CN106355880B - A kind of automatic driving vehicle control parameter scaling method towards with vehicle safety - Google Patents
A kind of automatic driving vehicle control parameter scaling method towards with vehicle safety Download PDFInfo
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- CN106355880B CN106355880B CN201610881029.4A CN201610881029A CN106355880B CN 106355880 B CN106355880 B CN 106355880B CN 201610881029 A CN201610881029 A CN 201610881029A CN 106355880 B CN106355880 B CN 106355880B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a kind of automatic driving vehicle control parameter scaling methods towards with vehicle safety, by acquiring pilot steering track of vehicle data information, vehicle is with car data collection before and after extracting pilot steering vehicle, and calculate pilot steering vehicle safety index, simultaneously automatic driving vehicle data set is calculated using pilot steering vehicle data, and calculate automatic driving vehicle safety index, targeted security function is established by the safety index of pilot steering vehicle and automatic driving vehicle, detect automatic driving vehicle control parameter, the final determining control parameter for making the parameter of targeted security function minimum as automatic driving vehicle.Beneficial effects of the present invention are：The data for having artificial vehicle are excavated, in conjunction with the safe with vehicle target of automatic driving vehicle, ensure the safety of automatic driving vehicle.
Description
Technical field
The present invention relates to technical field of control over intelligent traffic, especially a kind of automatic driving vehicle control towards with vehicle safety
Parameter calibration method processed.
Background technology
With national economy fast development, motorization level is continuously improved, and the traffic problems in China are becoming increasingly acute, are brought
Traffic safety problem it is especially prominent.According to statistics, only 2010, the whole nation just occurred traffic accident 210821 and rises, and accident causes extremely
Number is died up to as many as 6.5 ten thousand.In numerous traffic accidents, very great ratio is occupied with vehicle rear-end collision.Due to preceding
Rear vehicle hypotelorism will result in and be chased after with vehicle if rear car driver cannot be adjusted in time when front truck driving condition is mutated
Tail accident.
With the fast development of intelligent transport technology, automatic driving vehicle technology is got the attention.Automatic driving car
Front truck is detected by vehicle-mounted awareness apparatus, and carries out timely feedbacking operation, therefore can preferably reduced and be chased after with vehicle
The risk of tail accident.However, existing automatic driving vehicle control system parameter is determined to become a big bottleneck.Automatic driving vehicle
Manufacturer is adjusted generally according to driving habit to carry out parameter determination by the method for tentative calculation, and systematic science is lacked
Control parameter scaling method, to can not ensure design automatic driving vehicle safety.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of controlled towards the automatic driving vehicle with vehicle safety and join
Number scaling method, can acquire the safety index of pilot steering vehicle and automatic driving vehicle, establish targeted security function and come really
The control parameter for determining automatic driving vehicle ensures the safety of automatic driving vehicle.
In order to solve the above technical problems, the present invention provides a kind of automatic driving vehicle control parameter mark towards with vehicle safety
Determine method, includes the following steps：
(1) pilot steering track of vehicle data are acquired：The video of pilot steering vehicle operation is obtained by unmanned plane,
Carry out the extraction of pilot steering track of vehicle data by Video processing software, track data include before and after pilot steering vehicle vehicle with
Car data collection DLAnd DF；Wherein, data set DLThe position of the front truck followed in the kth second including n-th pilot steering vehicle
The speed for the front truck that n-th pilot steering vehicle was followed in the kth secondN-th pilot steering vehicle is before the kth second follows
The length of wagon of vehicleData set DFIncluding n-th pilot steering vehicle in the position of kth secondN-th pilot steering
Speed of the vehicle in the kth secondThe duration T of n-th pilot steering vehicle operationn, n=1,2 ..., N, N and k are more than 0
Positive integer；
(2) according to the information in step (1), safety index of the n-th pilot steering vehicle of calculating in the kth secondFor：
(3) according to the information in step (1), automatic driving vehicle is iterated to calculate by automatic driving vehicle Controlling model
Data set UF；
Wherein, parameterFor i-th group of parameter value, i=1,2 ..., m, m isNumber；
It is for model parameterWhen calculate gained n-th automatic driving vehicle the spacing of kth second and front truck miss
Difference；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in the position of kth second；
It is for model parameterWhen calculate gained n-th automatic driving vehicle the kth second speed；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second position of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second speed of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error
Derivative；
The initial value of iteration is set as：K=1,Data set UFIncludingWith
(4) according to the data set U in step (3)F, computation model parameter isWhen calculate gained n-th it is unmanned
Safety index of the vehicle in the kth secondFor：
(5) according to the information in step (1), step (2) and step (4), the calculation formula of targeted security function Y, Y is established
It is as follows：
(6) according to the information in step (5), judge the parameter in automatic driving vehicle Controlling modelWhether all inspection
It surveys, i.e. whether i is equal to m, if so, being transferred to step (7)；Otherwise, i=i+1 is transferred to step (3)；
(7) output makes the parameter value of targeted security function Y minimumsI.e.：
Beneficial effects of the present invention are：By acquiring the track data information of pilot steering vehicle, pilot steering vehicle is extracted
Front and back vehicle calculates pilot steering vehicle safety index with car data collection, while calculating nothing using pilot steering vehicle data
People drives vehicle data collection, and calculates automatic driving vehicle safety index, passes through pilot steering vehicle and automatic driving vehicle
Safety index establishes targeted security function, detects automatic driving vehicle control parameter, final to determine so that targeted security function
Control parameter of the minimum parameter as automatic driving vehicle.The data for having artificial vehicle are excavated, are driven in conjunction with nobody
The safety of vehicle is sailed with vehicle target, ensures the safety of automatic driving vehicle.
