CN1218355A - Automatic driving system of vehicle - Google Patents
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- CN1218355A CN1218355A CN 98122574 CN98122574A CN1218355A CN 1218355 A CN1218355 A CN 1218355A CN 98122574 CN98122574 CN 98122574 CN 98122574 A CN98122574 A CN 98122574A CN 1218355 A CN1218355 A CN 1218355A
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Abstract
An automatic drive system for automobile features that a binocular camera system is used to automatically collect the road conditions of 1-200m in the front of automobile, including ground markers, isolating band, anti-colliding railing, lane lines, roadblock, number of motor-driven vehicles, their distribution, distance, relative speed and road signs, and its system software can automatically make decisions about speed, direction, position, overtaking a car, emergency braking, tooting and lamp control. A closed-loop system is used to control steering wheel and speed. Its advantages are simple structure, low cost and high reliability.
Description
The invention belongs to technical field of automotive electronics.
World industry state has dropped into a large amount of man power and materials to automatic vehicle control system and has developed, Japan Toyota Company has developed an instruction carriage " ASV of Toyota " with this function in nineteen ninety-five, and whole control loop is made up of the special equipment on road surface facility and the vehicle.The road surface facility be road surface central authorities at regular intervals distance bury magnet underground, two sides, instruction carriage front are equipped with two Magnetic Sensors, and the detection of obstacles radar is arranged in the middle of the front car light, track, car body middle part white line recognition device, also be equipped with the electronic guidance instrument simultaneously, electronic auto-control throttle, electric brake device.
France produces about 3,600,000 of automobile per year as the fourth-largest automobile production in world state, accounts for 22% of world car market.In order to continue to keep auto industry in the competitiveness of 21 century, consolidate its pillar status, French government recently also decision implement the scientific research plan of development 21 century full automatic vehicle.
When Japan and European Government and motor corporation concentrated one's energy more the new cars reality technology, the U.S. but drove a car with the steering wheel that tens dollars computer network finally replaces the driver in trial.
Although there are many people that the concrete operations of following intelligent automobile have been proposed query, more and more countries has dropped into the industry of developing it.(" impression following intelligent transportation system " Liu Aifang, the strong China Electronics News of gold on July 10th, 1998)
China's automotive electronic technology 95 ' plan state key project financing is
A) petrol engine management system
B) Diesel engine electronic management system
C) non-contact high-energy ignition system
D) electronics automatic control of transmission
E) safety device (burglary-resisting system)
F) automobile telephone
G) automated navigation system
H) automobile collision preventing and brake system
These eight key projects have been represented the latest development of international automobile electronic technology field single technology.Automatic vehicle control system it be road conditions information collection, intelligence analysis, target identification, driving decision-making, automatically control travel direction, control comprehensive specialities such as speed change, self-actuating brake automatically.It is a comprehensive automotive electronic technology, is a system engineering technology.
Automatic vehicle control system is compared with anti-collision system for automobile.Anti-collision system for automobile can only be accomplished target one dimension parameter (R/R ') test at present, and blur the target location, the mistake alarm probability height of colliding and reporting to the police, and control also only is brake.Therefore, up to the present also do not see any utility system.And automatic vehicle control system can be finished the test of sextuple parameter (X.Y.Z.X ' .Y ' the Z ') steric information of target, can not only satisfy the measurement requirement of automobile collision preventing, and can finish the requirement of the automatic driving of automobile.
Automatic vehicle control system is different from the self-navigation navigation system.Automated navigation system is according to GPS or electronic chart, provides the suggestion of a best travel route to the driver according to current traffic information again.Running car still leans on driver's driving.And automatic vehicle control system to be the road conditions information that collects according to oneself, processing analyze, make and drive decision-making, autonomous driving vehicle, the people can participate in, but the very important person does not manage.Automatically guiding system for automobile and automatic vehicle control system organically make up, and exploitation are become the intelligent automobile of 21 century a new generation.According to existing domestic intelligence data, also do not see the report of relevant automatic vehicle control system.
Purpose of the present invention
In the current world, highway, developing rapidly at the automobile of running on expressway.Particularly in China of 21 century, this development will be inconceivable.The people who drives a car no longer is full-time driver, but the different cotemporary people of various different occupation.Have plenty of in the extremely tired situation of body and mind and set out on a journey, have plenty of through trudging several hours also at running on expressway, because the highway road conditions are simple, dull, the easier tired careless energy of driver fiber crops that makes is not concentrated, so the traffic accident that highway takes place also will increase severely with day again.Highway automobile automated driving system of the present invention is exactly the generation in order to reduce and to avoid traffic accident, makes in the highway up train be not dull fatigable work, but a kind of leisure of uniqueness.This will be the revolution that automotive automation travels, and will produce huge social benefit and economic benefit.
