CN-122009322-A - Automatic emergency steering control method and system applied to intelligent automobile

Abstract

The invention provides an automatic emergency steering control method and system applied to an intelligent automobile, and relates to the technical field of intelligent automobile auxiliary driving. And forming execution logic based on the steering constraint conditions and the hardware information of the steering system, generating a control instruction of the adaptive scene according to the dynamic change of the information, transmitting the control instruction to the steering execution system, synchronously acquiring feedback information and adjusting subsequent instructions. The intelligent automobile automatic emergency steering system comprehensively collects information, scientifically generates constraint, forms closed-loop control, improves timeliness, accuracy and reliability of automatic emergency steering of an intelligent automobile, and guarantees driving safety.

Inventors

• ZHANG PENGCHENG
• WANG RUI

Assignees

• 上海源悦汽车电子股份有限公司

Dates

Publication Date

20260512

Application Date

20260413

Claims (10)

1. 1. An automatic emergency steering control method applied to an intelligent automobile, which is characterized by comprising the following steps: The method comprises the steps that vehicle-mounted sensing equipment and environment detection equipment of an intelligent automobile are linked, real-time running state information of the intelligent automobile and real-time environment information around the automobile are collected, the real-time running state information comprises vehicle running posture information and vehicle control system state information, and the real-time environment information comprises surrounding obstacle distribution information and road structure information; Combining the real-time running state information and the real-time environment information, analyzing the mutual influence relationship between the real-time running state information and the real-time environment information, and generating a steering constraint condition of automatic emergency steering of the intelligent automobile, wherein the steering constraint condition comprises steering angle limiting information and steering speed limiting information; Forming automatic emergency steering execution logic based on the steering constraint conditions and combining steering system hardware related information of the intelligent automobile, wherein the automatic emergency steering execution logic comprises a cooperative flow of steering decision related operation and steering execution related operation; based on the automatic emergency steering execution logic, generating an automatic emergency steering control instruction adapting to the current driving scene according to the dynamic change of the real-time running state information and the dynamic change of the real-time environment information; and transmitting the automatic emergency steering control instruction to a steering execution system of the intelligent automobile, driving the steering execution system to execute steering operation, synchronously collecting real-time feedback information in the steering operation process, and adjusting the subsequent automatic emergency steering control instruction based on the real-time feedback information.
2. 2. The automatic emergency steering control method for an intelligent automobile according to claim 1, wherein the combining the real-time running state information and the real-time environment information, analyzing a mutual influence relationship between the two, and generating a steering constraint condition of automatic emergency steering of the intelligent automobile, comprises: extracting vehicle running posture information in the real-time running state information, wherein the vehicle running posture information comprises current running direction information and vehicle body inclination state information of a vehicle; extracting surrounding obstacle distribution information in the real-time environment information, wherein the surrounding obstacle distribution information comprises position information of an obstacle and form information of the obstacle; Correlating the driving direction information with the position information of the obstacle to determine the relative position relationship between the driving path of the vehicle and the obstacle; Analyzing the risk of the vehicle contacting the obstacle in the steering process by combining the vehicle body inclination state information and the form information of the obstacle; extracting vehicle control system state information in the real-time running state information, wherein the vehicle control system state information comprises response sensitivity information and steering assistance information of a steering system; Extracting road structure information in the real-time environment information, wherein the road structure information comprises width information of a road and curvature information of the road; Correlating response sensitivity information of the steering system with width information of the road, and analyzing an implementation path of the vehicle kept in the road range in the steering operation process; combining the steering power information with the curvature information of the road to determine the steering force adaptation range required in the steering operation process; The method comprises the steps of integrating and generating steering angle limitation information based on a relative position relation between a vehicle driving path and an obstacle, risk of contact between the vehicle and the obstacle in a steering process, an implementation path of the vehicle in a road range in a steering operation process and a steering force adaptation range required in the steering operation process; And integrating and generating steering speed limit information based on response sensitivity information of the steering system, width information of the road, curvature information of the road and steering force adaptation range, wherein the steering angle limit information and the steering speed limit information jointly form a steering constraint condition of automatic emergency steering of the intelligent automobile.