Description of the drawings
Fig. 1 is the method flow schematic diagram of the present invention.
Specific implementation mode
As shown in Figure 1, a kind of automatic driving vehicle control parameter scaling method towards with vehicle safety, including walk as follows
Suddenly：(1) pilot steering track of vehicle data are acquired：The video that the operation of pilot steering vehicle is obtained by unmanned plane, passes through
Video processing software carries out the extraction of pilot steering track of vehicle data, track data include before and after pilot steering vehicle vehicle with vehicle number
According to collection DLAnd DF；Wherein, data set DLThe position of the front truck followed in the kth second including n-th pilot steering vehicleN-th
The speed for the front truck that pilot steering vehicle was followed in the kth secondThe vehicle for the front truck that n-th pilot steering vehicle was followed in the kth second
Body lengthData set DFIncluding n-th pilot steering vehicle in the position of kth secondN-th pilot steering vehicle exists
The speed of kth secondThe duration T of n-th pilot steering vehicle operationn, n=1,2 ..., N, N and k are the positive integer more than 0；
(2) according to the information in step (1), safety index of the n-th pilot steering vehicle of calculating in the kth secondFor：
(3) according to the information in step (1), automatic driving vehicle is iterated to calculate by automatic driving vehicle Controlling model
Data set UF；
Wherein, parameterFor i-th group of parameter value, i=1,2 ..., m, m isNumber；
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in the position of kth second；
It is for model parameterWhen calculate gained n-th automatic driving vehicle the kth second speed；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second position of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second speed of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error
Derivative；
The initial value of iteration is set as：K=1,Data set UFIncludingWith
(4) according to the data set U in step (3)F, computation model parameter isWhen calculate gained n-th automatic driving car
The kth second safety indexFor：
(5) according to the information in step (1), step (2) and step (4), the calculation formula of targeted security function Y, Y is established
It is as follows：
(6) according to the information in step (5), judge the parameter in automatic driving vehicle Controlling modelWhether all inspection
It surveys, i.e. whether i is equal to m, if so, being transferred to step (7)；Otherwise, i=i+1 is transferred to step (3)；
(7) output makes the parameter value of targeted security function Y minimumsI.e.：
A specific embodiment is given below.Automatic driving vehicle control parameter is demarcated using the present invention, this calculation
In example, for the sake of simplicity, N=2 and m=2 is only considered, but N and m can get any positive integer in practical applications.