The intelligent automobile scheme of Toyota Motor company will be by burying magnet underground on highway, and the U.S. will realize that automobile travels automatically by the computer network of huge costliness.Automatic vehicle control system of the present invention adopts the binocular camera shooting device that road conditions information is gathered, and after image processing and target identification, drives automatically according to the information of automobile distance, speed, road markings board before road surface identification, the car automatically.Do not bury magnet underground or realize that by means of huge computer network automobile travels automatically and rely on road.
Technical scheme
1. system forms
System partly is made up of binocular camera shooting device, picture intelligence processing platform, imgae processing software bag, systems soft ware and control interface etc.The block diagram of system as shown in Figure 1.
1.1. binocular camera shooting device
The binocular camera shooting device as shown in Figure 2, it has two identical camera systems, is installed in the appropriate location of automobile.The distance of two camera systems is D, and the optical axis of camera system is vertical with D, the axis normal symmetry of D and automobile, and height overhead is H.Optical axis is lower than horizontal direction.
Camera system is made up of optical system and video camera.Optical system has anamorphosis function, automatic focusing function.Video camera adopts the black-white CCD video camera with electronic shutter, and synchronizing signal is provided by the picture intelligence platform, and has program control AGC system.
The binocular camera shooting device is installed in schematic diagram such as the Fig. 3 on the automobile
Technical parameter with reference to figure 2,3 binocular camera shooting devices is as follows:
A) length of base: D=1.5～3m
B) baseline is apart from ground level: H=0.8～3m
C) coordinate of video camera L: L (0,0 ,-D/2)
D) coordinate of video camera R: R (0,0, D/2)
E) skew of the optical axis of video camera and X-axis is-0.5 °～5 °
F) visual field of video camera: 4 ° * 3 °～40 ° * 30 °
G) optics becomes doubly: 1～10
H) image resolution: 500 * 300～600 * 400 lines
I) electronic shutter: 50ms～50 μ s, 20～30db
J) automatic focusing
K) manual light modulation circle
Analog:, well arranged in order to make clear image under the backlight condition.When adopting, separates every road picture intelligence programming AGC control.In time, separates programming AGC control signal and produced by image processing.Also can handle with common agc circuit.
1.2. picture intelligence processing platform
The picture intelligence processing platform mainly contains crystal oscillator, frame line synchronizing signal generator, A/D conversion, data buffering (two-port RAM), DSP composition as shown in Figure 4.
Produce change control signal doubly by DSP.
The technical parameter of image processing platform is as follows:
A) crystal oscillator operating frequency: F=3.7MHz～9.84375MHZ
B) A/D sample frequency: F=9.84375MHZ
C) A/D conversion resolution: 8Bit
D) line frequency: F=15.625KHZ
E) frame frequency: F=50HZ
F) two-port RAM memory space:＞1K byte
DSP carried out the read data operation to two-port RAM when g) row disappeared shadow
H) DSP data/address bus: 32, clock frequency＞40MHz, program internal memory＞2M byte, data buffer zone＞2M byte, knowledge base internal memory＞4M byte
1.3. systems soft ware
The systems soft ware major function is:
A) image processing
B) target identification
C) parameters of target motion analysis
D) drive decision-making automatically
E) control automatically
Systems soft ware is mainly formed:
A) imgae processing software bag
B) knowledge base
C) Target Identification Software bag
D) parameters of target motion processing software package
E) PID auto-control software bag
F) drive decision-making prejudgementing criteria software bag automatically
1.4. control interface
Control interface is the interface of signal processing system and automobile driving system, mainly contains:
A) the parallel data mouth of control steering wheel
B) control self-shifting parallel data mouth
The switch command interface of c) control light, blowing a whistle, braking
1.5. automatic control executing mechanism
A) electronic steering wheel
B) electronic automatic speed system
C) autobrake system
D) automatic light, the system of blowing a whistle
2. system works principle
2.1. road conditions information acquisition
1) image of camera system
Unidirectional two track schematic diagram such as the Fig. 5 of standard highway.
The road conditions information collection is finished by camera system.The image that camera system obtains is the two-dimensional plane projection of the target (three dimensions) on road surface and the road surface.Abscissa is relative and the projection of optical axis direction azimuth plane, and ordinate is the pitching face projection of relative and optical axis direction.
If the initial point of rectangular coordinate system in space is on the center line of two-way two tracks of standard first driving lane, direction of traffic is an X-axis, direction is that Y-axis is determined Z-direction with right hand theorem vertically upward, and it is the zero point (as shown in Figure 6) of X-axis that video camera becomes the be expert at projection of car track center line (on the X-axis) of image plane.
If the coordinate of video camera imaging planar central is: (O, H, Z-D), then the target of optional position (X, Y, Z) being projected as on image:
2) image in two-way two tracks of standard
If video camera is installed in overhead high H=1.6m, optical axis direction is parallel with the track, and automobile travels at the first lane center.Standard two track schematic diagrames as shown in Figure 4, each lane width is 3.5m.When the automobile normal condition was travelled, the sign line of runway and fast at the right-angle coordinate representation of video camera was:
The image coordinate of the Lane Mark of x=X y=-1.6m z=1m video camera is:
The full visual field of two-way two Lane Mark of standard image is as Fig. 7, and the visual field is image such as Fig. 8 of 40 °, the visual field be 4 ° as Fig. 9.
