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CN-121989927-A - Parking lot ramp exit control method and system based on lateral visual field limitation

CN121989927ACN 121989927 ACN121989927 ACN 121989927ACN-121989927-A

Abstract

The invention discloses a parking lot ramp exit control method and system based on limited transverse visual field, which comprises the steps of sensing road geometric characteristics in real time, dynamically identifying whether a vehicle enters a ramp exit control area with limited transverse visual field, determining the key distance of the vehicle in the transverse direction in real time if the vehicle enters the ramp exit control area, presetting a vehicle passing state, comparing the key distance with the vehicle safety braking distance to obtain the current vehicle passing state, and implementing a hierarchical control strategy for the vehicle running behavior according to the current vehicle passing state. According to the invention, a hierarchical control strategy is implemented on the vehicle driving behavior at the slope exit of the parking lot with limited transverse visible field, and the traffic safety of the vehicle is still ensured under the condition of incomplete perception.

Inventors

  • XU JIAYI

Assignees

  • 武汉江夏楚能汽车技术研发有限公司

Dates

Publication Date
20260508
Application Date
20260305

Claims (10)

  1. 1. A parking lot ramp exit control method based on lateral visibility limitation, comprising: Sensing road geometric characteristics in real time, and dynamically identifying whether a vehicle enters a ramp exit control area with a limited transverse visual field; If the vehicle enters the ramp exit control area, determining the key distance of the vehicle in the transverse direction in real time; presetting a vehicle passing state, and comparing the key distance with the vehicle safety braking distance to obtain a current vehicle passing state; and according to the current vehicle passing state, implementing a hierarchical control strategy for the running behavior of the vehicle.
  2. 2. The method of claim 1, wherein the dynamically identifying whether the vehicle enters a hill exit control region with limited lateral visibility by sensing road geometry in real time comprises: if the vehicle enters the ramp exit control area, acquiring a vehicle pitch angle, monitoring the vehicle pitch angle, and determining that the vehicle is in an uphill running state or a downhill running state; Continuously monitoring the pitch angle of the vehicle, and if the absolute value of the pitch angle is continuously reduced and is smaller than or equal to a first angle preset threshold value or a continuous short-distance lateral shielding object exists on one side of the vehicle, judging that the vehicle enters a ramp exit control area with limited transverse visual field; and continuously monitoring the pitch angle of the vehicle, and if the absolute value of the pitch angle is continuously reduced and is smaller than or equal to a second angle preset threshold value or no continuous close-range lateral shielding object exists on one side of the vehicle, judging that the vehicle exits from a ramp exit control area with limited transverse visible field, wherein the second angle preset threshold value is smaller than the first angle preset threshold value.
  3. 3. The method according to claim 1, wherein if the vehicle enters the hill exit control zone, determining in real time a critical distance of the vehicle in the lateral direction: if the far-end edge of the close-range lateral shielding object can be detected in advance, the key distance is monitored in real time; If the far-end edge of the close-range lateral shielding object cannot be detected in advance, setting the key distance to be a preset value, and updating the key distance in real time along with the advancing of the vehicle; When the distance between the vehicle and the distal edge of the close-range lateral obstruction is less than or equal to a distance preset threshold, the critical distance is 0, wherein, The critical distance is characterized by the longitudinal distance of the perpendicular projection point of the distal edge of the close-range lateral obstruction in the vehicle travel direction relative to the vehicle.
  4. 4. The method of claim 1, wherein the calculation formula of the vehicle safety braking distance is: Wherein, the For the current speed of the vehicle, In order to achieve the reaction time, For a maximum available deceleration on a level road, The road grade angle, downhill grade, and uphill grade.
  5. 5. The method of claim 1, wherein the predetermined vehicle traffic conditions are a controllable safe condition, a boundary controllable condition, and an uncertain high risk condition, and wherein the critical distance is compared with the vehicle safe braking distance to obtain a current vehicle traffic condition: If the fact that the transverse moving target exists in the ramp exit control area is identified, if the required vehicle safety braking distance is smaller than the key distance and a preset safety margin is reserved, the vehicle is judged to be in a controllable safety state; If the situation that a transverse moving target exists in the ramp exit control area is identified, the required vehicle safety braking distance is close to a key distance, and when the safety margin is smaller but collision avoidance possibility exists, the vehicle is judged to be in a boundary controllable state; if the situation that the transverse moving target exists in the ramp exit control area is identified, the required vehicle safety braking distance is larger than the critical distance, and when the vehicle cannot be completely stopped before the potential conflict area, the vehicle is judged to be in an uncertain high-risk state.
  6. 6. The method of claim 1, wherein said enforcing a hierarchical control strategy for vehicle travel behavior based on current vehicle traffic conditions comprises: when the vehicle is in a controllable safety state, no active intervention is performed, and the vehicle is allowed to continue running in the current speed range; When the vehicle is in a boundary controllable state, a deceleration prompt is sent to a driver through man-machine interaction, and the driver is recommended to actively reduce the vehicle speed; when the vehicle is in an uncertain high risk state, actively intervening in the longitudinal control of the vehicle, forcibly reducing the current vehicle speed to an exit safe speed by applying a stable braking force, and maintaining the exit safe speed until the vehicle exits the ramp exit control area.
  7. 7. The method of claim 6, further comprising assisting in correction: When the vehicle is in a controllable safety state or a boundary controllable state, if a transverse moving target exists in the ramp exit control area, correcting the current risk assessment result downwards, degrading the controllable safety state to the boundary controllable state, or degrading the boundary controllable state to an uncertain high risk state; When the vehicle is in a boundary controllable state or an uncertain high-risk state, if the fact that the slope exit control area does not have a transverse moving target is identified, the current risk assessment result is corrected upwards, the boundary controllable state is upgraded to a controllable safety state, or the uncertain high-risk state is upgraded to the boundary controllable state.
  8. 8. A parking lot ramp exit control system based on lateral visibility limitation, comprising: The sensing module is used for sensing the geometric characteristics of the road in real time and dynamically identifying whether the vehicle enters a ramp exit control area with limited transverse visual field; The key distance acquisition module is used for determining the key distance of the vehicle in the transverse direction in real time if the vehicle enters the ramp exit control area; the vehicle passing state acquisition module is used for presetting a vehicle passing state, comparing the key distance with the vehicle safety braking distance and acquiring a current vehicle passing state; And the hierarchical control strategy acquisition module is used for implementing the hierarchical control strategy on the running behavior of the vehicle according to the current running state of the vehicle.
  9. 9. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program comprises executable instructions which, when executed by a processor, implement the method of any of claims 1-7.
  10. 10. An electronic device, comprising: One or more processors; A memory for storing executable instructions for the processor, which when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.

