CN105788369B - Overtake other vehicles control method and device for automatic driving vehicle - Google Patents
Overtake other vehicles control method and device for automatic driving vehicle Download PDFInfo
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- CN105788369B CN105788369B CN201610374246.4A CN201610374246A CN105788369B CN 105788369 B CN105788369 B CN 105788369B CN 201610374246 A CN201610374246 A CN 201610374246A CN 105788369 B CN105788369 B CN 105788369B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
This application discloses overtake other vehicles control method and the devices for automatic driving vehicle.One specific embodiment of the method includes: the solicited message of overtaking other vehicles for receiving and issuing to passing vehicle, wherein the solicited message of overtaking other vehicles includes the relative position information to the identification information of passing vehicle and with the automatic driving vehicle；Detect whether current road segment is the section that can overtake other vehicles；It is the section that can overtake other vehicles in response to current road segment, information, adjusts the distance between Adjacent vehicles depending on that relative position；According to range information adjusted, overtaking signal is issued to passing vehicle to described.The embodiment ensure that the safety overtaken other vehicles.
Description
Technical field
This application involves automatic driving vehicle technical fields, and in particular to automatic driving vehicle networking technology field, especially
It is related to overtake other vehicles control method and and the device of automatic driving vehicle.
Background technique
Automatic driving vehicle is that the novel intelligent automobile of one kind also referred to as " wheeled mobile robot " mainly passes through ECU
(Electronic Control Unit, electronic control unit), i.e. vehicle-mounted terminal equipment carry out various pieces in vehicle accurate
Control with calculate analysis realize vehicle fully automatic operation, reach the unpiloted purpose of vehicle.
Existing vehicle cut-ins technology is usually that passing vehicle decides whether to surpass according to itself position and information
Vehicle, such situation are difficult to same surrounding vehicles and reach common understanding, meanwhile, automatic driving vehicle is mainly carried out by electronic control unit quasi-
The operation of true high speed, in the case where not reaching common understanding with other vehicles, it is difficult to guarantee security reliability when overtaking other vehicles.
Summary of the invention
The purpose of the application is to propose a kind of improved overtake other vehicles control method and device for automatic driving vehicle, come
Solve the technical issues of background section above is mentioned.
In a first aspect, this application provides a kind of control methods of overtaking other vehicles for automatic driving vehicle, which comprises
Receive the solicited message of overtaking other vehicles issued to passing vehicle, wherein the solicited message of overtaking other vehicles includes the mark to passing vehicle
Know information and the relative position information with the automatic driving vehicle；Detect whether current road segment is the section that can overtake other vehicles；In response to
Current road segment is the section that can overtake other vehicles, depending on that relative position information, the distance between adjustment and Adjacent vehicles；After adjustment
Range information, to it is described to passing vehicle issue overtaking signal.
In some embodiments, described in response to current road segment is that can overtake other vehicles section, and information, is adjusted depending on that relative position
The distance between whole and Adjacent vehicles, comprising: relative to the driving direction of the automatic driving vehicle, when described to passing vehicle
When positioned at the automatic driving vehicle right side side, adjust between the automatic driving vehicle and the first vehicle and the second vehicle away from
From, wherein first vehicle be located at the automatic driving vehicle just before front, second vehicle be located at it is described nobody drive
Sail the right front of vehicle；Relative to the driving direction of the automatic driving vehicle, when it is described to passing vehicle be located at it is described nobody
When driving vehicle left side side, the distance between the automatic driving vehicle and first vehicle and third vehicle are adjusted, wherein
The third vehicle is located at the left front of the automatic driving vehicle.
In some embodiments, described in response to current road segment is that can overtake other vehicles section, and information, is adjusted depending on that relative position
The distance between whole and Adjacent vehicles, comprising: determine whether distance to be adjusted is less than preset safety distance threshold；In response to
Adjustment distance is less than preset safety distance threshold, is adjusted to the speed and/or direction of the automatic driving vehicle, so that
The distance to be adjusted is greater than the safety distance threshold.
In some embodiments, whether determination distance to be adjusted is less than preset safety distance threshold, comprising: obtains
The current speed of the automatic driving vehicle；The safety distance threshold under current vehicle speed is determined according to the speed.
In some embodiments, it is described in response to distance to be adjusted be less than preset safety distance threshold, to it is described nobody
The speed and/or direction for driving vehicle are adjusted, so that the distance to be adjusted is greater than the safety distance threshold, comprising:
Obtain the information of Adjacent vehicles, wherein the information includes at least one of the following: the lane information of Adjacent vehicles, Adjacent vehicles
Vehicle speed information, the distance between described automatic driving vehicle information, the information is by being placed in the automatic driving vehicle
Sensor acquisition.
In some embodiments, the sensor include at least one of the following: between acquisition and Adjacent vehicles away from
From sensor；For acquiring the sensor of the speed of Adjacent vehicles, the sensor of the lane information for acquiring Adjacent vehicles.