Can find out according to Fig. 7, Fig. 8, Fig. 9: the image of the straight line full visual field parallel with optical axis is a curve in rectangular coordinate system, image approximation one straight line 40 °, 4 ° visual fields, and all converge on zero point.The condition that is similar to straight line is:
X
2＞＞Y
2,X
2＞＞Z
2
3) relation of rectangular coordinate system in space and image projection
Work as X
2＞＞Y
2, X
2＞＞Z
2, can prove,
A) projection of the straight line of rectangular coordinate system in space in image is also approximate is straight line, identical with optical axis as the direction of straight line, then straight line sensing initial point (E=0, A=0); As with light shaft offset Δ A, Δ E, then be coordinate translation Δ A in image,, Δ E.
B) as the straight line (Y parallel of rectangular coordinate system in space with optical axis
0, Z
0) then the straight line in image projection be that the center rotates an angle [alpha] with the initial point
Therefore in Fig. 8, Fig. 9, be easy to all Lane Mark in two-way two tracks of the standard of making.
C) in rectangular coordinate system in space, be the straight line of angle symmetry with their image of the axisymmetric parallel lines of optical axis.
D) be an approximate horizontal linear (E) at rectangular coordinate system in space its image of straight line vertical with optical axis.
4) binocular camera shooting device
As described in 5.1.1, in the position of (O, H, Z+D) camera system (R) is set again, just to have formed binocular camera shooting identical with the camera system (L) of coordinate (O, H, Z-D) like this.The length of base between them is 2D, establishes 21D=1.5m.Referring to Fig. 3, the visual angle of two-way two Lane Mark of standard is:
Two-way two Lane Mark of standard at the image of camera system (R) as shown in figure 10.
2.2. target location parameter extraction
(X, Y, Z) at the azimuth of binocular camera shooting device two images correspondences is at the rectangular coordinate system in space any point:
A
L=arctan((Z-D)/X)
A
R=arctan((Z+D)/X)
The rectangular coordinate of target is so:
X=2D/(tanA
L-tanA
R)
Z=XtanA
L+D
2.3. target relative velocity parameter extraction
The target relative velocity can assign to try to achieve with the alternate position spike of image sequence
X’=(X(t-1)-X(t))/Δ
Y’=(Y(t-1)-Y(t))/Δ
Z’=(Z(t-1)-Z(t))/Δ
Δ: the time interval of image sequence
Δ=20ms
2.4. road location and orientation measurement
At first be partitioned into reference to the Lane Mark zone, in the zone, track, carry out statistics with histogram again, isolate with reference to Lane Mark according to the track model.And, make discontinuous Lane Mark fit to continuous Lane Mark with the way of curve fit.
In two images, find out corresponding X more respectively
1=20m, X
2=10m is with reference to the E of Lane Mark
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2).Again according to the E on the reference Lane Mark
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2) find out corresponding A
L(X
1), A
L(X
2), A
R(X
1), A
R(X
2), calculate again
Z
1(X
1)=X
1tanA
R、Z
2(X
2)=X
2tanA
L,(A＜0)
Z
1(X
1)=X
1tanA
L、Z
2(X
2)=X
2tanA
R,(A＞0)
The last automobile of calculating again departs from distance with reference to Lane Mark:
Z=2(Z
2(X
2)-Z
1(X
1))+Z
1(X
1)
The angle of automobile direct of travel and Lane Mark is:
β=arctan(2(Z
2(X
2)-Z
1(X
1))/10)
Also can travel with reference to isolation strip or anticollision barrier, processing method is identical.
2.5. road information obtains
At first be partitioned into the big like the zone of traffic sign with the highway model, the method with statistics with histogram is partitioned into the traffic sign zone again.
Literal identification: before literal identification, at first cut apart the fast row and column of literal.Cutting apart of row, in literal piece zone, press the distribution density of E axle statistics binary map, as Figure 11.Apparent P (E)=0 o'clock is the cut-off rule of row, and P (E)＞0 o'clock is literal line.
(E1～E2) adds up cut-off rule and the single literal piece that P (A) can discern row again in certain delegation.
In single literal piece zone, add up P (E) again, according to P (E) and knowledge base verbal model, can discern the special-purpose literal of a small amount of traffic mark board, and according to the implication of the prior knowledge understanding literal of knowledge base.As the condition of driving strategic decision-making.
Road information obtains also and can obtain by other means, for example: radio broadcasting, computer network etc.
2.6. driving strategic decision-making
A) when on the runway during driftlessness, automobile continues cruising
B) on runway, find target, and the target relative velocity is less than zero, fast driftlessness, automobile
The operation of overtaking other vehicles.If fast has target, but the target relative velocity is greater than zero, and automobile also advances
The capable operation of overtaking other vehicles.
C) find target on runway, and the target relative velocity is less than zero, fast has target, and order
The mark relative velocity is less than zero, and automobile carries out Reduced Speed Now.