3. 3. The automatic emergency steering control method applied to the intelligent automobile according to claim 1, wherein the forming the automatic emergency steering execution logic based on the steering constraint condition and combining the steering system hardware related information of the intelligent automobile comprises the following steps: Extracting steering angle limitation information in the steering constraint condition, and determining a maximum steering angle interval and a minimum steering angle interval allowed in the steering operation process; extracting steering speed limit information in the steering constraint condition, and determining a maximum steering speed interval and a minimum steering speed interval allowed in the steering operation process; acquiring steering system hardware related information of an intelligent automobile, wherein the steering system hardware related information comprises output power information of a steering motor, transmission ratio information of a steering transmission mechanism and travel information of a steering limiting device; The maximum steering angle interval and the minimum steering angle interval are associated with the travel information of the steering limiting device, and the value range of the angle instruction in the steering decision process is defined; combining the maximum steering speed interval, the minimum steering speed interval and the output power information of the steering motor to define a value range of a speed instruction in a steering decision process; based on the transmission ratio information of the steering transmission mechanism, establishing a corresponding relation between the output rotating speed of the steering motor and the steering angle of the steering wheel; Setting a core flow of steering decision related operation, wherein the core flow of steering decision related operation comprises a specific mode of dynamically adjusting a steering angle instruction and a steering speed instruction based on real-time information; setting a core flow of steering execution related operation, wherein the core flow of steering execution related operation comprises a control flow for driving a steering motor to operate according to a steering angle instruction and a steering speed instruction; planning an information interaction flow between a steering decision-related operation and a steering execution-related operation, and determining an instruction type and an instruction transmission time sequence specification output by the steering decision-related operation; the automatic emergency steering execution logic is formed by integration based on the value range of the angle instruction in the steering decision process, the value range of the speed instruction in the steering decision process, the corresponding relation between the output rotating speed of the steering motor and the steering angle of the steering wheel, the core flow of the steering decision related operation, the core flow of the steering execution related operation and the information interaction flow between the steering decision related operation and the steering execution related operation.
4. 4. The automatic emergency steering control method applied to the intelligent automobile according to claim 1, wherein the generating an automatic emergency steering control instruction adapted to a current driving scene based on the automatic emergency steering execution logic according to the dynamic change of the real-time running state information and the dynamic change of the real-time environment information comprises: The change situation of the real-time running state information is monitored in real time, and the dynamic update content of the running state information of the vehicle and the dynamic update content of the state information of the vehicle control system are captured; monitoring the change situation of the real-time environment information in real time, and capturing the dynamic update content of the surrounding barrier distribution information and the dynamic update content of the road structure information; inputting dynamic update content of vehicle running gesture information into steering decision-related operation in the automatic emergency steering execution logic, and analyzing the effect of the dynamic update content on steering angle instructions and steering speed instructions; inputting dynamic update content of state information of a vehicle control system into steering decision-related operation in the automatic emergency steering execution logic, and adjusting the generation basis of a steering instruction; inputting dynamic update contents of surrounding obstacle distribution information into steering decision-related operation in the automatic emergency steering execution logic, and re-evaluating the relative position relationship between the vehicle and the obstacles; Inputting dynamic update content of road structure information into steering decision-related operation in the automatic emergency steering execution logic, and correcting an adaptation range of steering angle and steering speed; The steering decision-related operation in the automatic emergency steering execution logic is based on the input and analysis, and a steering angle instruction and a steering speed instruction are formed preliminarily by combining the value range of the angle instruction and the value range of the speed instruction in the steering decision process; Transmitting the steering angle instruction and the steering speed instruction to steering execution related operation in the automatic emergency steering execution logic, and carrying out feasibility verification by combining the corresponding relation between the output rotating speed of a steering motor and the steering angle of a steering wheel; According to the feasibility verification result, the steering execution related operation feeds back an adjustment suggestion to a steering decision related operation, and the steering decision related operation optimizes a steering angle instruction and a steering speed instruction based on the adjustment suggestion; And determining the optimized steering angle instruction and the steering speed instruction as automatic emergency steering control instructions which are adaptive to the current driving scene, wherein the automatic emergency steering control instructions comprise specific steering angle parameters and steering speed parameters.