Second aspect, this application provides a kind of control device of overtaking other vehicles for automatic driving vehicle, described device includes:
Information receiving unit is configured to receive the solicited message of overtaking other vehicles issued to passing vehicle, wherein the request packet of overtaking other vehicles
Include the relative position information to the identification information of passing vehicle and with the automatic driving vehicle；Detection unit, configuration are used
It whether is the section that can overtake other vehicles in detecting current road segment；Distance adjusting unit is configured in response to current road segment be the road that can overtake other vehicles
Section, information, adjusts the distance between Adjacent vehicles depending on that relative position；Signal sending unit, according to it is adjusted away from
From information, overtaking signal is issued to passing vehicle to described.
In some embodiments, the distance adjusting unit configuration is further used for: relative to the automatic driving vehicle
Driving direction adjust the automatic driving vehicle when described when passing vehicle is located at the automatic driving vehicle right side side
With the distance between the first vehicle and the second vehicle, wherein first vehicle be located at the automatic driving vehicle just before before
Side, second vehicle are located at the right front of the automatic driving vehicle；Relative to the driving direction of the automatic driving vehicle,
When described when passing vehicle is located at the automatic driving vehicle left side side, the automatic driving vehicle and first vehicle are adjusted
And the distance between third vehicle, wherein the third vehicle is located at the left front of the automatic driving vehicle.
In some embodiments, the distance adjusting unit, comprising: safety distance threshold subelement is configured to determine
Whether distance to be adjusted is less than preset safety distance threshold；Subelement is adjusted, is configured to be less than in response to distance to be adjusted
Preset safety distance threshold is adjusted the speed and/or direction of the automatic driving vehicle so that it is described it is to be adjusted away from
From greater than the safety distance threshold.
In some embodiments, the safety distance threshold subelement configuration is further used for: obtaining described unmanned
The current speed of vehicle；The safety distance threshold under current vehicle speed is determined according to the speed.
In some embodiments, the adjustment subelement configuration is further used for: obtaining the information of Adjacent vehicles, wherein
The information includes at least one of the following: the lane information of Adjacent vehicles, the vehicle speed information of Adjacent vehicles, and described unmanned
The distance between vehicle information, the information are acquired by the sensor being placed in the automatic driving vehicle.
In some embodiments, the sensor include at least one of the following: between acquisition and Adjacent vehicles away from
From sensor；For acquiring the sensor of the speed of Adjacent vehicles, the sensor of the lane information for acquiring Adjacent vehicles.
Overtake other vehicles control method and device provided by the present application for automatic driving vehicle, by receiving to passing vehicle
Identification information determines the relative position to passing vehicle, then detects whether the section being currently located is the section that can overtake other vehicles, if working as
Preceding section can overtake other vehicles, then according to the relative position to passing vehicle, adjust at a distance from the vehicle adjacent with automatic driving vehicle,
Finally according to range information adjusted, overtaking signal is issued to passing vehicle, to guarantee what automatic driving vehicle was overtaken other vehicles
Safety effectively controls overtaking other vehicles for automatic driving vehicle.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the flow chart according to one embodiment of the control method of overtaking other vehicles for automatic driving vehicle of the application；
Fig. 3 a and Fig. 3 b are an application scenarios according to the control method of overtaking other vehicles for automatic driving vehicle of the application
Schematic diagram；
Fig. 4 is the process according to another embodiment of the control method of overtaking other vehicles for automatic driving vehicle of the application
Figure；
Fig. 5 is the structural representation according to one embodiment of the control device of overtaking other vehicles for automatic driving vehicle of the application
Figure；
Fig. 6 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present application
Figure.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can the control method or for unmanned of overtaking other vehicles using the application for automatic driving vehicle
The exemplary system architecture 100 of the embodiment of the control method device of overtaking other vehicles of vehicle.
As shown in Figure 1, system architecture 100 may include the vehicle-mounted terminal equipment 101,102,103 of automatic driving vehicle, to
The vehicle-mounted terminal equipment 107,108,109 of passing vehicle, network 104,106, to the vehicle-mounted terminal equipment of automatic driving vehicle
101,102,103 and the server 105 that is supported of the vehicle-mounted terminal equipment 107,108,109 to passing vehicle.Network 104
To provide the medium of communication link between the vehicle-mounted terminal equipment 101,102,103 and server 105 of automatic driving vehicle,
Network 106 between the vehicle-mounted terminal equipment 107,108,109 and server 105 to passing vehicle to provide communication link
Medium.Network 104,106 may include various connection types, such as wired, wireless communication link, global positioning system or light
Fiber-optic cable etc..
The control system of automatic driving vehicle is installed on vehicle-mounted terminal equipment 101,102,103, can directly be passed through
Network 104 is interacted with server 105, and the control system to passing vehicle is equipped on vehicle-mounted terminal equipment 107,108,109,
It can directly be interacted by network 106 with server 105, vehicle-mounted terminal equipment 101,102,103 may be also connected to for examining
Each sensor, display screen for providing information input and display for surveying vehicle working condition etc..
