基于视觉的驾驶员横向辅助系统关键技术研究
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摘要
随着全球汽车工业的快速发展,汽车在提高人们生活水平的同时也带来了日益增长的交通安全事故。减轻驾驶员疲劳和减少道路交通事故的发生,发展具有辅助驾驶员功能的各种先进驾驶员辅助系统(ADAS,Advanced Driver Assistant System)成为各国的共同目标。其中,辅助驾驶员进行车辆横向运动控制的系统包括车道保持辅助、自动换道、车道偏离预警系统。本文针对这些系统中的车道检测和横向控制两项关键技术分别进行深入的理论和试验研究。
论文首先回顾了驾驶员横向辅助系统的发展历程,对车道识别、车辆横向运动控制方法及车辆横向运动安全决策方法分别进行了介绍,同时总结了目前国内外的研究现状。
在Matlab中基于Simulink开发环境分别建立车辆二自由度、七自由度模型,同时联立车辆-道路相对位置模型构建人-车-路闭环系统并进行仿真分析,为车辆横向控制器的设计和验证提供仿真平台。
车辆横向控制中的车路相对位置及道路曲率等参数由车道识别系统给出,本文针对常见边缘检测算法对模糊车道检测效果差且易产生大量噪声等问题,提出一种基于车道线宽度特征的边缘检测算法。同时,提出一种消失点定位投票选择方法,对聚类于消失点的边缘点进行分类统计来检测直线。通过模型匹配及车道参数寻优过程,获得车辆道路相对位置及车道曲率,为车辆横向控制过程提供控制参数。
预瞄距离选择是车辆横向控制系统中的一项重要内容。联立车路相对位置模型和驾驶员最优预瞄曲率模型,分析不同预瞄距离对车辆横向控制系统的性能影响。构建模糊规则对预瞄距离进行选择,将纵向车速及道路曲率作为模糊输入,预瞄距离为模糊规则输出。采用遗传算法对模糊规则进行全局优化,获得最优的车速、道路曲率和预瞄距离映射关系。
针对传统偏差反馈控制策略在车辆横向控制过程中道路跟踪偏差大等问题,提出一种跟踪期望横摆角速度的车辆横向控制方法。在预瞄点和车辆质心之间构造逼近于车道中心的虚拟路径,并基于虚拟路径和车辆状态求出车辆跟踪虚拟路径的期望状态。设计下层横摆角速度滑模控制器跟踪期望车辆状态,使得车辆在不同车速及道路曲率下均能稳定跟踪目标车道。
针对采用预测车辆到达车道边界时间、车辆侧向速度大小估计等方法在判断车辆横向运动安全状态存在误判的问题,提出一种车辆横向运动安全状态边界确定方法。联立驾驶员模型、车-路相对位置模型,对不同车辆初始位置、纵向车速、道路曲率及不同驾驶员动作迟滞时间下的车辆运行轨迹进行仿真计算。通过遗传算法优化过程搜索出不同反应迟滞时间下车辆横向运动安全状态边界,实现对车辆横向运动安全状态的准确判断。
搭建车道识别算法和车辆横向运动控制系统测试平台。采用LabvIEW中CIN节点调用VC++6.0生成的车道识别动态链接库文件,实现对车道静态图片和视频的处理,LabvIEW良好的界面为算法设计和调试提供很大便利,车辆横向运动控制器采用TI DSP2812平台实现。最后,对提出的车道识别算法、横向控制算法和横向运动安全决策方法进行了试验验证。
With the rapid development of global automobile industry, vehicle not only improve people's living standard but also has brought the increasing traffic accidents. To reduce driver fatigue and road traffic accidents, developing all kinds of Advanced Driver Assistance Systems (ADAS, Advanced Driver Assistant System) which can assist driver became the common goal of many countries. Among them, the system assisting the driver to vehicle lateral movement control includes lane keep assist system, vehicle automatic lane changing system and lane departure warning system. This paper is aimed at the thorough theoretical and experimental research on the two key technologies of driver lateral assist system which include lane detection algorithm and vehicle lateral movement control method.
Firstly, this paper reviewed the development course of the lateral assist system, the lane detection algorithm, method of control and safety decision of the vehicle lateral movement were introduced respectively, and the research progress were also summarized.