5. 5. The automatic emergency steering control method applied to an intelligent automobile according to claim 1, wherein the transmitting the automatic emergency steering control instruction to a steering execution system of the intelligent automobile drives the steering execution system to execute steering operation and synchronously collects real-time feedback information in the steering operation process, and adjusting subsequent automatic emergency steering control instructions based on the real-time feedback information comprises: Transmitting the steering angle parameter and the steering speed parameter in the automatic emergency steering control instruction to a control unit of a steering execution system through a vehicle-mounted communication bus of the intelligent automobile; the control unit of the steering execution system analyzes the steering angle parameter and the steering speed parameter and generates a motor control signal for driving a steering motor to run; The steering motor receives the motor control signal, adjusts the output rotating speed according to the set steering speed parameter, transmits power to the steering wheel through the steering transmission mechanism, and drives the steering wheel to perform steering motion according to the steering angle parameter; in the process of steering movement of the steering wheel, acquiring actual steering angle information of the steering wheel through an angle sensor of a steering system, and acquiring actual steering speed information of the steering wheel through a speed sensor; acquiring actual inclination state information and actual running direction information of a vehicle body in the steering operation process through a vehicle body posture sensor; Acquiring real-time position change information of surrounding obstacles and real-time state information of a road structure in the steering operation process in real time through environment detection equipment; Integrating actual steering angle information of the steering wheel, actual steering speed information of the steering wheel, actual inclination state information of the vehicle body, actual running direction information of the vehicle body, real-time position change information of surrounding obstacles and real-time state information of a road structure to form real-time feedback information in the steering operation process; Transmitting the real-time feedback information to steering decision-related operation in an automatic emergency steering execution logic, and comparing and analyzing the steering decision-related operation with a set steering angle parameter and a set steering speed parameter; Determining deviation between actual steering operation and instruction requirements according to the comparison analysis result, and combining the current state of real-time running state information and the current state of real-time environment information to form steering angle adjustment quantity and steering speed adjustment quantity; And correcting the steering angle parameter and the steering speed parameter in the automatic emergency steering control instruction generated subsequently based on the steering angle adjustment amount and the steering speed adjustment amount, so that the steering operation is continuously adapted to the current running state of the vehicle and the surrounding environment state.
6. 6. The automatic emergency steering control method applied to a smart car according to claim 2, wherein the associating the traveling direction information with the position information of the obstacle, determining the relative positional relationship between the vehicle traveling path and the obstacle, comprises: Based on the driving direction information, simulating and generating a current preset driving path track of the vehicle, wherein the preset driving path track comprises a driving route description of the vehicle under the condition of not performing steering operation; Marking specific coordinate points of the obstacle in a coordinate system of the vehicle based on the position information of the obstacle, and forming an obstacle coordinate distribution map; Mapping the preset travel path track to the obstacle coordinate distribution map, and establishing a spatial association between the preset travel path track and the obstacle coordinate point; Analyzing the linear distance between each point on the preset driving path track and the coordinate point of the obstacle, and extracting the key point pair with the minimum distance; determining a vehicle running time node corresponding to a point on a preset running path track in the key point pair, and recording the predicted time of the vehicle reaching the corresponding position; Analyzing the extending range of the obstacle corresponding to the coordinate point of the obstacle in the key point pair, and determining the coverage width of the obstacle in the running direction of the vehicle; Combining the spatial association between a preset driving path track and an obstacle coordinate point, the linear distance between a key point pair, the expected time for the vehicle to reach the position corresponding to the key point and the coverage width of the obstacle in the driving direction of the vehicle to form a relative position relation description; judging whether the vehicle overlaps with the obstacle generating path on the preset running path or not based on the relative position relation description; if the path overlapping is detected, determining a starting position and an ending position of an overlapping area and a vehicle running time period corresponding to the overlapping area; And determining a relative position relationship between the vehicle driving path and the obstacle based on the detection result of the path overlapping, the starting position and the ending position of the overlapping area and the vehicle driving time period corresponding to the overlapping area, wherein the relative position relationship comprises the existence of collision risk and the position and time information corresponding to the collision risk.