Server 105, which can be, provides the server of service for control of overtaking other vehicles, such as can receive vehicle-mounted terminal equipment
107, the server of 108,109 requests of overtaking other vehicles issued.The data such as request of overtaking other vehicles received can be sent to vehicle by server
Mounted terminal equipment 101,102,103.
It should be understood that the number of terminal device, network and server in Fig. 1 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
With continued reference to Fig. 2, a reality of the control method of overtaking other vehicles for automatic driving vehicle according to the application is shown
Apply the process 200 of example.The control method of overtaking other vehicles for automatic driving vehicle, comprising the following steps:
Step 201, the solicited message of overtaking other vehicles issued to passing vehicle is received.
In the present embodiment, for automatic driving vehicle overtake other vehicles control method operation thereon electronic equipment (such as
Vehicle-mounted terminal equipment shown in FIG. 1 101,102,103) vehicle to be overtaken other vehicles can be received from server by way of wireless connection
Issue solicited message of overtaking other vehicles, wherein include in above-mentioned solicited message of overtaking other vehicles to passing vehicle vehicle identification information with
And the relative position information to passing vehicle and above-mentioned automatic driving vehicle.It should be pointed out that above-mentioned radio connection can
To include but is not limited to 3G/4G connection, WiFi connection, bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra
Wideband) connection and other currently known or exploitation in the future radio connections.
In general, to passing vehicle using operation thereon electronic equipment (such as vehicle-mounted terminal equipment shown in FIG. 1 107,
108,109) wireless connection by way of to server overtake other vehicles request is sent, server is according to above-mentioned request, it is first determined to
The identification information of passing vehicle, above-mentioned identification information may include the color of vehicle, the vehicle of vehicle, license plate number of vehicle etc.
Deng.According to above-mentioned identification information, determine to the relative position information between passing vehicle and automatic driving vehicle, such as wait overtake other vehicles
Vehicle is in the left side side, right side side or rear side side of automatic driving vehicle.Server is by the data mark to passing vehicle of analysis
Know information and relative position information is sent to automatic driving vehicle.As an example, a red license plate number is " abcd " first
Automobile issue the information of request of overtaking other vehicles, server receives overtake other vehicles solicited message after, be resolved to the vehicle that this request issues
It is identified as color red, license plate number is " abcd ", sends this information to automatic driving vehicle, automatic driving vehicle receives this and asks
Seek information.
Step 202, whether detection current road segment is the section that can overtake other vehicles.
In the present embodiment, based on the request of overtaking other vehicles issued to passing vehicle received in step 201, above-mentioned electronics is set
Standby (such as terminal device 101,102,103 of automatic driving vehicle shown in FIG. 1) can detecte automatic driving vehicle current line
Whether the section sailed is the section that can be overtaken other vehicles.Wherein, it is friendship that the above-mentioned section for being not available for overtaking other vehicles, which can be present road,
The section of no Overtaking in logical regulation；Or present road is crowded, is not easy to the section overtaken other vehicles.As an example, to whether
Detection for the section that can overtake other vehicles may include according to the direction board for the no Overtaking being arranged on road, the mark of direction board is preset
In automatic driving vehicle.Under current road segment, if the terminal device of automatic driving vehicle detects the mark, it is determined as
It cannot overtake other vehicles, if not detecting this mark, be judged to overtake other vehicles.To whether be can overtake other vehicles section detection also with
Including the road section information of current road segment is sent to server, server can be according to the information of current road segment to automatic driving car
Issue the information that whether can overtake other vehicles.
In the present embodiment, in above-mentioned traffic law the section of no Overtaking include level crossing, intersection, narrow bridge,
Bend, abrupt slope, tunnel, crossing etc. are not overtaken other vehicles possible section.Other than the section of above-mentioned no Overtaking, when front truck just
What is turned left, turn around or overtake other vehicles, it is not suitable for overtaking other vehicles；Front is the police car to carry out an urgent task, fire fighting truck, ambulance, work
When the vehicles such as journey emergency car, also it is not suitable for overtaking other vehicles.
In the present embodiment, it is crowded to be in road for vehicle, can be according to section situation, in vehicle when being not easy to the section overtaken other vehicles
It more evacuates, it can be for when condition is overtaken other vehicles in passing vehicle creation, the section that can not overtake other vehicles be corrected as the section that can overtake other vehicles.
It step 203, is the section that can overtake other vehicles in response to current road segment, according to between passing vehicle and automatic driving vehicle
Relative position information, the distance between adjustment and Adjacent vehicles.
It, can when determining that current road segment is according to the judgement that whether can be overtaken other vehicles about current road segment made in step 202
Overtake other vehicles section when, can be to overtake other vehicles in the case where condition to passing vehicle creation, the car-mounted terminal of above-mentioned automatic driving vehicle
Equipment can adjust nothing according to the relative position information to passing vehicle and above-mentioned automatic driving vehicle determined in step 201
The distance of people's driving vehicle vehicle adjacent thereto.