2DOF and7DOF vehicle model based on Simulink development environment in Matlab were established, simulation analysis for driver-vehicle-road system with lane model and the relative position model of vehicle-road were carried out at the same time.
The parameters such as relative position of vehicle-road and road curvature are provided by lane recognition system, according to the problems of common edge detection algorithm on vague edge detection producing a lot of noise, a kind of lane edge detection algorithm based on the lane mark width model was proposed. At the same time, a vanishing point detection and location algorithm was proposed based on vote, straight lines were detected based on classification and statistics of edge points which cluster with vanishing points. Through the process of lane model matching and parameter optimization, relative position of road-vehicle and road curvature were computed to provide the measurement parameter for the vehicle lateral control.
Preview distance selection is an important element of the vehicle lateral control system. The vehicle-road model and optimal preview curvature driver model were connected to analyze the effect when choose different preview distance. A fuzzy rule was designed to select the preview distance, the fuzzy rule input were longitudinal vehicle speed and road curvature, the rule output is the preview distance. The fuzzy rule was globaly optimized by genetic algorithm to obtain the optimal mapping relationship among speed, road curvature and preview distance.
According to the low lateral control accuracy and low robustness of lateral control system based on typically position error control, a lateral control algorithm based on tracking desired yaw rate was proposed in this paper. A virtual path was planned between vehicle and preview target point, yaw rate and velocity were analyzed while a vehicle tracking the virtual path. Then a lower controller was designed to track the desired yaw rate based on SMC(sliding mode control)theory, then the vehicle can run according to the virtual path accurately at different vehicle speed and road curvature.
According to the low accurate rate of vehicle lateral movement security status judgment using TLC(time to crossing) and lateral speed estimation method,a vehicle lateral movement safe state boundary determination method was proposed. The vehicle-road model and optimal preview curvature driver model were connected to analyze the vehicle lateral movement at different vehicle initial position, vehicle speed, and road curvature or driver response delaying time. Vehicle lateral movement safe state boundary was searched according to different driver response delaying time by genetic algorithm optimization to make more accurate vehicle lateral movement security status judgment.
An experiment platform was set up to test lane detection algorithm and lateral contol method. The lane detection dynamic link library build by VC++6.0was called by labvIEW CIN module, the module including lane detection algorithm detect lane by processing lane picture or lane video. Good interface of labvIEW provide a great convenience when combile and debug the algorithm,lateral controller was designed based on DSP2812.In the end, proposed lane detection algorithm, lateral control algorithm and safe decision method to vehicle lateral movement were vertified.
论文首先回顾了驾驶员横向辅助系统的发展历程,对车道识别、车辆横向运动控制方法及车辆横向运动安全决策方法分别进行了介绍,同时总结了目前国内外的研究现状。
在Matlab中基于Simulink开发环境分别建立车辆二自由度、七自由度模型,同时联立车辆-道路相对位置模型构建人-车-路闭环系统并进行仿真分析,为车辆横向控制器的设计和验证提供仿真平台。
车辆横向控制中的车路相对位置及道路曲率等参数由车道识别系统给出,本文针对常见边缘检测算法对模糊车道检测效果差且易产生大量噪声等问题,提出一种基于车道线宽度特征的边缘检测算法。同时,提出一种消失点定位投票选择方法,对聚类于消失点的边缘点进行分类统计来检测直线。通过模型匹配及车道参数寻优过程,获得车辆道路相对位置及车道曲率,为车辆横向控制过程提供控制参数。
预瞄距离选择是车辆横向控制系统中的一项重要内容。联立车路相对位置模型和驾驶员最优预瞄曲率模型,分析不同预瞄距离对车辆横向控制系统的性能影响。构建模糊规则对预瞄距离进行选择,将纵向车速及道路曲率作为模糊输入,预瞄距离为模糊规则输出。采用遗传算法对模糊规则进行全局优化,获得最优的车速、道路曲率和预瞄距离映射关系。
针对传统偏差反馈控制策略在车辆横向控制过程中道路跟踪偏差大等问题,提出一种跟踪期望横摆角速度的车辆横向控制方法。在预瞄点和车辆质心之间构造逼近于车道中心的虚拟路径,并基于虚拟路径和车辆状态求出车辆跟踪虚拟路径的期望状态。设计下层横摆角速度滑模控制器跟踪期望车辆状态,使得车辆在不同车速及道路曲率下均能稳定跟踪目标车道。
针对采用预测车辆到达车道边界时间、车辆侧向速度大小估计等方法在判断车辆横向运动安全状态存在误判的问题,提出一种车辆横向运动安全状态边界确定方法。联立驾驶员模型、车-路相对位置模型,对不同车辆初始位置、纵向车速、道路曲率及不同驾驶员动作迟滞时间下的车辆运行轨迹进行仿真计算。通过遗传算法优化过程搜索出不同反应迟滞时间下车辆横向运动安全状态边界,实现对车辆横向运动安全状态的准确判断。
搭建车道识别算法和车辆横向运动控制系统测试平台。采用LabvIEW中CIN节点调用VC++6.0生成的车道识别动态链接库文件,实现对车道静态图片和视频的处理,LabvIEW良好的界面为算法设计和调试提供很大便利,车辆横向运动控制器采用TI DSP2812平台实现。最后,对提出的车道识别算法、横向控制算法和横向运动安全决策方法进行了试验验证。