D) automatically drive: according to the automatic Control of Automobile steering wheel of β=Δ Z/X, adjust the automobile direct of travel and
The position
E) operation of overtaking other vehicles: carry out according to the fixed routine of overtaking other vehicles.
F) snub: malfunctioning as driving because of direction, automobile is to isolation strip or guardrail fixed target direction row
Sail (Δ Z is greater than predetermined value), answer snub
G) prompting is operated according to traffic sign
2.7. automobile steering and Position Control
With reference to the Z coordinate of Lane Mark, Z was the actual coordinate with reference to Lane Mark when automobile steering and Position Control schematic diagram such as Figure 12, Z^ were normal the driving, and X is with reference to the X coordinate of Lane Mark reference point.
Be located at reference to 10 meters of Lane Mark and select a reference point, and record this coordinates of reference points for (10 ,-y z), is (10 ,-y, 1) with reference to the Lane Mark coordinates of reference points when normally driving a vehicle, and compares offset direction β=(z-1)/10 with normal traffic route.Controlling and driving revolution vehicle steering behind pid correction, make steering wheel rotate α angle (α=β), the automobile gait of march produces speed the Z '=α V of a Z direction simultaneously, automobile position z (1) behind rate integrating, through adjusting repeatedly until z (n)=1, β=0, vehicle steering angle [alpha]=0, automobile enters the cruising state.
For the enough digital control steering wheels of energy, install shaft-position encoder (14 of shaft-position encoders) additional on the axle of steering wheel, the moment CD-ROM drive motor, the moment CD-ROM drive motor is connected by the axle of clutch and steering wheel, and the moment CD-ROM drive motor is driven by the PWM power amplifier.
Such method, automobile just can be travelled with reference to Lane Mark on greater than 500 meters highway automatically at turning radius.
2.8. car speed control
The automobile gait of march determines by two kinds of factors, the one, determine that according to track, automobile place front vehicles relative velocity as not overtaking other vehicles, the relative velocity of Control of Automobile speed and front vehicles is zero.And suitable distance.
Front vehicles relative velocity basis
X’=(X(t-1)-X(t))/Δ
Z’=(Z(t-1)-Z(t))/Δ
Measure.
The 2nd, according to weather conditions, illuminance condition at that time, the control road speed.Weather conditions, illuminance situation decision visibility at that time, visibility influences the camera system imaging resolution, influences the correctly ability of recognition objective of image processing system, and different visibility should have corresponding the max speed.
Be different visibility below, suggestion maximum row vehicle speed.
| Visibility | 20m | ?50m | ?100m | ?200m |
| Suggestion driving maximal rate | 10m/s | ?20m/s | ?30m/s | ?40m/s |
| 36km/H | ?72Km/H | ?108Km/H | ?144Km/H |
Car speed controlling schemes such as Figure 13, V^ are the speed of driving front automobile, and V is a road speed.In the time can not overtaking other vehicles, DSP measures and the relative velocity Δ V of the front automobile of driving a vehicle, and Δ V controls automatic transimission as the margin of error of control system behind pid correction, and making relative velocity is 0; If but road speed during greater than the speed of recommending according to meteorological condition, DSP will control road speed and be less than or equal to advisory speed.
Realize easily that for convenience automatic speed-changing system also can only be controlled throttle.Throttle installs shaft-position encoder and CD-ROM drive motor additional, by DSP with digital control.DSP at first is transformed into the relative velocity X ' measuring amount of car and target the anglec of rotation data of corresponding Oil Switch, and then the anglec of rotation of control Oil Switch, makes oil inlet quantity and speed consistent.
The technical characterstic of automatic vehicle control system
Compare with the intelligent automobile scheme of Toyota Motor company, scheme is different fully, and it need not lay magnet on road.Compare with the intelligent automobile scheme of U.S. government, this patent does not need the computer network support of huge costliness, just can realize the automatic driving of automobile.
Its technical characterstic is as follows:
1) adopts the binocular camera shooting device to carry out the road conditions information collection, realized Three-dimension Target space orientation.
2) the image simulation channel adopts and separates AGC control when able to programme, has solved the problem of road surface image quality difference under the strong backlight situation
3) adopt image sequence to handle, realized that the relative velocity of moving target is measured
4) image processing, target identification make full use of the prior information of standard track model
5) a small amount of special-purpose literal identifying schemes, the row and column of identification literal is discerned literal according to P (E) statistic of attribute and the verbal model of binary map more earlier.
6) utilize standard dual three-lane carriageway tag line model, realized the automobile direct of travel and departed from the measurement of tag line position
7) but automobile automatic decision: continue to travel, quicken, slow down, overtake other vehicles, operation such as snub
8) automatic driving adopts closed loop automatic control system
The present invention is used in the automatic driving on the better simply highway of road conditions, and the people can participate in, but the very important person does not manage, and can effectively avoid because driver driving lack of skill, fatigue or energy are not concentrated the various traffic accidents that cause.Its investment simple in structure is less, and cost is low, good reliability.