7. 7. The automatic emergency steering control method for an intelligent vehicle according to claim 3, wherein the step of planning a flow of information interaction between steering decision-related operations and steering execution-related operations, determining a type of instruction output by the steering decision-related operations and a timing specification of instruction transmission, comprises: Extracting instruction contents which need to be output by steering decision related operations in different driving states, and determining the instruction types including a steering angle instruction, a steering speed instruction and an emergency stop instruction; Defining an information format corresponding to each instruction type, wherein the information format of the steering angle instruction comprises an angle numerical description and an angle change trend description, the information format of the steering speed instruction comprises a speed numerical description and a speed change trend description, and the information format of the emergency stop instruction comprises a stop triggering condition description and a stop execution mode description; Analyzing response time required after the steering execution related operation receives the instruction, and setting the minimum time interval of instruction transmission by combining with the real-time requirement of the steering operation; Dividing priorities among a steering angle instruction, a steering speed instruction and an emergency stop instruction based on flow logic of steering operation, wherein the priority of the emergency stop instruction is higher than that of the steering angle instruction and the steering speed instruction, and the priorities of the steering angle instruction and the steering speed instruction are dynamically adjusted according to a driving scene; Setting a checking flow of instruction transmission, wherein the checking flow comprises instruction integrity checking and instruction consistency checking, the instruction integrity checking is realized by checking whether a received instruction contains all necessary information, if not, instruction retransmission is initiated, the instruction consistency checking is realized by checking whether logic conflict exists between a steering angle instruction and a steering speed instruction, and if so, instruction correction is triggered; Establishing an instruction feedback flow, and providing that the steering execution related operation feeds back receiving confirmation information to the steering decision related operation after receiving an instruction, and feeding back execution progress information periodically in the process of executing the instruction and feeding back execution result information after the instruction is executed; determining a format and a transmission time sequence of feedback information, wherein the format of the feedback information is kept to be matched with a corresponding instruction format, and the transmission time sequence of the feedback information is matched with a minimum time interval of instruction transmission; Setting an instruction exception handling flow, and automatically retransmitting an instruction when the steering decision-related operation does not receive feedback information within a specified time; Defining a communication protocol of information interaction, defining a coding mode, a transmission rate and an error correction mode of data transmission, and guaranteeing the accuracy and stability of instructions and feedback information in the transmission process; And integrating and planning an information interaction flow between the steering decision-related operation and the steering execution-related operation based on the instruction type, the information format, the transmission time interval, the prioritization, the verification flow, the feedback flow, the exception handling flow and the communication protocol.
8. 8. The automatic emergency steering control method according to claim 4, wherein the steering decision-related operation in the automatic emergency steering execution logic is based on the input and analysis, and the steering angle instruction and the steering speed instruction are primarily formed by combining the value range of the angle instruction and the value range of the speed instruction in the steering decision process, and the method comprises the following steps: converting dynamic update content of vehicle running posture information into a reference basis for steering angle adjustment, wherein the tendency degree for increasing the steering angle is determined according to the offset of the vehicle running direction, and the tendency degree for stably adjusting the steering angle is determined according to the vehicle body inclination state; Converting dynamic update content of state information of a vehicle control system into a reference basis for adjusting steering speed, wherein the response sensitivity of the steering system is better, the corresponding reference basis for adjusting steering speed tends to increase steering speed, the steering assistance is more sufficient, and the corresponding reference basis for