when the wheel speed signal is valid, and if the wheel speed is invalid, the default vehicle is not driven on the pit passing road surface, namely the pit passing grade is 0.
And 3, respectively calculating a maximum value V max and a minimum value V min of the wheel speeds of the left front wheel speed signal and the right front wheel speed signal received in the step 1 in a preset period (100-300 ms).
In order to accurately and timely reflect the movement condition of the vehicle, the preset period should be set in a reasonable range, and is recommended to be set to 100ms.
Thus, for the left front wheel speed signal, a left front wheel speed maximum value V max Left side and a left front wheel speed minimum value V min Left side can be obtained; for the right front wheel speed signal, a right front wheel speed maximum value V max Right side and a right front wheel speed maximum value V min Right side can be obtained.
And 4, calculating a left front wheel speed jumping amount V diff Left side and a right front wheel speed jumping amount V diff Right side in a preset period by using the left front wheel speed maximum value V max Left side , the left front wheel speed minimum value V min Right side , the right front wheel speed maximum value V max Right side and the right front wheel speed maximum value V min Right side calculated in the step 3 respectively.
Thus, for the left front wheel speed signal, a left front wheel speed runout V diff Left side = left front wheel speed maximum V max Left side -left front wheel speed minimum V min Left side ; for the right front wheel speed signal, a right front wheel speed runout V diff Right side = right front wheel speed maximum V max Right side -right front wheel speed minimum V min Right side may be obtained.
And 5, comparing the wheel speed jumping quantity V diff Left side of the left front wheel and the wheel speed jumping quantity V diff Right side of the right front wheel calculated in the step 4 with preset pit grades, and determining corresponding target pit grades.
Wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level is, the smaller the corresponding wheel speed runout range and the pothole area range are; when the target pothole grade is 0, indicating that the vehicle does not pass through the pothole currently; when the target pothole level is greater than or equal to 1, it indicates that the vehicle is currently passing through the pothole.
The step 5 specifically comprises the following steps: matching based on the wheel speed jumping amount of the left front wheel and a preset judgment threshold level to obtain a first pothole level; matching the right front wheel speed jumping amount with a preset judgment threshold level to obtain a second pothole level; and selecting one pothole grade with a large grade from the first pothole grade and the second pothole grade as the target pothole grade.
For example, the wheel speed of the left front wheel V diff Left side is compared with a preset pothole level (V diff_L1, Vdiff_L2,Vdiff_L3), if V diff Left side >Vdiff_L3, the first pothole level is output as 3 levels, if V diff_L2<Vdiff Left side < Vdiff_L3, the first pothole level is output as 2 levels, V diff_L1<Vdiff Left side < Vdiff_L2, the first pothole level is output as 1 level, V diff Left side < Vdiff_L1, and the output pothole level is output as 0 levels, i.e., the vehicle is not in the pit. Vd iff_L1, Vdiff_L2,Vdiff_L3 recommended values are 1kph,2kph and 3kph respectively, and different tire real vehicles can be calibrated according to different vehicle types.
Then, a second pothole level is determined using the same calculation as described above.
And finally, selecting a larger pothole grade based on the first pothole grade and the second pothole grade as the target pothole grade required in the embodiment.
The invention also provides a device for detecting the passing of the automatic driving vehicle through the pit, which comprises the following steps:
the acquisition module is used for acquiring a left front wheel speed signal acquired by a left ABS wheel speed sensor carried on the vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor carried on the vehicle;
The judging module is used for judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not;
the first determining module is used for determining a maximum value, a minimum value, a maximum value and a minimum value of the wheel speeds of the left front wheel, the right front wheel and the right front wheel, which are acquired in a preset period, if the wheel speed signals of the left front wheel and the right front wheel are valid signals;
The second determining module is used for determining the difference between the maximum value of the left front wheel speed and the minimum value of the left front wheel speed as the left front wheel speed jumping amount and determining the difference between the maximum value of the right front wheel speed and the minimum value of the right front wheel speed as the right front wheel speed jumping amount;
The third determining module is used for comparing the wheel speed jumping quantity of the left front wheel, the wheel speed jumping quantity of the right front wheel and preset pit levels to determine corresponding pit levels;
wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level, the smaller the corresponding wheel speed runout range and pothole area range.
The invention also provides an automobile, which comprises the device for detecting the passing of the automatic driving automobile through the pit.
Claims (4)
1. An automatic driving vehicle passing through pit detection method, characterized by comprising the following steps:
step S101, acquiring a left front wheel speed signal acquired by a left ABS wheel speed sensor mounted on a vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor mounted on the vehicle;
step S102, judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not;
Step S103, if the left front wheel speed signal and the right front wheel speed signal are effective signals, determining a left front wheel speed maximum value, a left front wheel speed minimum value, a right front wheel speed maximum value and a right front wheel speed minimum value which are acquired in a preset period;
Step S104, determining the difference between the maximum value of the left front wheel speed and the minimum value of the left front wheel speed as the left front wheel speed jump amount, and determining the difference between the maximum value of the right front wheel speed and the minimum value of the right front wheel speed as the right front wheel speed jump amount;
Step S105, matching the wheel speed jumping amount of the left front wheel, the wheel speed jumping amount of the right front wheel and a preset pit level, and determining a corresponding target pit level;
Matching based on the wheel speed jumping amount of the left front wheel and a preset judgment threshold level to obtain a first pothole level;
matching the right front wheel speed jumping amount with a preset judgment threshold level to obtain a second pothole level;
Selecting one pothole grade with a large grade from the first pothole grade and the second pothole grade as the target pothole grade;
wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level is, the smaller the corresponding wheel speed jump amount and the pothole area range are; when the target pothole grade is 0, indicating that the vehicle does not pass through the pothole currently; when the target pothole level is greater than or equal to 1, it indicates that the vehicle is currently passing through the pothole.