As an example, above-mentioned Adjacent vehicles may include the driving direction relative to automatic driving vehicle, it is located at above-mentioned nothing
People drives the vehicle in the front of vehicle, positioned at the vehicle of above-mentioned automatic driving vehicle left side side and positioned at above-mentioned unmanned
The vehicle of vehicle right side side.Above-mentioned Adjacent vehicles also may include based on adjacent thresholds distance preset in automatic driving vehicle and
Determining Adjacent vehicles.The vehicle-mounted terminal equipment of automatic driving vehicle by adjusting automatic driving vehicle and Adjacent vehicles away from
From can be to passing vehicle to reserve out position, to be overtaken other vehicles safely to passing vehicle.
Step 204, according to range information adjusted, overtaking signal is issued to passing vehicle.
In the present embodiment, after the distance between automatic driving vehicle vehicle adjacent thereto being adjusted in step 203,
Determination can carry out under safe cut-in situation to passing vehicle, and automatic driving vehicle issues the finger overtaken other vehicles to passing vehicle to above-mentioned
Show or signal.
In the present embodiment, after determination can overtake other vehicles, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle can will surpass
Vehicle instruction is sent to server, after server receives the indication signal, then sends an indication to and sets to the terminal of passing vehicle
It is standby.Above-mentioned automatic driving vehicle can also directly be issued to passing vehicle by indicating equipments such as preset indicator lights onboard
Overtaking signal.
With continued reference to the control of overtaking other vehicles for automatic driving vehicle that Fig. 3 a and Fig. 3 b, Fig. 3 a and Fig. 3 b are according to the present embodiment
One schematic diagram of the application scenarios of method processed.
In the application scenarios of Fig. 3 a, vehicle 1, vehicle 2 and vehicle 3 are identical as the driving direction of automatic driving vehicle,
Wherein, automatic driving vehicle travels on the same lane with vehicle 2, and vehicle 1 travels in the left-hand lane of automatic driving vehicle, and
And in the left front of automatic driving vehicle, vehicle 3 travels in the right-hand lane of automatic driving vehicle, and in automatic driving vehicle
Right front, be located at the right side side of automatic driving vehicle to passing vehicle, and be red to the color of passing vehicle, license plate number is
"1234".Firstly, it is overtaking other vehicles to what passing vehicle issued for " 1234 " that automatic driving vehicle, which receives a red license plate number,
Request.Then, automatic driving vehicle detects whether current section is the section that can overtake other vehicles.
In the application scenarios of Fig. 3 b, after automatic driving vehicle detects that current section is that can overtake other vehicles section, nobody
It drives vehicle and adjusts it at a distance from vehicle 1, vehicle 2, vehicle 3, to create safe condition of overtaking other vehicles to passing vehicle.When unmanned
After vehicle adjusts position, instruction of overtaking other vehicles is issued to passing vehicle.It can be from the position reserved to passing vehicle in figure
It overtakes other vehicles at the place of setting.
For the method provided by the above embodiment of the application by receiving the request of overtaking other vehicles issued to passing vehicle, detection is current
Section whether be can overtake other vehicles section and automatic driving vehicle adjustment with the spacing between its Adjacent vehicles, peace of overtaking other vehicles can be made
It is complete reliable.
With further reference to Fig. 4, it illustrates another embodiments of the control method of overtaking other vehicles for automatic driving vehicle
Process 400.This is used for the process 400 of the control method of overtaking other vehicles of automatic driving vehicle, comprising the following steps:
Step 401, the solicited message of overtaking other vehicles issued to passing vehicle is received.
In the present embodiment, for automatic driving vehicle overtake other vehicles control method operation thereon electronic equipment (such as
Vehicle-mounted terminal equipment shown in FIG. 1 101,102,103) vehicle to be overtaken other vehicles can be received from server by way of wireless connection
Issue solicited message of overtaking other vehicles, wherein include in above-mentioned solicited message of overtaking other vehicles to passing vehicle vehicle identification information with
Relative position information to passing vehicle and above-mentioned automatic driving vehicle.
Step 402, whether detection current road segment is the section that can overtake other vehicles.
In the present embodiment, based on the request of overtaking other vehicles issued to passing vehicle received in step 201, above-mentioned electronics is set
Standby (such as terminal device 101,102,103 of automatic driving vehicle shown in FIG. 1) can detecte current driving section whether
For the section that can be overtaken other vehicles.
It step 403, is the section that can overtake other vehicles in response to current road segment, according to between passing vehicle and automatic driving vehicle
Relative position information, the distance between adjustment and Adjacent vehicles.
It, can when determining that current road segment is according to the judgement that whether can be overtaken other vehicles about current road segment made in step 402
Overtake other vehicles section when, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle can according to determine in step 401 to passing vehicle with
The relative position information of above-mentioned automatic driving vehicle adjusts the distance of automatic driving vehicle vehicle adjacent thereto.