Be described further below in conjunction with drawings and Examples, but not as restriction of the present invention.
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is a binocular camera shooting device block diagram;
Fig. 3 is a binocular camera shooting device scheme of installation;
Fig. 4 forms block diagram for the image processing platform;
Fig. 5 is the unidirectional two track schematic diagrames of standard highway;
Fig. 6 is the road rectangular coordinate system;
Fig. 7 is full visual field two Lane Mark images (y=1.6m)
Fig. 8 is the 40 degree angles of visual field, two Lane Mark images (y=1.6m)
Fig. 9 is L video camera 4 degree visual field standard two Lane Mark images (y=1.6m)
Figure 10 is R video camera 4 degree visual field standard two Lane Mark images (y=1.6m)
Figure 11 is cut apart schematic diagram for literal;
Figure 12 is direction and position closed loop control principle figure;
Figure 13 is car speed Automatic Control Theory figure.
Referring to Fig. 1-13.
Embodiment
The most important task of automatic vehicle control system is an information collection, image processing, and target identification will be finished the task of target identification, carries out the image processing of single-image at first respectively, carries out two picture images couplings again.The kinematic parameter of target extracts, traffic mark board information Recognition, and drive strategic decision-making.
1. computer hardware
1) binocular camera shooting device
With reference to figure 2, Fig. 3, the basic parameter of binocular camera shooting device is as follows:
The length of base: D=1.5～2m
Baseline is apart from ground level: H=0.8～2m
The coordinate of video camera L: L (0,0 ,-D/2)
The coordinate of video camera R: R (0,0, D/2)
-0.5 °～5 ° of the optical axis of video camera and X-axis skews
The visual field of video camera: 4 ° * 3 °～40 ° * 30 °
Optics becomes doubly: 1～10
Image resolution: 600 * 400 lines
Electronic shutter: 50ms～50 μ s, 20～30db
Automatic focusing
Manual light modulation circle
2) analog signal processing device
In order to make clear image under the backlight condition, well arranged.When adopting, separates every road picture intelligence programming AGC control.In time, separates programming AGC control signal and produced by image processing.
3) image processing platform
With reference to figure 4, image processing design of Platform parameter is as follows:
Crystal oscillator operating frequency: F=9.84375MHZ
A/D sample frequency: F=9.84375MHZ
A/D conversion resolution: 8Bit
Line frequency: F=15.625KHZ
Frame frequency: F=50HZ
Two-port RAM memory space: 1K byte
DSP carried out the read data operation to two-port RAM when row disappeared shadow
DSP data/address bus: 32
2. intelligence analysis
2.1. target identification and movement parameter measurement
To about two images finish following work respectively:
Standard track model during according to automobile normal running is cut apart the runway zone, carries out statistics with histogram in the runway zone, carries out the target area according to the data of knowledge base and cuts apart.Add up the area S of each target again
iWith barycenter O
i
About obtain S respectively in two images
IrWith barycenter O
Ir, S
KlWith barycenter O
KlIf, S
Ir=S
KlAnd E
r(O
Ir) ≌ E
l(O
Kl), then target I and target k are same targets.Find out A
r(O
Ir) and A
l(O
Il), basis again
X=D/(tanA
l(O
il)-tanA
T(O
ir))
Z=XtanA
r(O
ir)+D/2
Determine the position of target.
According to
X’=(X(t-1)-X(t))/Δ
Y’=(Y(t-1)-Y(t))/Δ
Z’=(Z(t-1)-Z(t))/Δ
Determine the speed of target.
2.2. road location and orientation measurement
At first be partitioned into reference to the Lane Mark zone, in the zone, track, carry out statistics with histogram again, isolate with reference to Lane Mark according to the track model.And, make discontinuous Lane Mark fit to continuous Lane Mark with the way of curve fit.
In two images, find out corresponding X more respectively
1=20m, X
2=10m is with reference to the E of Lane Mark
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2).Again according to the E on the reference Lane Mark
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2) find out corresponding A
L(X
1), A
L(X
2), A
R(X
1), A
R(X
2), calculate again
Z
1(X
1)=X
1tanA
R、Z
2(X
2)=X
2tanA
L,(A＜0)
Z
1(X
1)=X
1tanA
L、Z
2(X
2)=X
2tanA
R,(A＞0)
The last automobile of calculating again departs from distance with reference to Lane Mark:
Z=2(Z
2(X
2)-Z
1(X
1))+Z
1(X
1)
The angle of automobile direct of travel and Lane Mark is:
β?=?arctan(2(Z
2(X
2)-Z
1(X
1))/10)
Also can travel with reference to isolation strip or anticollision barrier, processing method is identical.
2.3. road information obtains
At first be partitioned into the big like the zone of traffic sign with the highway model, the method with statistics with histogram is partitioned into the traffic sign zone again.