adjusting steering speed tends to be flexibly adjusted; Converting dynamic update content of surrounding obstacle distribution information into constraint bases of steering angles and steering speeds, wherein the closer the position of an obstacle is to a preset running path of a vehicle, the more strict the corresponding constraint bases of the steering angles are, the more complex the form of the obstacle is, and the more strict the corresponding constraint bases of the steering speeds are; converting dynamic update content of road structure information into adaptation bases of steering angles and steering speeds, wherein the narrower the width of a road is, the more the corresponding adaptation bases of the steering angles tend to be adjusted conservatively, the larger the curvature of the road is, and the more the corresponding adaptation bases of the steering speeds tend to be adjusted gently; Combining a reference basis for steering angle adjustment, a steering angle constraint basis and a steering angle adaptation basis to form an initial steering angle suggestion value; combining a reference basis for steering speed adjustment, a steering speed constraint basis and a steering speed adaptation basis to form an initial steering speed suggestion value; Comparing the initial steering angle suggested value with the value range of the angle instruction in the steering decision process, and taking the initial steering angle suggested value as a core parameter of the steering angle instruction if the initial steering angle suggested value is within a maximum steering angle interval and a minimum steering angle interval; Comparing the initial steering speed recommended value with a value range of a speed instruction in a steering decision process, and taking the initial steering speed recommended value as a core parameter of the steering speed instruction if the initial steering speed recommended value is within a maximum steering speed interval and a minimum steering speed interval; adding an angle change trend description for the steering angle instruction, and describing the change direction of the steering angle based on the dynamic update trend of the vehicle running gesture information and the dynamic change trend of the surrounding environment information; And adding a speed change trend description for the steering speed instruction, and describing the change direction of the steering speed based on the dynamic update trend of the state information of the vehicle control system and the dynamic change trend of the road structure information to form a complete steering angle instruction and a complete steering speed instruction.
9. 9. The automatic emergency steering control method for an intelligent vehicle according to claim 5, wherein determining a deviation between an actual steering operation and an instruction requirement according to a comparison analysis result, and combining a current state of real-time running state information and a current state of real-time environment information to form a steering angle adjustment amount and a steering speed adjustment amount, comprises: calculating the difference between the actual steering angle information of the steering wheel and the set steering angle parameter to obtain steering angle deviation; Calculating the difference between the actual steering speed information of the steering wheel and the set steering speed parameter to obtain steering speed deviation; analyzing the positive and negative directions of the steering angle deviation, and judging the magnitude relation between the actual steering angle and the steering angle required by the instruction; Analyzing the positive and negative directions of the steering speed deviation, and judging the magnitude relation between the actual steering speed and the steering speed required by the instruction; The method comprises the steps of combining actual inclination state information and actual running direction information of a vehicle body, and evaluating the effect of steering angle deviation and steering speed deviation on running stability of the vehicle; The effect of steering angle deviation and steering speed deviation on collision risk of the vehicle and the obstacle is estimated by combining the real-time position change information of the surrounding obstacles and the real-time state information of the road structure; determining the direction of steering angle adjustment and an adjustment amplitude reference value based on the value of the steering angle deviation, the effect of the steering angle deviation on the running stability of the vehicle and the effect on collision risk; Determining a steering speed adjustment direction and an adjustment amplitude reference value based on the value of the steering speed deviation, the effect of the steering speed deviation on the running stability of the vehicle and the effect on the collision risk; Referring to the current state of the real-time running state information, if the running gesture of the vehicle is in a preset stable range, reducing the steering angle adjustment amplitude reference value and the steering speed adjustment amplitude reference value; And referring to the current state of the real-time environment information, correcting the steering angle adjustment amplitude reference value and the steering speed adjustment amplitude reference value according to the position change rate of the surrounding obstacle and the change state of the road structure, and finally forming specific steering angle adjustment quantity and steering speed adjustment quantity.
10. 10. An automatic emergency steering control system applied to an intelligent automobile, comprising: A processor; a machine-readable storage medium storing machine-executable instructions for the processor; Wherein the processor is configured to execute the automatic emergency steering control method applied to a smart car according to any one of claims 1 to 9 via execution of the machine executable instructions.