In some optional implementations of the present embodiment, relative to the driving direction of automatic driving vehicle, when to super
When vehicle vehicle is located at the right side side of automatic driving vehicle, at this point, can overtake other vehicles from the right side side in automatic driving car to passing vehicle,
The vehicle-mounted terminal equipment of automatic driving vehicle only can need to adjust automatic driving vehicle and be located at immediately ahead of automatic driving vehicle
The distance and automatic driving vehicle of vehicle and the distance of the vehicle positioned at automatic driving vehicle right front.
In some optional implementations of the present embodiment, relative to the driving direction of automatic driving vehicle, when to super
When vehicle vehicle is located at the left side side of automatic driving vehicle, at this point, can overtake other vehicles from the left side side in automatic driving car to passing vehicle,
The vehicle-mounted terminal equipment of automatic driving vehicle only can need to adjust automatic driving vehicle and be located at immediately ahead of automatic driving vehicle
The distance and automatic driving vehicle of vehicle and the distance of the vehicle positioned at automatic driving vehicle left front.
Step 404, determine whether distance to be adjusted is less than preset safety distance threshold.
In the present embodiment, the safety distance threshold in the vehicle-mounted terminal equipment of automatic driving vehicle between preset vehicle,
Based on determining that current road segment is after can overtaking other vehicles section in step 403, the terminal device in automatic driving vehicle is to adjacent vehicle
When carrying out distance adjustment, can determine whether the distance between Adjacent vehicles are preset less than in automatic driving vehicle first
Safety distance threshold.When the distance between automatic driving vehicle and Adjacent vehicles be greater than in automatic driving vehicle preset safety away from
When from threshold value, it can state directly up and send instruction of overtaking other vehicles to passing vehicle.Wherein, safe distance is before automatic driving vehicle
Vehicle brake suddenly after, automatic driving vehicle is unlikely to knock the distance of front truck therewith braking, and safe distance is by brake
The sum of the distance that action time, continuous braking time and releasing braking time vehicle are travelled determines.
In some optional implementations of the present embodiment, the traveling speed of above-mentioned automatic driving vehicle can be obtained first
Degree multiplied by above-mentioned brake action time, continuous braking time and releases braking time respectively by running speed, determines above-mentioned
Safety distance threshold.Automatic driving vehicle has different minimum safe distances under different running speeds.Automatic driving car
The different continuous braking time is had on different road surfaces, road surface can substantially be divided into solid carbon dioxide road, dry asphalt road, wet pitch
Road and wet cement road, wherein the attachment coefficient of solid carbon dioxide road is maximum, i.e. the continuous braking time is most short, the attachment system on wet cement road
Number is minimum, continuous braking time longest.By taking 100km/h as an example, the braking distance of dry asphalt road is 65.62m, works as automatic driving car
Brake action time be 0.5s when, brake action time be 13.89m.Therefore, when the driving speed of automatic driving vehicle
The minimum safe distance that degree is 100km/h is 80m.Therefore, in 100km/h, the safe distance threshold of above-mentioned automatic driving vehicle
Value can determine the safety distance threshold under current vehicle speed according to the speed of automatic driving vehicle for 80m respectively.
Step 405, it is less than preset safety distance threshold in response to distance to be adjusted, to the speed of automatic driving vehicle
And/or direction is adjusted, so that distance to be adjusted is greater than safety distance threshold.
In the present embodiment, according to the safety distance threshold under the current vehicle speed determined in step 404, work as automatic driving car
With its Adjacent vehicles distance be less than above-mentioned safety distance threshold when, the vehicle-mounted terminal equipment of automatic driving vehicle drives nobody
It sails vehicle to be adjusted, so that above-mentioned automatic driving vehicle is greater than above-mentioned safety distance threshold with the distance of its Adjacent vehicles.Its
In, the speed of adjustable automatic driving vehicle and direction expand the distance between Adjacent vehicles.
In some optional implementations of the present embodiment, the vehicle-mounted terminal equipment of automatic driving vehicle it is available with
The information of its adjacent vehicle, wherein above- mentioned information may include at least one of following: the lane information of Adjacent vehicles is adjacent
The vehicle speed information of vehicle, the distance between described automatic driving vehicle information.By obtaining the lane information of Adjacent vehicles, nothing
The vehicle-mounted terminal equipment that people drives vehicle can first determine whether the relative position between above-mentioned Adjacent vehicles and automatic driving vehicle,
So that it is determined which vehicle needs to judge safety distance threshold in Adjacent vehicles；Then it obtains and needs to adjust the adjacent of relative distance
The vehicle speed information of vehicle determines automatic driving vehicle relative to adjacent vehicle in conjunction with the current vehicle speed information of automatic driving vehicle
Opposite speed.According to above-mentioned opposite speed, automatic driving vehicle adjusts itself current speed, while adjusting the position of itself
Set direction.