Literal identification: before literal identification, at first cut apart the fast row and column of literal.Cutting apart of row, in literal piece zone, press the distribution density of E axle statistics binary map, as Figure 11.Apparent P (E)=0 o'clock is the cut-off rule of row, and P (E)＞0 o'clock is literal line.
(E1～E2) adds up cut-off rule and the single literal piece that P (A) can discern row again in certain delegation.
In single literal piece zone, add up P (E) again, according to P (E) and knowledge base verbal model, can discern the special-purpose literal of a small amount of traffic mark board, and according to the implication of the prior knowledge understanding literal of knowledge base.As the condition of driving strategic decision-making.
3. driving strategic decision-making
A) when on the runway during driftlessness, automobile continues cruising
B) on runway, find target, and the target relative velocity is less than zero, fast driftlessness, vapour
The car operation of overtaking other vehicles.If fast has target, but the target relative velocity is greater than zero, automobile
The operation of also overtaking other vehicles.
C) find target on runway, and the target relative velocity is less than zero, fast has target, and
The target relative velocity is less than zero, and automobile carries out Reduced Speed Now.
D) drive automatically:, adjust the automobile side of advancing according to the automatic Control of Automobile steering wheel of β=Δ Z/X
To and the position
E) operation of overtaking other vehicles: carry out according to the fixed routine of overtaking other vehicles.
F) snub: malfunctioning as driving because of direction, automobile is to isolation strip or guardrail fixed target direction
Travel (Δ Z is greater than predetermined value), answer snub
G) prompting is operated according to traffic sign
4. automobile steering and Position Control
With reference to the Z coordinate of Lane Mark, Z was the actual coordinate with reference to Lane Mark when automobile steering and Position Control schematic diagram such as Figure 12, Z^ were normal the driving, and X is with reference to the X coordinate of Lane Mark reference point.
Be located at reference to 10 meters of Lane Mark and select a reference point, and record this coordinates of reference points for (10 ,-y z), is (10 ,-y, 1) with reference to the Lane Mark coordinates of reference points when normally driving a vehicle, and compares offset direction β=(z-1)/10 with normal traffic route.Controlling and driving revolution vehicle steering behind pid correction, make steering wheel rotate α angle (α=β), the automobile gait of march produces speed the Z '=α V of a Z direction simultaneously, automobile position z (l) behind rate integrating, through adjusting repeatedly until z (n)=1, β=0, vehicle steering angle [alpha]=0, automobile enters the cruising state.
For the enough digital control steering wheels of energy, install shaft-position encoder (14 of shaft-position encoders) additional on the axle of steering wheel, the moment CD-ROM drive motor, the moment CD-ROM drive motor is connected by the axle of clutch and steering wheel, and the moment CD-ROM drive motor is driven by the PWM power amplifier.
Such method, automobile just can be travelled with reference to Lane Mark on greater than 500 meters highway automatically at turning radius.
5. car speed control
Car speed controlling schemes such as Figure 13, V^ are the speed of driving front automobile, and V is a road speed.In the time can not overtaking other vehicles, DSP measures and the relative velocity Δ V of the front automobile of driving a vehicle, and Δ V controls automatic transimission as the margin of error of control system behind pid correction, and making relative velocity is 0; If but road speed during greater than the speed of recommending according to meteorological condition, DSP will control road speed and be less than or equal to advisory speed.
Realize easily that for convenience automatic speed-changing system also can only be controlled throttle.Throttle installs shaft-position encoder and CD-ROM drive motor additional, by DSP with digital control.DSP at first is transformed into the relative velocity X ' measuring amount of car and target the anglec of rotation data of corresponding Oil Switch, and then the anglec of rotation of control Oil Switch, makes oil inlet quantity and speed consistent.
6. systematic technical indicator
1) moving-target measuring range:
In runway and fast in preceding 1 meter～200 meters of the car.
