阅读说明：本技术 车辆自主导航横向测距系统及方法 (Vehicle autonomous navigation transverse distance measurement system and method ) 是由 罗清敏 李晓丹 张祥丽 杨少华 陈盈 王帆 肖克满 赵鸿坤 于 2020-12-09 设计创作，主要内容包括：本发明公开了一种车辆自主导航横向测距系统及方法,系统包括：车辆运行的专用车道；设置在专用车道上并沿着多个预定路径延伸的基准面；用于测量车辆和基准面之间行驶方向横向距离的距离传感器；以及车载控制器；车载控制器包括用于存储多个预定路径的存储器,和通过控制车辆转向系统响应来自距离传感器输出以校正车辆偏离预定路径的任何横向偏差的控制器。能够精确确定车辆距离基准面的距离,保证车辆的正常行驶,提高了导航的稳定性和可靠性。(The invention discloses a vehicle autonomous navigation transverse distance measurement system and a method, wherein the system comprises: a dedicated lane in which the vehicle is traveling; a reference surface provided on the exclusive lane and extending along a plurality of predetermined paths; a distance sensor for measuring a distance in a direction transverse to a driving direction between the vehicle and a reference surface; and an onboard controller; the on-board controller includes a memory for storing a plurality of predetermined paths, and a controller responsive to outputs from the distance sensor for correcting any lateral deviation of the vehicle from the predetermined paths by controlling the vehicle steering system. The distance between the vehicle and the reference surface can be accurately determined, the normal running of the vehicle is guaranteed, and the stability and reliability of navigation are improved.)

1. Vehicle autonomous navigation lateral ranging system, characterized in that includes:

a dedicated lane in which the vehicle is traveling;

a reference surface provided on the exclusive lane and extending along a plurality of predetermined paths;

a distance sensor for measuring a distance laterally in a direction of travel between the vehicle and the reference surface; and

a vehicle-mounted controller;

the on-board controller includes a memory for storing a plurality of predetermined paths, and a controller responsive to outputs from the distance sensor for correcting any lateral deviation of the vehicle from the predetermined paths by controlling a steering system of the vehicle.

2. The vehicle autonomous navigation lateral ranging system of claim 1, wherein the range sensor is a non-contact range sensor including an ultrasonic range sensor, a laser range sensor, or a radar range sensor.

3. The vehicle autonomous navigation transverse ranging system according to claim 1 or 2, wherein the distance sensors are arranged in at least two groups, two distance sensors in each group are symmetrically arranged on the left side and the right side of the vehicle and are placed in the center, and the distance sensors in the multiple groups are correspondingly arranged in the middle of the front end and the rear end of the vehicle or in the vicinity of the front end and the rear end of the vehicle respectively.

4. The vehicle autonomous navigation lateral ranging system of claim 1, further comprising a wireless communication module and a remote control device, wherein the remote control device is configured to remotely control the vehicle via the wireless communication module.

5. The vehicle autonomous navigation lateral ranging system of claim 1, wherein a curb is enclosed on both sides of the dedicated lane, the curb providing the reference surface sensed by the distance sensor.

6. The vehicle autonomous navigation lateral ranging system of claim 1, wherein at least one reference marker is provided at a known location in the predetermined path, the reference marker being identified by the range sensor.

7. A method for lateral ranging of an autonomous navigation system of a vehicle, comprising the steps of:

step 1: selecting one of a plurality of predetermined paths stored in a memory;

step 2: each group of distance sensors positioned on the left and right symmetrical sides of the vehicle senses the transverse distance between the vehicle and the reference surface;

and step 3: the controller compares the exclusive lane width calculated by the lateral distance with the stored exclusive lane widths, and corrects any lateral deviation of the vehicle from the selected predetermined path if there is a deviation.

8. The method for vehicle autonomous navigation system lateral ranging of claim 7, wherein step 2 comprises multiple sets of range sensors sensing multiple lateral ranges simultaneously.