In some optional implementations of the present embodiment, the information of above-mentioned acquisition Adjacent vehicles can be above-mentioned by being placed in
Sensor acquisition in automatic driving vehicle.Wherein the sensor is included at least one of the following: for acquisition and Adjacent vehicles
The distance between sensor；For acquiring the sensor of the speed of Adjacent vehicles, for acquiring the lane information of Adjacent vehicles
Sensor.
Step 406, according to range information adjusted, overtaking signal is issued to passing vehicle.
In the present embodiment, after determination can overtake other vehicles, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle can will surpass
Vehicle instruction is sent to server, after server receives the indication signal, then sends an indication to and sets to the terminal of passing vehicle
It is standby.
Figure 4, it is seen that compared with the corresponding embodiment of Fig. 2, in the present embodiment for automatic driving vehicle
The process 400 for control method of overtaking other vehicles highlight the distance between determining automatic driving vehicle vehicle adjacent thereto whether be less than be placed in
Safety distance threshold in automatic driving vehicle, and the case where distance to be adjusted is less than preset safety distance threshold
Under, the step of being adjusted to automatic driving vehicle.Can make can be with to passing vehicle for the scheme of the present embodiment description as a result,
It is safer, efficiently overtake other vehicles.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides one for unmanned
One embodiment of the control device of overtaking other vehicles of vehicle, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, the device
It specifically can be applied in various electronic equipments.
As shown in figure 5, the control device 500 of overtaking other vehicles described in the present embodiment for automatic driving vehicle includes: that information connects
Receive unit 501, detection unit 502, distance adjusting unit 503 and signal sending unit 504.Wherein, information receiving unit 501 is matched
It sets for receiving the solicited message of overtaking other vehicles issued to passing vehicle, wherein the solicited message of overtaking other vehicles includes the vehicle to be overtaken other vehicles
Identification information and relative position information with the automatic driving vehicle；Detection unit 502 is configured to detect current road
Whether section is the section that can overtake other vehicles；Distance adjusting unit 503 is configured in response to current road segment be the section that can overtake other vehicles, according to described
Relative position information, the distance between adjustment and Adjacent vehicles；And signal sending unit 504 is according to range information adjusted,
Overtaking signal is issued to passing vehicle to described.
In the present embodiment, the information receiving unit 501 for the control device 500 of overtaking other vehicles of automatic driving vehicle can lead to
It crosses the mode being wirelessly connected and receives the solicited message of overtaking other vehicles issued to passing vehicle from server, wherein above-mentioned request of overtaking other vehicles
It include the vehicle identification information to passing vehicle in information with the relative position to passing vehicle and above-mentioned automatic driving vehicle
Information.
In the present embodiment, the request of overtaking other vehicles issued to passing vehicle received based on information receiving unit 501, it is above-mentioned
Whether the section that detection unit 502 can detecte automatic driving vehicle current driving is gram section overtaken other vehicles.
In the present embodiment, the judgement that whether can be overtaken other vehicles about current road segment made based on detection unit 502, it is above-mentioned
Distance adjusting unit 503 can be condition of overtaking other vehicles to passing vehicle creation when determining current road segment is that can overtake other vehicles section
In the case of, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle can be according to the vehicle to be overtaken other vehicles determined in information receiving unit 501
Relative position information with above-mentioned automatic driving vehicle adjusts the distance of automatic driving vehicle vehicle adjacent thereto.
In the present embodiment, based in distance adjusting unit 503 by between automatic driving vehicle vehicle adjacent thereto away from
After adjustment, signal sending unit 504 is in the case where determination can carry out safe cut-in situation to passing vehicle, automatic driving vehicle
The instruction overtaken other vehicles or signal are issued to passing vehicle to above-mentioned.
In some optional implementations of the present embodiment, the above-mentioned configuration of distance adjusting unit 503 is further used for phase
For the driving direction of the automatic driving vehicle, when described when passing vehicle is located at the automatic driving vehicle right side side,
Adjust the automatic driving vehicle and the distance between the first vehicle and the second vehicle, wherein first vehicle is located at described
Just front, second vehicle of automatic driving vehicle are located at the right front of the automatic driving vehicle；Relative to the nothing
The driving direction that people drives vehicle adjusts the nothing when described when passing vehicle is located at the automatic driving vehicle left side side
People drive the distance between vehicle and first vehicle and third vehicle, wherein the third vehicle positioned at it is described nobody drive
Sail the left front of vehicle.