2) moving-target certainty of measurement:
ΔX＜1m????ΔX’＜1m/s
ΔY＜1m
ΔZ＜1m
3) measurement of Lane Mark and automobile position and direct of travel
ΔZ＜1m
Δ α＜0.1 degree
4) control precision of automobile direct of travel and position
Δ β＜0.1 degree
Δ X＜1m (distance of car in front relatively)
Δ Z＜0.2m (distance of Lane Mark relatively)
Claims (6)
1. automatic vehicle control system is characterized in that:
Automatic vehicle control system is made up of hardware and software two parts,
1) hardware components by binocular camera shooting device, image processing platform, software library, control interface, hold
Row mechanism forms;
The technical parameter of binocular camera shooting device is as follows:
A) length of base: D=1.5～3m
B) baseline is apart from ground level: H=0.8～3m
C) coordinate of video camera L: L (0,0 ,-D/2)
D) coordinate of video camera R: R (0,0, D/2)
E) skew of the optical axis of video camera and X-axis is-0.5 °～5 °
F) visual field of video camera: 4 ° * 3 °～40 ° * 30 °
G) optics becomes doubly: 1～10
H) image resolution: 500 * 300～600 * 400 lines
I) electronic shutter: 50ms～50 μ s, 20～30db
J) automatic focusing
K) manual light modulation circle
Analog:
Two images are transferred to the image processing platform simultaneously about the acquisition of binocular camera shooting system, and the technical parameter of image processing platform is as follows:
A) crystal oscillator operating frequency: F=3.7MHz-9.84375MHz
B) A/D sample frequency: F=9.84375MHz
C) A/D conversion resolution: 8Bit
D) line frequency: F=15.625KHz
E) frame frequency: F=50HZ
F) two-port RAM memory space:＞1K byte
DSP carried out the read data operation to two-port RAM when g) row disappeared shadow
H) DSP data/address bus: 32, clock frequency＞40MHz, program internal memory＞2M byte, number
According to buffering area＞2M byte, knowledge base internal memory＞4M byte
On the image processing platform imgae processing software, Target Identification Software, parameters of target motion process software according to the data of knowledge base, to image handle, target identification, intelligence analysis; Finish target identification and movement parameter measurement, road location and orientation measurement, what the road markings the cards one holds was reported obtains
Software library mainly contains:
A) imgae processing software bag
B) knowledge base
C) Target Identification Software bag
D) parameters of target motion processing software package
E) PID auto-control software bag
F) drive decision-making prejudgementing criteria software bag automatically
Control interface: the digital parallel port of digital parallel port, the Control of Automobile speed of control steering wheel and control snub, light, the switch command interface of blowing a whistle
Actuator: mainly contain the steering wheel of digital controllable system, the speed adjusting gear of digital controllable
2) software section mainly contains:
Target identification and movement parameter measurement: the image processing platform according to the standard road model of knowledge base use imgae processing software to about image carry out preliminary image Segmentation, be partitioned into the carriage way zone; And in the carriage way zone, carry out statistics with histogram, according to knowledge base road surface gray-scale statistical data, with about road surface and target area in two images split; Add up the area S of each target again
iWith barycenter O
i
About carry out Image Matching in two images, and find out the A of same target
r(O
Ir) and A
1(O
Il), basis again
X=D/(tanA
l(O
il)-tanA
r(O
ir))
Y=XSinE
Z=Xtan?A
r(O
ir)+D/2
Determine the position of target
According to
X’=(X(t-1)-X(t))/Δ
Y’=(Y(t-1)-Y(t))/Δ
Z’=(Z(t-1)-Z(t))/Δ
Determine the speed of target;
Road location and orientation measurement: at first imgae processing software is partitioned into direction, positional reference line zone to binocular camera shooting system transmissions two images to about the image processing platform according to the track model, in direction, positional reference line zone, carry out statistics with histogram again, isolate direction, positional reference line; And, make discontinuous direction, positional reference line fit to continuous direction, positional reference line with the way of curve fit.
In two images, find out corresponding X more respectively
1=20m, X
2The E of=10m direction, positional reference line
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2); Again according to the E on direction, the positional reference line
L(X
1), E
L(X
2), E
R(X
1), E
R(X
2) find out corresponding A
L(X
1), A
L(X
2), A
R(X
1), A
R(X
2), calculate again
Z
1(X
1)=X
1tanA
R、Z
2(X
2)=X
2tanA
L,(A＜0)
Z
1(X
1)=X
1tanA
L、Z
2(X
2)=X
2tanA
R,(A＞0)
The last distance of calculating automobile offset direction, positional reference line again:
Z=2(Z
2(X
2)-Z
1(X
1))+Z
1(X
1)
The angle of automobile direct of travel and direction, positional reference line is:
β=arctan(2(Z(X)-Z(X))/10)
By the binocular camera shooting system is input to the image processing platform about two images handle, the measurement of target identification and kinematic parameter, the collection of the measurement of road location and direction and road traffic information, automatic vehicle control system have just obtained all information of carriage way; Runway has or not automobile, and the relative velocity of automobile is much, and how many distances is, fast has or not automobile, and the relative velocity of automobile and distance are much; Oneself travel in which track, with the relative position and the directional information of direction, positional reference line, and next title, the numbering of exporting, information such as outlet distance all obtain; The work of next of automatic vehicle control system is exactly with driving the software of the making a strategic decision decision-making of travelling automatically automatically according to the information that obtains; Drive strategic decision-making:
A) when on the runway during driftlessness, automobile continues cruising
B) on runway, find target, and the target relative velocity is less than zero, fast driftlessness, vapour
The car operation of overtaking other vehicles; If fast has target, but the target relative velocity is greater than zero, and automobile also
The operation of overtaking other vehicles;
C) find target on runway, and the target relative velocity is less than zero, fast has target, and
The target relative velocity is less than zero, and automobile carries out Reduced Speed Now;
D) drive automatically:, adjust the automobile side of advancing according to the automatic Control of Automobile steering wheel of α=Δ Z/V