Description

Parking lot ramp exit control method and system based on lateral visual field limitation Technical Field The invention relates to the technical field of intelligent driving, in particular to a parking lot ramp exit control method and system based on transverse visual field limitation. Background With the widespread use of underground and sky parking, vehicles often need to pass through a ramp exit area when driving from underground into a ground passageway or an internal road of the parking through a ramp. Because the area is generally covered by structures such as walls, upright posts, corners, gradient changes and the like, the lateral visual field of the vehicle is obviously limited when the vehicle exits the ramp, and a stably-existing visual blind area is easy to form. In this case, pedestrians, non-motor vehicles or low-speed vehicles may be present in the transverse passage, with a high traffic safety risk. The existing automatic emergency braking system (AEB) mainly performs braking control based on detection results of visible targets and collision time prediction, and the safety effect of the system depends on timely perception of the targets. In a limited lateral view scene such as a ramp exit, the target entry perception range is late, and the security coverage capability of the AEB is limited. In addition, part of solutions rely on road side sensors or manual warning facilities, so that the deployment cost is high and the universality is poor. Disclosure of Invention Aiming at the problems in the prior art, the invention provides a parking lot ramp exit control method and a parking lot ramp exit control system based on the limitation of a transverse visual field, when a vehicle transversely senses the uncertainty in a ramp exit area, the vehicle is not subjected to direct recognition of a blind area target as a control premise, and the running state and the braking capability of the vehicle are evaluated to implement prospective hierarchical control on the running behavior of the vehicle, so that the traffic safety of the vehicle is ensured under the condition of incomplete sensing. Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application. According to a first aspect of the present application, there is provided a parking lot ramp exit control method based on lateral visibility limitation, comprising: Sensing road geometric characteristics in real time, and dynamically identifying whether a vehicle enters a ramp exit control area with a limited transverse visual field; If the vehicle enters the ramp exit control area, determining the key distance of the vehicle in the transverse direction in real time; presetting a vehicle passing state, and comparing the key distance with the vehicle safety braking distance to obtain a current vehicle passing state; and according to the current vehicle passing state, implementing a hierarchical control strategy for the running behavior of the vehicle. In some embodiments of the present application, based on the foregoing, the dynamically identifying whether the vehicle enters the hill exit control region with limited lateral visibility based on the real-time perceived road geometry comprises: if the vehicle enters the ramp exit control area, acquiring a vehicle pitch angle, monitoring the vehicle pitch angle, and determining that the vehicle is in an uphill running state or a downhill running state; Continuously monitoring the pitch angle of the vehicle, and if the absolute value of the pitch angle is continuously reduced and is smaller than or equal to a first angle preset threshold value or a continuous short-distance lateral shielding object exists on one side of the vehicle, judging that the vehicle enters a ramp exit control area with limited transverse visual field; and continuously monitoring the pitch angle of the vehicle, and if the absolute value of the pitch angle is continuously reduced and is smaller than or equal to a second angle preset threshold value or no continuous close-range lateral shielding object exists on one side of the vehicle, judging that the vehicle exits from a ramp exit control area with limited transverse visible field, wherein the second angle preset threshold value is smaller than the first angle preset threshold value. In some embodiments of the present application, based on the foregoing, if the vehicle enters the hill exit control region, determining, in real time, a critical distance of the vehicle in the lateral direction: if the far-end edge of the close-range lateral shielding object can be detected in advance, the key distance is monitored in real time; If the far-end edge of the close-range lateral shielding object cannot be detected in advance, setting the key distance to be a preset value, and updating the key distance in real time along with the advancing of the vehicle; When the distance between the vehicle and