With the rapid development of global automobile industry, vehicle not only improve people's living standard but also has brought the increasing traffic accidents. To reduce driver fatigue and road traffic accidents, developing all kinds of Advanced Driver Assistance Systems (ADAS, Advanced Driver Assistant System) which can assist driver became the common goal of many countries. Among them, the system assisting the driver to vehicle lateral movement control includes lane keep assist system, vehicle automatic lane changing system and lane departure warning system. This paper is aimed at the thorough theoretical and experimental research on the two key technologies of driver lateral assist system which include lane detection algorithm and vehicle lateral movement control method.
Firstly, this paper reviewed the development course of the lateral assist system, the lane detection algorithm, method of control and safety decision of the vehicle lateral movement were introduced respectively, and the research progress were also summarized.
2DOF and7DOF vehicle model based on Simulink development environment in Matlab were established, simulation analysis for driver-vehicle-road system with lane model and the relative position model of vehicle-road were carried out at the same time.
The parameters such as relative position of vehicle-road and road curvature are provided by lane recognition system, according to the problems of common edge detection algorithm on vague edge detection producing a lot of noise, a kind of lane edge detection algorithm based on the lane mark width model was proposed. At the same time, a vanishing point detection and location algorithm was proposed based on vote, straight lines were detected based on classification and statistics of edge points which cluster with vanishing points. Through the process of lane model matching and parameter optimization, relative position of road-vehicle and road curvature were computed to provide the measurement parameter for the vehicle lateral control.
Preview distance selection is an important element of the vehicle lateral control system. The vehicle-road model and optimal preview curvature driver model were connected to analyze the effect when choose different preview distance. A fuzzy rule was designed to select the preview distance, the fuzzy rule input were longitudinal vehicle speed and road curvature, the rule output is the preview distance. The fuzzy rule was globaly optimized by genetic algorithm to obtain the optimal mapping relationship among speed, road curvature and preview distance.
According to the low lateral control accuracy and low robustness of lateral control system based on typically position error control, a lateral control algorithm based on tracking desired yaw rate was proposed in this paper. A virtual path was planned between vehicle and preview target point, yaw rate and velocity were analyzed while a vehicle tracking the virtual path. Then a lower controller was designed to track the desired yaw rate based on SMC(sliding mode control)theory, then the vehicle can run according to the virtual path accurately at different vehicle speed and road curvature.
According to the low accurate rate of vehicle lateral movement security status judgment using TLC(time to crossing) and lateral speed estimation method,a vehicle lateral movement safe state boundary determination method was proposed. The vehicle-road model and optimal preview curvature driver model were connected to analyze the vehicle lateral movement at different vehicle initial position, vehicle speed, and road curvature or driver response delaying time. Vehicle lateral movement safe state boundary was searched according to different driver response delaying time by genetic algorithm optimization to make more accurate vehicle lateral movement security status judgment.
An experiment platform was set up to test lane detection algorithm and lateral contol method. The lane detection dynamic link library build by VC++6.0was called by labvIEW CIN module, the module including lane detection algorithm detect lane by processing lane picture or lane video. Good interface of labvIEW provide a great convenience when combile and debug the algorithm,lateral controller was designed based on DSP2812.In the end, proposed lane detection algorithm, lateral control algorithm and safe decision method to vehicle lateral movement were vertified.
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