In some optional implementations of the present embodiment, above-mentioned distance adjusting unit 503 further includes safe distance threshold
It is worth subelement (not shown), after being configured to automatic driving vehicle with the range measurement of its Adjacent vehicles, determines that this distance is
It is no to be less than safety distance threshold preset in automatic driving vehicle；Subelement (not shown) is adjusted, is configured in response to wait adjust
Whole distance is less than preset safety distance threshold, is adjusted to the speed and/or direction of above-mentioned automatic driving vehicle, so as to
Adjustment distance is greater than above-mentioned safety distance threshold.Above-mentioned safety distance threshold subelement (not shown) configuration is further used for obtaining
The current speed of automatic driving vehicle；The safety distance threshold under current vehicle speed is determined according to speed.Above-mentioned adjustment subelement is (not
Show) configure the information for being further used for obtaining Adjacent vehicles, wherein and above- mentioned information include at least one of the following: Adjacent vehicles
Lane information, the vehicle speed information of Adjacent vehicles, the distance between above-mentioned automatic driving vehicle information, above- mentioned information are by being placed in
Sensor acquisition in the automatic driving vehicle, wherein sensor is included at least one of the following: for acquisition and Adjacent vehicles
The distance between sensor；For acquiring the sensor of the speed of Adjacent vehicles, for acquiring the lane information of Adjacent vehicles
Sensor.
Below with reference to Fig. 6, it illustrates the departments of computer science for the vehicle-mounted terminal equipment for being suitable for being used to realize the embodiment of the present application
The structural schematic diagram of system 600.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 705 is also connected to always
Line 604.
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 609, and/or from removable
Medium 611 is unloaded to be mounted.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include information receiving unit, detection unit, distance adjusting unit and signal sending unit.Wherein, the title of these units is at certain
In the case of do not constitute restriction to the unit itself, for example, information receiving unit is also described as " receiving vehicle to be overtaken other vehicles
Issue solicited message of overtaking other vehicles unit ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating
Machine storage medium can be nonvolatile computer storage media included in device described in above-described embodiment；It is also possible to
Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited
One or more program is contained, when one or more of programs are executed by an equipment, so that the equipment receives
The solicited message of overtaking other vehicles issued to passing vehicle, wherein the solicited message of overtaking other vehicles includes that the mark to passing vehicle is believed
Breath and the relative position information with the automatic driving vehicle；Detect whether current road segment is the section that can overtake other vehicles；In response to current
Section is the section that can overtake other vehicles, depending on that relative position information, the distance between adjustment and Adjacent vehicles；According to it is adjusted away from
From information, overtaking signal is issued to passing vehicle to described.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of control method of overtaking other vehicles for automatic driving vehicle, which is characterized in that the described method includes:
Receive the solicited message of overtaking other vehicles issued to passing vehicle, wherein the solicited message of overtaking other vehicles includes described to passing vehicle
Identification information and relative position information with the automatic driving vehicle；
Detect whether current road segment is the section that can overtake other vehicles；
It is the section that can overtake other vehicles in response to current road segment, information, adjusts the distance between Adjacent vehicles depending on that relative position；
According to range information adjusted, overtaking signal is issued to passing vehicle to described；
Described in response to current road segment is that can overtake other vehicles section, depending on that relative position information, between adjustment and Adjacent vehicles
Distance, comprising:
Obtain the information of Adjacent vehicles, wherein the information of the Adjacent vehicles includes at least one of the following: the lane of Adjacent vehicles
Information, the vehicle speed information of Adjacent vehicles, the distance between described automatic driving vehicle information；
Based on the information of the Adjacent vehicles, determine whether distance to be adjusted is less than preset safety distance threshold；
Be less than preset safety distance threshold in response to determination distance to be adjusted, speed to the automatic driving vehicle and/or
Direction is adjusted, so that the distance to be adjusted is greater than the safety distance threshold.
2. it in response to current road segment is that can overtake other vehicles section the method according to claim 1, wherein described, according to
The relative position information, the distance between adjustment and Adjacent vehicles, comprising:
Relative to the driving direction of the automatic driving vehicle, it is located on the right side of the automatic driving vehicle when described to passing vehicle
Fang Shi adjusts the automatic driving vehicle and the distance between the first vehicle and the second vehicle, wherein first vehicle is located at
Just front, second vehicle of the automatic driving vehicle are located at the right front of the automatic driving vehicle；
Relative to the driving direction of the automatic driving vehicle, it is located on the left of the automatic driving vehicle when described to passing vehicle
Fang Shi adjusts the distance between the automatic driving vehicle and first vehicle and third vehicle, wherein the third vehicle
Positioned at the left front of the automatic driving vehicle.
3. the method according to claim 1, wherein whether determination distance to be adjusted is less than preset safety
Distance threshold, comprising:
Obtain the current speed of the automatic driving vehicle；
The safety distance threshold under current vehicle speed is determined according to the speed.
4. the method according to claim 1, wherein the information of the Adjacent vehicles is described unmanned by being placed in
Sensor acquisition in vehicle.
5. according to the method described in claim 4, it is characterized in that, the sensor is included at least one of the following: for acquiring
The sensor of the distance between Adjacent vehicles, the sensor of the speed for acquiring Adjacent vehicles, for acquiring Adjacent vehicles
Lane information sensor.