9. The method for lateral ranging of the autonomous vehicle navigation system of claim 8, wherein the step 3 specifically comprises:

step 31: the controller calculates the width of a special lane at the current estimated position according to the transverse distance sensed by each group of distance sensors at the two corresponding sides of the vehicle;

step 32: comparing the calculated width of the special lane with the stored width of the special lane, and verifying whether the distance measurement value of each group of distance sensors is within a first tolerance range;

determining the lateral position of the vehicle from the valid measurements if the set of range sensor measurements, which are on respective sides of the vehicle, are valid within the first tolerance range; otherwise, the next step is carried out:

step 33: comparing each of the range sensor sensed distances in each group individually with stored estimated measurements to verify that each of the range sensor sensed distances is within a second tolerance range;

if the distance sensor measurement data is valid within the second tolerance range, otherwise invalid, the vehicle lateral position is determined using the valid measurement data.

10. The method for the lateral ranging of the vehicle autonomous navigation system according to any one of claims 7 to 9, further comprising the step of 4: the actual position of the vehicle is calculated using the reference markers.

Technical Field

The present invention relates to the field of automated navigation technology, and more particularly to a system and method for measuring the lateral distance of a vehicle traveling along a predetermined path.

Background

Generally, a personal rapid transit system (PRT) includes a dedicated track for traveling between stations. Each vehicle carries only one passenger or a group of passengers, and the vehicle continuously travels between the starting point and the destination point without stopping at the intermediate station. Thus, the PRT system provides a compromise between traditional public transportation systems (such as bus, train and subway systems) and individual passenger cars.

The PRT is elevated above the daily traffic by means of an elevated rail, such as an unmanned vehicle suitable for traveling on the rail, and it is imperative to provide an autonomous vehicle navigation lateral distance measurement system in order to ensure smooth and efficient operation of the unmanned personal rapid transit vehicle.

Disclosure of Invention

In view of this, the invention provides a vehicle autonomous navigation transverse distance measurement system and method, which can autonomously implement navigation, ensure normal driving of a vehicle, and improve stability and reliability of navigation.

In order to achieve the purpose, the invention adopts the following technical scheme:

vehicle autonomous navigation lateral ranging system, comprising:

a dedicated lane in which the vehicle is traveling;

a reference surface provided on the exclusive lane and extending along a plurality of predetermined paths;

a distance sensor for measuring a distance laterally in a direction of travel between the vehicle and the reference surface; and

a vehicle-mounted controller;

the on-board controller includes a memory for storing a plurality of predetermined paths, and a controller responsive to outputs from the distance sensor for correcting any lateral deviation of the vehicle from the predetermined paths by controlling a steering system of the vehicle.

The term "steering system" is intended to include any type of mechanism, device or control device capable of steering or guiding a vehicle along a path in response to an output or control signal from a controller, the vehicle being a wheeled vehicle, the steering system including steerable wheels and a steering mechanism that controls the steering direction of the steerable wheels.

Preferably, the distance sensor is a non-contact distance sensor, including an ultrasonic distance sensor, a laser distance sensor or a radar distance sensor. The distance sensors are arranged into at least two groups, two of the distance sensors in each group are symmetrically arranged on the left side and the right side of the vehicle and placed in the middle, and the distance sensors are correspondingly arranged in the middle of the front end and the rear end of the vehicle or nearby the front end and the rear end of the vehicle respectively.

For example, two sets of four distance sensors may be provided, each located at or near a corner of the vehicle and facing sideways of the longitudinal axis of the vehicle. Two distance sensors are provided on each side of the vehicle, with a spacing large enough to detect the angular position of the vehicle's central axis relative to a reference plane.

Preferably, the curb is surrounded on both sides of the exclusive lane. The kerbstone may provide a reference surface that is sensed by the distance sensor. The curb may break at the intersection, enabling the vehicle to move between the exclusive lanes.

The term "dedicated lane" is intended to include any track, road or pavement, dedicated or otherwise, on which a vehicle may travel. The system includes a dedicated lane having a generally flat running surface for the vehicle, laterally defined by a curb or other elevated structure.

Depending on the expected speed of travel of the vehicle and the layout of the intersection, the vehicle may lean or over-ride in the turn of the exclusive lane. The distance sensor preferably detects the lateral distance in the direction of travel of the vehicle between the sensor and the curb or the edge of the dedicated lane.

Or each distance sensor may be continuously operable to sense the distance from the distance sensor to the curb so that the controller can continuously correct any lateral deviation from the predetermined path.

The difference or error between the actual position of the vehicle detected by the distance sensor and the ideal position of the vehicle determined from the predetermined path may be used to correct lateral deviation of the vehicle from the predetermined path and alignment of the vehicle with the predetermined path.