To and the position
E) operation of overtaking other vehicles: carry out according to the fixed routine of overtaking other vehicles;
F) snub: malfunctioning as driving because of direction, automobile is to isolation strip or guardrail fixed target direction
Travel (Δ Z is greater than predetermined value), answer snub
G) prompting is operated according to traffic sign, and the exit that drives to your setting is carried to your outlet
Show;
After having determined how to travel, be exactly problem that how Control of Automobile is travelled automatically, the PID auto-control software of automatic vehicle control system is finished the automatic control of automobile according to above-mentioned decision-making and traffic information;
Automobile steering and Position Control:
Automobile steering and Position Control scheme, the Z coordinate of direction, positional reference line when Z^ is normal the driving, Z is the actual coordinate of direction, positional reference line, the X coordinate of directions X, positional reference line reference point;
Be located at direction, a reference point is selected at 10 meters of positional reference line, and record this coordinates of reference points for (10 ,-y, z), direction when normally driving a vehicle, positional reference line coordinates of reference points for (10 ,-y, 1), compares offset direction β=(z-1)/10 with normal traffic route; Controlling and driving revolution vehicle steering behind pid correction, make steering wheel rotate α angle (α=β), the automobile gait of march produces speed the Z '=α V of a Z direction simultaneously, automobile position z (1) behind rate integrating, through adjusting repeatedly until z (n)=1, β=0, vehicle steering angle [alpha]=0, automobile enters the cruising state;
Such method, automobile just can turning radius greater than 500 meters highway on automatically along direction, positional reference line direction running;
Car speed control:
The car speed controlling schemes, V^ is the speed of driving front automobile, V is a road speed; In the time can not overtaking other vehicles, DSP measures and the relative velocity Δ V of the front automobile of driving a vehicle, and adjusts automatic transimission, and making relative velocity is 0; If but road speed during greater than the speed of recommending according to meteorological condition, DSP will control road speed and be less than or equal to advisory speed;
2. automatic vehicle control system according to claim 1, it is characterized in that: the analog in the binocular camera shooting device 1), in order to make clear image under the backlight condition, well arranged, separate programming AGC control when every road picture intelligence adopts, in time, separates programming AGC control signal and produced by image processing;
3. automatic vehicle control system according to claim 1, it is characterized in that 1) in the technical characterictic of actuator be: digital control steering wheel, install shaft-position encoder (14 of shaft-position encoders) additional on the axle of vehicle steering, clutch, torque-motor is connected by the axle of clutch and steering wheel, and torque-motor is driven by the PWM power amplifier;
Automatic speed regulation system realizes easily that for speed governing is convenient automatic speed-changing system also can only be controlled throttle; Throttle installs shaft-position encoder and CD-ROM drive motor additional, by DSP with digital control; DSP at first is transformed into the relative velocity X ' measuring amount of car and target the anglec of rotation data of corresponding Oil Switch, and then the anglec of rotation of control Oil Switch, makes oil inlet quantity and speed consistent;
4. automatic vehicle control system according to claim 1 is characterized in that: 2) " direction, the positional reference line " described in the measurement of road location and direction may be selected to be: reference lines such as Lane Mark, isolation strip, anticollision barrier.
5. automatic vehicle control system according to claim 1 is characterized in that 2) technical characterictic of Image Matching is in target identification and the movement parameter measurement: about obtain S respectively in two images
IrWith barycenter O
Ir, S
KlWith barycenter O
KlIf, S
Ir=S
KlAnd E
r(O
Ir) ≌ E
l(O
Kl), then target I and target k are same targets; Carry out Image Matching;
6. according to claim 1,2,3,4,5 described automatic vehicle control systems, it is characterized in that 2) in comprise that also the information of road markings board obtains; Its technical characterictic is:
At first imgae processing software is handled the image that camera system is transferred to the image processing platform according to knowledge base highway model, is partitioned into the big like the zone of traffic sign, and the method with statistics with histogram is partitioned into the traffic sign zone again in this zone;
Literal identification: before literal identification, at first in traffic mark board zone, cut apart the row and column of literal piece; Cutting apart of row, in literal piece zone, press the distribution density of E axle statistics binary map, be capable cut-off rule when P (E)=0 obviously, P (E)＞0 o'clock is literal line;
(E2～E3) adds up cut-off rule and the single literal piece that P (A) can discern row again in certain delegation;
In single literal piece zone, add up P ' (E) again, according to P ' (E) and the knowledge base verbal model can discern the special-purpose literal of a small amount of traffic mark board, and according to the implication of the prior knowledge understanding literal of knowledge base; As the condition of driving strategic decision-making;
The main information of traffic mark board of highway has: road way outlet, road inlet title and numbering, next outlet distance, rest maintenance place, or the like information; By above-mentioned processing, just can obtain these information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98122574 CN1218355A (en) | 1998-11-24 | 1998-11-24 | Automatic driving system of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98122574 CN1218355A (en) | 1998-11-24 | 1998-11-24 | Automatic driving system of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1218355A true CN1218355A (en) | 1999-06-02 |
Family
ID=5227815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98122574 Pending CN1218355A (en) | 1998-11-24 | 1998-11-24 | Automatic driving system of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1218355A (en) |
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