6. a kind of control device of overtaking other vehicles for automatic driving vehicle, which is characterized in that described device includes:
Information receiving unit is configured to receive the solicited message of overtaking other vehicles issued to passing vehicle, wherein the request letter of overtaking other vehicles
Breath includes the relative position information to the identification information of passing vehicle and with the automatic driving vehicle；
Detection unit, is configured to whether detection current road segment is the section that can overtake other vehicles；
Distance adjusting unit is configured in response to current road segment be the section that can overtake other vehicles, depending on that relative position information, adjustment
The distance between Adjacent vehicles；
Signal sending unit issues overtaking signal to passing vehicle to described according to range information adjusted；
The distance adjusting unit includes:
Obtain subelement, be configured to obtain Adjacent vehicles information, wherein the information of the Adjacent vehicles include it is following at least
One: the lane information of Adjacent vehicles, the vehicle speed information of Adjacent vehicles, the distance between described automatic driving vehicle information；
Safety distance threshold subelement is configured to the information based on the Adjacent vehicles, determines whether distance to be adjusted is less than
Preset safety distance threshold；
Subelement is adjusted, is configured to be less than preset safety distance threshold in response to distance to be adjusted, to described unmanned
The speed of vehicle and/or direction are adjusted, so that the distance to be adjusted is greater than the safety distance threshold.
7. device according to claim 6, which is characterized in that the distance adjusting unit configuration is further used for:
Relative to the driving direction of the automatic driving vehicle, it is located on the right side of the automatic driving vehicle when described to passing vehicle
Fang Shi adjusts the automatic driving vehicle and the distance between the first vehicle and the second vehicle, wherein first vehicle is located at
Just front, second vehicle of the automatic driving vehicle are located at the right front of the automatic driving vehicle；
Relative to the driving direction of the automatic driving vehicle, it is located on the left of the automatic driving vehicle when described to passing vehicle
Fang Shi adjusts the distance between the automatic driving vehicle and first vehicle and third vehicle, wherein the third vehicle
Positioned at the left front of the automatic driving vehicle.
8. device according to claim 6, which is characterized in that the safety distance threshold subelement configuration is further used
In:
Obtain the current speed of the automatic driving vehicle；
The safety distance threshold under current vehicle speed is determined according to the speed.
9. device according to claim 6, which is characterized in that the information of the Adjacent vehicles is described unmanned by being placed in
Sensor acquisition in vehicle.
10. device according to claim 9, which is characterized in that the sensor is included at least one of the following: for acquiring
The sensor of the distance between Adjacent vehicles, the sensor of the speed for acquiring Adjacent vehicles, for acquiring Adjacent vehicles
Lane information sensor.
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| CN201610374246.4A CN105788369B (en) | 2016-05-31 | 2016-05-31 | Overtake other vehicles control method and device for automatic driving vehicle |
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| CN201610374246.4A CN105788369B (en) | 2016-05-31 | 2016-05-31 | Overtake other vehicles control method and device for automatic driving vehicle |
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| CN106671982B (en) * | 2017-01-09 | 2019-05-17 | 厦门大学 | Driverless electric automobile automatic overtaking system system and method based on multiple agent |
| DE102017208168A1 (en) | 2017-05-15 | 2018-11-15 | Continental Automotive Gmbh | A method for generating a passing probability collection, a method for operating a control device of a motor vehicle, passing probability collection device and control device |
| CN107215334B (en) * | 2017-06-26 | 2019-12-03 | 地壳机器人科技有限公司 | Method for controlling driving speed, device and pilotless automobile |
| WO2019069425A1 (en) * | 2017-10-05 | 2019-04-11 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| CN108766004B (en) * | 2018-04-27 | 2021-08-20 | 榛硕（武汉）智能科技有限公司 | Overtaking control system and method for unmanned vehicle |
| CN108974001A (en) * | 2018-05-25 | 2018-12-11 | 郑州思达科锐网络科技有限公司 | A kind of automatic driving vehicle is overtaken other vehicles control method and system |
| CN108922177B (en) * | 2018-06-29 | 2021-08-10 | 东南大学 | Speed control system and method for unmanned vehicle passing through intersection |
| CN109003468B (en) * | 2018-07-17 | 2021-04-13 | Oppo广东移动通信有限公司 | Vehicle control method and related product |
| EP3863903A4 (en) * | 2018-12-28 | 2022-08-31 | Cummins, Inc. | Systems and methods for controlling overtake maneuver in vehicles |
| CN109658740A (en) * | 2019-02-19 | 2019-04-19 | 百度在线网络技术（北京）有限公司 | Exchange method and device between vehicle |
| CN110053621B (en) * | 2019-04-09 | 2020-12-29 | 上海丰豹商务咨询有限公司 | Overtaking method for automatically driving overtaking lane |
| KR20200131640A (en) * | 2019-05-14 | 2020-11-24 | 현대자동차주식회사 | Vehicle and method for controlling thereof |
| CN111645678B (en) * | 2020-05-20 | 2022-10-21 | 吉林大学 | Vehicle braking and steering coordinated control anti-collision system and control method |
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