Preferably, the known position in the predetermined path is provided with at least one reference mark, the reference mark being positionable at intervals along the predetermined path for determining the actual position of the vehicle on the predetermined path. The reference mark may be a reflectivity variation of a protrusion or undercut provided at the curb side. The controller may compare the actual position of the vehicle on the predetermined path (as determined by the reference marker) with an estimated position derived by a distance traveled measurement device (e.g., an odometer) from the stored predetermined path, and may reset the position of the vehicle along the predetermined path accordingly.

Preferably, a further remote control device remote from the vehicle may also be provided, which device may communicate wirelessly with an on-board controller of the vehicle. In particular to a remote control device which can control or partially control a vehicle-mounted controller, thereby realizing the remote control of the vehicle.

Preferably, the remote control device may override the control of the on-board controller to start or stop the vehicle, for example in an emergency situation for use by a system operator supervising a vehicle network.

A method for lateral ranging of an autonomous navigation system of a vehicle, comprising the steps of:

step 1: selecting one of a plurality of predetermined paths stored in a memory;

step 2: each group of distance sensors positioned on the left and right symmetrical sides of the vehicle senses the transverse distance between the vehicle and the reference surface;

and step 3: the controller calculates a width of the exclusive lane at the current estimated position from the lateral distances sensed by each of the sets of distance sensors on the corresponding sides of the vehicle, and may compare the calculated width of the exclusive lane with the stored widths of the exclusive lane to check the integrity of the distance to roadside values provided by the distance sensors. The set of distance sensor measurements is considered valid if the error between the sensed lane width and the stored lane width is within a given first tolerance range.

If the error exceeds a given first tolerance, the controller may compare the sensed distance of each sensor of the set to a stored estimated distance value. If the error of a given sensor is within a given second tolerance range, the sensor measurement is deemed valid. If so, the measurement of the sensor is deemed invalid. The controller may disregard any identified invalid measurements and control the vehicle based on the obtained valid measurements.

The steps have the advantages that: the abnormal sensor output caused by the accumulation of garbage or other materials on the special lane is ignored, and the operation of the vehicle navigation system is not influenced.

Compared with the prior art, the invention discloses and provides the vehicle autonomous navigation transverse distance measurement system and method, which can accurately determine the distance between the vehicle and the reference plane, ensure the normal running of the vehicle and improve the navigation stability and reliability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a block diagram of a vehicle autonomous navigation lateral ranging system according to the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of the present invention.

FIG. 3 is a flow chart of a method for lateral ranging of an autonomous navigation system of a vehicle according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention discloses a vehicle autonomous navigation lateral ranging system, as shown in fig. 2, showing an unmanned Personal Rapid Transit (PRT) vehicle 10 traveling along a dedicated lane 11. Although only a portion of the length of a straight, dedicated lane is shown, it forms part of a PRT network, comprising a plurality of vehicles and a plurality of stations connected by the dedicated lane.

There are four distance sensors on the vehicle 10. The distance sensors 5,6, 7, 8 are located at or near the middle of the front and rear ends of the vehicle 10. The distance sensors 5 and 6 are in a group and are respectively arranged on the left and right symmetrical sides of the vehicle, the distance sensors 5 and 7 are positioned on one side of the vehicle 10, and the other two distance sensors 6 and 8 are positioned on the other side of the vehicle 10. Distance sensors on each side of the vehicle 10 are used to detect the angular position of the vehicle relative to a reference plane. The further the distance between the distance sensors 5 and 7 or 6 and 8 on one side of the vehicle, the more accurate the determination of the angular position of the vehicle 10 relative to the reference plane.

Wherein the distance sensor may be a laser distance sensor or any other suitable distance sensor for sensing distance.

The direction of travel of the vehicle indicated by arrow a, the distance sensors 5,6, 7, 8 are connected to an on-board controller, the on-board controller including a memory 4 and a controller 3, the memory 4 being arranged to store a plurality of predetermined paths, one of which may be selected by an occupant of the ride-on vehicle, the controller 3 being responsive to outputs from the distance sensors by controlling the vehicle steering system to correct any lateral deviation of the vehicle from the predetermined paths.

The exclusive lane 11 comprises a curb 1, 2 enclosure running along both sides of the exclusive lane, the inner surface of which provides reference surfaces 12, 13. The distance to the reference surfaces 12, 13 can be measured by the distance sensors 5,6, 7, 8.