Description

Automatic emergency steering control method and system applied to intelligent automobile Technical Field The invention relates to the technical field of intelligent automobile auxiliary driving, in particular to an automatic emergency steering control method and system applied to an intelligent automobile. Background At the moment of rapid development of intelligent automobile technology, driving safety is always a core concern. The automatic emergency steering function is taken as an important component of the intelligent automobile active safety system, and has important significance for avoiding collision accidents and guaranteeing the life safety of drivers and passengers. Currently, the existing intelligent automobile automatic emergency steering control technology has certain limitations. Part of technologies only rely on a single type of sensor to acquire information, such as acquiring the running state of the vehicle by only relying on vehicle-mounted sensing equipment, or acquiring the surrounding environment by only using environment detection equipment, so that the information acquisition is incomplete, and the comprehensive condition of the vehicle and the surrounding environment cannot be accurately known. Although more abundant information can be acquired by other technologies, during analysis and processing, the mutual influence relationship between the real-time running state information of the vehicle and the surrounding real-time environment information cannot be fully considered, so that the generated steering control instruction lacks scientificity and accuracy. In addition, in the steering execution process, the prior art lacks an effective feedback adjustment mechanism, and once the initial control instruction deviates, the initial control instruction is difficult to correct in time, so that the automatic emergency steering effect is affected, and reliable safety guarantee cannot be provided for the intelligent automobile in complex and changeable driving scenes. Disclosure of Invention In view of the above-mentioned problems, in combination with the first aspect of the present invention, an embodiment of the present invention provides an automatic emergency steering control method applied to an intelligent automobile, the method including: The method comprises the steps that vehicle-mounted sensing equipment and environment detection equipment of an intelligent automobile are linked, real-time running state information of the intelligent automobile and real-time environment information around the automobile are collected, the real-time running state information comprises vehicle running posture information and vehicle control system state information, and the real-time environment information comprises surrounding obstacle distribution information and road structure information; Combining the real-time running state information and the real-time environment information, analyzing the mutual influence relationship between the real-time running state information and the real-time environment information, and generating a steering constraint condition of automatic emergency steering of the intelligent automobile, wherein the steering constraint condition comprises steering angle limiting information and steering speed limiting information; Forming automatic emergency steering execution logic based on the steering constraint conditions and combining steering system hardware related information of the intelligent automobile, wherein the automatic emergency steering execution logic comprises a cooperative flow of steering decision related operation and steering execution related operation; based on the automatic emergency steering execution logic, generating an automatic emergency steering control instruction adapting to the current driving scene according to the dynamic change of the real-time running state information and the dynamic change of the real-time environment information; and transmitting the automatic emergency steering control instruction to a steering execution system of the intelligent automobile, driving the steering execution system to execute steering operation, synchronously collecting real-time feedback information in the steering operation process, and adjusting the subsequent automatic emergency steering control instruction based on the real-time feedback information. In still another aspect, an embodiment of the present invention further provides an automatic emergency steering control system applied to an intelligent automobile, which is characterized by including: the system comprises a processor, a machine-readable storage medium for storing machine-executable instructions of the processor, wherein the processor is configured to execute the automatic emergency steering control method applied to the intelligent automobile by executing the machine-executable instructions. In still another aspect, an embodiment of the present invention further provides a computer pro