Step 1, pilot steering track of vehicle data are acquired：Regarding for pilot steering vehicle operation is obtained by unmanned plane
Frequently, the extraction of pilot steering track of vehicle data is carried out by Video processing software, before and after track data includes pilot steering vehicle
Vehicle is with car data collection DLAnd DF；Wherein, data set DLThe position of the front truck followed in the kth second including n-th pilot steering vehicleThe speed for the front truck that n-th pilot steering vehicle was followed in the kth secondN-th pilot steering vehicle is followed in the kth second
Front truck length of wagonData set DFIncluding n-th pilot steering vehicle in the position of kth secondN-th artificial
Speed of the driving vehicle in the kth secondThe duration T of n-th pilot steering vehicle operationn, n=1,2 ..., N take N=2, the k to be
Positive integer more than 0,WithUnit be rice,Unit be rice,WithUnit be meter per second, TnList
Position is the second；
Wherein, data set DLAs shown in the table：
The corresponding data of n=1 are：
The corresponding data of n=2 are：
Data set DFAs shown in the table：
The corresponding data of n=1 are：
The corresponding data of n=2 are：
Step 2, according to the information in step 1, safety index of the n-th pilot steering vehicle of calculating in the kth second
For：
Computed information is：
The corresponding data of n=1 are：
The corresponding data of n=2 are：
Step 3, according to the information in step 1, automatic driving car is iterated to calculate by automatic driving vehicle Controlling model
Data set UF, i.e.,：
Wherein, parameterFor i-th group of parameter value, i=1,2 ..., m take m=2,
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in the position of kth second；
It is for model parameterWhen calculate gained n-th automatic driving vehicle the kth second speed；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second position of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second speed of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error
Derivative；
The initial value of iteration is set as：K=1,
Data set UFIncludingWithWork as i=1,When calculate data be：
The corresponding data of n=1 are：
The corresponding data of n=2 are：
Step 4, according to the data set U in step 3F, computation model parameter isWhen calculate gained n-th it is unmanned
Safety index of the vehicle in the kth secondFor：
Computed information is：
The corresponding data of n=1 are：
The corresponding data of n=2 are：
Step 5, according to step 1, the information in step 2 and step 4, establish the calculation formula of targeted security function Y, Y such as
Under：
Step 6, according to step 5, in information, judge the parameter in automatic driving vehicle Controlling modelWhether all inspection
It surveys, i.e. whether i is equal to m, at this time i=1, and m=2, i are not equal to m, i=i+1=2, are transferred to step 3；Step 3 is repeated to step 6,
As i=2, gained is calculatedI=m at this time is transferred to step 7；
Step 7, output makes the parameter value of targeted security function Y minimumsI.e.：
Although the present invention is illustrated and has been described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (1)
1. a kind of automatic driving vehicle control parameter scaling method towards with vehicle safety, which is characterized in that include the following steps：
(1) pilot steering track of vehicle data are acquired：The video that the operation of pilot steering vehicle is obtained by unmanned plane, passes through
Video processing software carries out the extraction of pilot steering track of vehicle data, track data include before and after pilot steering vehicle vehicle with vehicle number
According to collection DLAnd DF；Wherein, data set DLThe position of the front truck followed in the kth second including n-th pilot steering vehicleN-th
The speed for the front truck that pilot steering vehicle was followed in the kth secondThe vehicle for the front truck that n-th pilot steering vehicle was followed in the kth second
Body lengthData set DFIncluding n-th pilot steering vehicle in the position of kth secondN-th pilot steering vehicle is
K seconds speedThe duration T of n-th pilot steering vehicle operationn, n=1,2 ..., N, N and k are the positive integer more than 0；
(2) according to the information in step (1), safety index of the n-th pilot steering vehicle of calculating in the kth secondFor：
(3) according to the information in step (1), automatic driving vehicle data are iterated to calculate by automatic driving vehicle Controlling model
Collect UF；
Wherein, parameterFor i-th group of parameter value, i=1,2 ..., m, m isNumber；
It is for model parameterWhen calculate gained n-th automatic driving vehicle kth second and front truck interval error；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in the position of kth second；
It is for model parameterWhen calculate gained n-th automatic driving vehicle the kth second speed；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second position of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle in+1 second speed of kth；
It is for model parameterWhen calculate gained n-th automatic driving vehicle leading in the interval error of kth second and front truck
Number；
The initial value of iteration is set as：K=1,Data set UFIncludingWith(4) root
According to the data set U in step (3)F, computation model parameter isWhen calculate gained n-th automatic driving vehicle the kth second peace
All referring to markFor：
(5) according to the information in step (1), step (2) and step (4), the calculation formula of targeted security function Y, Y are established such as
Under：
(6) according to the information in step (5), judge the parameter in automatic driving vehicle Controlling modelWhether all detection, i.e. i
Whether m is equal to, if so, being transferred to step (7)；Otherwise, i=i+1 is transferred to step (3)；
(7) output makes the parameter value of targeted security function Y minimumsI.e.：
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| CN107067753B (en) * | 2017-05-23 | 2020-01-07 | 东南大学 | Automatic following driving method based on driving safety distance |
| CN107146408B (en) * | 2017-05-29 | 2018-05-04 | 胡笳 | A kind of control method of the road environmental protection control loop based on car networking |
| CN109032103B (en) * | 2017-06-09 | 2020-12-18 | 百度在线网络技术（北京）有限公司 | Method, device and equipment for testing unmanned vehicle and storage medium |
| CN107544330B (en) * | 2017-09-08 | 2019-10-25 | 驭势科技（北京）有限公司 | The dispatching method and device of autonomous adjustment |
| CN109525634B (en) * | 2018-10-09 | 2020-06-23 | 上海交通大学 | Shared electric vehicle operation system and method based on unmanned vehicle following technology |
| CN113330497A (en) * | 2020-06-05 | 2021-08-31 | 曹庆恒 | Automatic driving method and device based on intelligent traffic system and intelligent traffic system |
| CN112947492B (en) * | 2021-04-14 | 2023-09-22 | 北京车和家信息技术有限公司 | Vehicle control method and device, storage medium, electronic equipment and vehicle |
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