2. The method according to claim 1, wherein the left front wheel speed signal and the right front wheel speed signal obtained in step S101 each include: wheel speed value and wheel speed signal valid bit;
in step S102, it is determined whether the obtained left and right front wheel speed signals are valid based on the wheel speed signal valid bit.
3. An automatic driving vehicle passing through pit detection device, characterized by comprising:
the acquisition module is used for acquiring a left front wheel speed signal acquired by a left ABS wheel speed sensor carried on the vehicle and a right front wheel speed signal acquired by a right ABS wheel speed sensor carried on the vehicle;
The judging module is used for judging whether the obtained left front wheel speed signal and the obtained right front wheel speed signal are valid signals or not;
the first determining module is used for determining a maximum value, a minimum value, a maximum value and a minimum value of the wheel speeds of the left front wheel, the right front wheel and the right front wheel, which are acquired in a preset period, if the wheel speed signals of the left front wheel and the right front wheel are valid signals;
The second determining module is used for determining the difference between the maximum value of the left front wheel speed and the minimum value of the left front wheel speed as the left front wheel speed jumping amount and determining the difference between the maximum value of the right front wheel speed and the minimum value of the right front wheel speed as the right front wheel speed jumping amount;
The third determining module is used for comparing the wheel speed jumping quantity of the left front wheel, the wheel speed jumping quantity of the right front wheel and preset pit levels to determine corresponding target pit levels; matching based on the wheel speed jumping amount of the left front wheel and a preset judgment threshold level to obtain a first pothole level;
matching the right front wheel speed jumping amount with a preset judgment threshold level to obtain a second pothole level;
Selecting one pothole grade with a large grade from the first pothole grade and the second pothole grade as the target pothole grade; wherein, a pothole grade corresponds to a wheel speed jumping range, and a pothole grade corresponds to a pothole area range; the smaller the pothole level, the smaller the corresponding wheel speed runout range and pothole area range.
4. An automobile comprising the automated driving vehicle passing pit detection apparatus according to claim 3.
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| CN202111016913.9A CN113581214B (en) | 2021-08-31 | 2021-08-31 | Automatic driving vehicle pit passing detection method and device and automobile |
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| CN114537425B (en) * | 2022-02-28 | 2024-05-24 | 重庆长安汽车股份有限公司 | Detection and early warning method and device for front deceleration strip and ditch during driving and vehicle |
| CN114734975B (en) * | 2022-04-28 | 2023-05-09 | 清智汽车科技(苏州)有限公司 | Method and device for identifying wiring of coaxial wheel speed sensor |
| CN117842048B (en) * | 2024-01-30 | 2024-08-02 | 重庆赛力斯凤凰智创科技有限公司 | Road surface roughness grade identification method, suspension control method, device and system |
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| DE102016207794B3 (en) * | 2016-05-04 | 2017-06-01 | Volkswagen Aktiengesellschaft | Method for operating a vehicle with more than two axles and system for monitoring the reverse and / or forward driving of such a vehicle |
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| JP3577809B2 (en) * | 1995-10-23 | 2004-10-20 | 住友電気工業株式会社 | Anti-skid control device |
| JP5083414B2 (en) * | 2009-06-19 | 2012-11-28 | トヨタ自動車株式会社 | Vehicle travel control device |
| DE102011122394A1 (en) * | 2011-12-24 | 2012-07-12 | Daimler Ag | Method for recognizing inattentiveness of driver of vehicle, involves determining evaluation of speed of wheel, where threshold values are raised as bad classified road conditions or determined steering wheel angle is not considered |
| DE102013007716B4 (en) * | 2013-05-04 | 2025-03-06 | Conti Temic Microelectronic Gmbh | method for operating a vehicle |
| DE102013021269A1 (en) * | 2013-12-14 | 2015-07-02 | Daimler Ag | Method for determining a road condition |
| JP7211350B2 (en) * | 2019-11-29 | 2023-01-24 | トヨタ自動車株式会社 | ROAD DAMAGE DETECTION DEVICE, ROAD DAMAGE DETECTION METHOD, AND PROGRAM |
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| JPH09104337A (en) * | 1995-10-13 | 1997-04-22 | Sumitomo Electric Ind Ltd | Anti-skid control device |
| DE102016207794B3 (en) * | 2016-05-04 | 2017-06-01 | Volkswagen Aktiengesellschaft | Method for operating a vehicle with more than two axles and system for monitoring the reverse and / or forward driving of such a vehicle |
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