CN106227204A

CN106227204A - Car-mounted device and for controlling the system of automatic driving vehicle, method and apparatus

Info

Publication number: CN106227204A
Application number: CN201610538408.3A
Authority: CN
Inventors: 潘余昌; 朱振广; 杨文利; 张天雷
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2016-07-08
Filing date: 2016-07-08
Publication date: 2016-12-14
Anticipated expiration: 2036-07-08
Also published as: CN106227204B

Abstract

This application discloses car-mounted device and for controlling the system of automatic driving vehicle, method and apparatus.One detailed description of the invention of described car-mounted device includes: detection device includes multiple sensitive detection parts, multiple sensitive detection parts are placed at the detecting location that automatic driving vehicle is preset, at interval of the wireless signal around the first preset time period detection automatic driving vehicle, and the information of the wireless signal detected is sent to positioner；Positioner, for the information according to the wireless signal detected received and the coordinate of detecting location, determines the relative position of at least one radio signal source and automatic driving vehicle, and sends relative position to speed control unit；Speed control unit, for according to relative position, controlling the speed of automatic driving vehicle.This embodiment achieves the accuracy that improve pedestrian detection, and by controlling the speed of automatic driving vehicle, it is ensured that automatic driving vehicle and the safety of pedestrian.

Description

Car-mounted device and for controlling the system of automatic driving vehicle, method and apparatus

Technical field

The application relates to field of vehicle control, particularly relates to automatic driving vehicle control field, is specifically related to a kind of vehicle-mounted Device and for controlling the system of automatic driving vehicle, method and apparatus.

Background technology

For automatic driving vehicle, real-time and accurately its running environment is monitored the safety ensureing road user Significant.Owing to pedestrian is more for the uncontrollable factor of automatic driving vehicle, and the wound having an accident with pedestrian Probability of dying is more much greater than with the casualty rate of common barrier generation vehicle accident, so how to pedestrian detection just improves Really rate, is the important topic of automatic driving vehicle research.

Scheme major part in pedestrian's context of detection is based on image recognition algorithm or radar detection algorithm, above-mentioned side at present The pedestrian of picture registration in the picture gathered or the pedestrian overlapped at detection direction all cannot be detected by case, thus reduce The accuracy of pedestrian detection.

Summary of the invention

The purpose of the application is to propose a kind of car-mounted device and for controlling the system of automatic driving vehicle, method and dress Put, solve the technical problem that background section above is mentioned.

First aspect, this application provides a kind of car-mounted device, and described device includes: the detection dress communicated to connect successively Put, positioner and speed control unit；Described detection device includes that multiple sensitive detection parts, the plurality of sensitive detection parts are placed on At the detecting location that automatic driving vehicle is preset, the plurality of sensitive detection parts are described unmanned at interval of the first preset time period detection Drive the wireless signal of vehicle periphery, and the information of the wireless signal detected is sent to described positioner, described wireless The information of signal include the frequency of described wireless signal, the mark of described wireless signal and below at least one: detect described The moment of wireless signal, the intensity of described wireless signal；Described positioner, for according to the nothing detected described in receiving The information of line signal and the coordinate of described detecting location, determine the phase of at least one radio signal source and described automatic driving vehicle To position, and described relative position is sent to described speed control unit；Described speed control unit, for according to described phase To position, control the speed of described automatic driving vehicle.

In certain embodiments, described detection device includes at least four sensitive detection parts, described at least four sensitive detection parts It is individually positioned in the front and back of described automatic driving vehicle.

In certain embodiments, described at least four sensitive detection parts are individually positioned in the left front of described automatic driving vehicle On the downside of downside, right front, on the downside of on the upside of middle front and middle rear.

In certain embodiments, described positioner is further used for: according to frequency and the described nothing of described wireless signal The mark of line signal, determines at least one radio signal source；For each described radio signal source, described wireless according to detecting The moment of signal or the intensity of described wireless signal and the coordinate of described detecting location, determine that described radio signal source is with described The relative position of automatic driving vehicle, and described relative position is sent to described speed control unit.