Preferably, the positioning of the projecting portions marked on the sides of the kerbs 1, 2, as shown by reference signs 14, 15, is located at known intervals along the exclusive lane 11. The reference marks 14 and 15 are preferably symmetrically disposed on both sides of the exclusive lane 11, and only one reference mark may be disposed on one side of the exclusive lane 11. The distance sensors 5,6, 7, 8 are able to detect when they reach the reference marks 14, 15 because the sensing distance between each distance sensor and the reference surface changes as the distance sensor passes the reference mark, and the distance sensor can identify this as a step discontinuity in the distance signal it outputs.

In use, the vehicle 10 is stored in the memory 4 along a predetermined travel path of the exclusive lane 11. The predetermined path may be derived from the original lane-specific design parameters or by manually guiding the vehicle along the lane 11 to travel on the desired path while sensing the path followed and recording the distance traveled. When the predetermined path is generated, reference distance sensor readings for the distance sensors 5,6, 7, 8 are stored, corresponding to different positions along the path. At the same time, the road widths at different locations along the path are determined and stored.

An input device, such as a touch screen or a keypad, is provided inside or outside the vehicle to enable the passenger to select a travel destination. When the vehicle 10 is instructed to travel to the destination, the controller 3 controls the vehicle to reach the destination along an appropriate predetermined path or combination of predetermined paths. The distance sensors 5,6, 7, 8 measure the lateral distance in the direction of travel a of the vehicle between the distance sensors and the reference surfaces 12, 13. When the controller 3 detects that the exclusive lane width calculated by the lateral distance is deviated from the stored exclusive lane width, it controls the vehicle to correct any lateral deviation from the predetermined path detected by the distance sensors 5,6, 7, 8. Ideally, the vehicle 10 travels centrally along the exclusive lane 11, i.e. the predetermined path is equally spaced between the curbs 1, 2.

When the vehicle encounters a curve on the exclusive lane, the controller 3 will control the vehicle to pass through the curve. If the vehicle follows the predetermined path accurately, this is confirmed by the outputs of the distance sensors 5,6, 7, 8 and no corrective action is required. However, if the vehicle deviates from the predetermined path, this will be detected by the outputs of the distance sensors 5,6, 7, 8 and a corrective steering input will be generated.

When the distance sensors 5,6, 7, 8 detect the reference markers 14, 15, the control device 3 compares the actual position of the vehicle 10 in the predetermined path with a position calculated on the basis of the measured distances traveled along the stored predetermined path. Any deviation or error in position is corrected by the controller 3.

As shown in fig. 3, a method for lateral ranging of an autonomous navigation system of a vehicle, comprising:

step 1: the controller 3 estimates the position of the vehicle 10 on the exclusive lane 12 from a predetermined path.

Step 2: the controller 3 calculates the width of the exclusive lane at the estimated position from the output lateral distance of each group of distance sensors and compares it with the width of the exclusive lane stored in the memory 4;

if the error reading between the sensed lane width and the stored lane width is within a given first tolerance, i.e. the road width error is not greater than the tolerance, the distance sensor measurements of the set of distance sensors are considered valid for calculating the vehicle lateral position;

specifically, in the present embodiment, two sets of data are output, that is, the lateral distance measured by the first set of distance sensors 5,6 and the lateral distance measured by the second set of distance sensors 7, 8, and if the lane width calculated by the first set of distance sensors 5,6 is not larger than the first tolerance, the data of the distance sensors 5,6 is valid, while the second set of distance sensors 7, 8 is larger than the first tolerance, each sensor 7, 8 is individually compared.

If the error exceeds a given first tolerance, the controller individually compares the sensed distance of each distance sensor in each set with an estimated distance calculated by modifying stored predictor mined reference distance readings from estimated vehicle lateral and heading errors for the reference path;

a given distance sensor measurement is valid if the error of the distance sensor is within a given second tolerance, i.e. less than the tolerance. Otherwise, the measurement of the distance sensor will be deemed invalid, and the controller 3 ignores any invalid measurement and determines the lateral position of the vehicle from the valid measurement.

If the distance sensor fails or debris or other material accumulates on the exclusive lane 11, any erroneous distance sensor readings will be ignored and the operation of the vehicle navigation system is not affected, ensuring accuracy of lateral ranging.

The invention is suitable for the transverse distance measurement of the vehicle guide system of the unmanned personal rapid transit vehicle, but the application scene is not limited in particular.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.