In certain embodiments, described device also includes communicating to connect collecting of described detection device and described positioner Device, for the spy that the information of wireless signal detected at synchronization by described detection device and each wireless signal are corresponding The coordinate that location is put is aggregated in Frame, and the Frame after collecting is sent to described positioner.

In certain embodiments, described positioner is further used for: wireless according in the Frame after described collecting The information of signal and the coordinate of described detecting location, determine that at least one radio signal source of synchronization is unmanned with described The relative position of vehicle, and described relative position is sent to described speed control unit.

In certain embodiments, described device also includes the direction-control apparatus communicated to connect with described positioner；With And described positioner is further used for: at least one radio signal source according to the synchronization determined is unmanned with described The relative position of vehicle, determines at least one the radio signal source described movement locus relative to described automatic driving vehicle, and Described movement locus is sent to described direction-control apparatus；Described direction-control apparatus, for according to described movement locus, adjusts The travel direction of whole described automatic driving vehicle.

In certain embodiments, described device also includes pattern recognition device and/or radar detection apparatus and with described The checking device that pattern recognition device and/or described radar detection apparatus and described positioner communicate to connect；Described image is known Other device, for identifying the barrier around described automatic driving vehicle, and the barrier that will identify that is unmanned with described The relative position information of vehicle is sent to described checking device；Described radar detection apparatus, is used for detecting described automatic driving car Barrier around, and test described in the relative position information of the barrier detected with described automatic driving vehicle is sent to Card device；Described checking device, for obtaining described relative position from described positioner, and fills it with described image recognition Put and/or the relative position information of barrier that described radar detection apparatus obtains and described automatic driving vehicle compare, Obtain the accuracy of the described relative position that described positioner determines.

Second aspect, this application provides a kind of system for controlling automatic driving vehicle, and described system includes: portable Device and the car-mounted device as described in above-mentioned any one embodiment；Described portable unit is by the row around described automatic driving vehicle People carries, and is used for launching wireless signal；Detection device in described car-mounted device is for detecting the nothing that described portable unit is launched Line signal.

The third aspect, this application provides a kind of method for controlling automatic driving vehicle, and described method includes: obtain The information of the wireless signal around automatic driving vehicle, described wireless signal is by being placed on the spy that described automatic driving vehicle is preset The multiple sensitive detection parts surveying position obtain at interval of the first preset time period detection, and the information of described wireless signal includes described The frequency of wireless signal, the mark of described wireless signal and below at least one: detect moment of described wireless signal, described The intensity of wireless signal；Information according to the wireless signal obtained and the coordinate of described detecting location, determine that at least one is wireless The relative position of signal source and described automatic driving vehicle；According to described relative position, control the speed of described automatic driving vehicle Degree.

In certain embodiments, described wireless signal is by being placed on the front and back of described automatic driving vehicle at least Four sensitive detection parts obtain at interval of the first preset time period detection.

In certain embodiments, described wireless signal is by being placed on the downside of the left front of described automatic driving vehicle, before the right side At least four sensitive detection parts on the downside of side, on the upside of middle front and on the downside of middle rear obtain at interval of the first preset time period detection.

In certain embodiments, the described information according to the wireless signal obtained and the coordinate of described detecting location, determine The relative position of at least one radio signal source and described automatic driving vehicle, including: according to the frequency of described wireless signal and The mark of described wireless signal, determines at least one radio signal source；For each described radio signal source, according to detecting State moment of wireless signal or the intensity of described wireless signal and the coordinate of described detecting location, determine described radio signal source with The relative position of described automatic driving vehicle.

In certain embodiments, at the described information according to the wireless signal obtained and the coordinate of described detecting location, really At least one radio signal source fixed is with before the relative position of described automatic driving vehicle, and described method also includes: will be with for the moment The coordinate carving the information of wireless signal detected and detecting location corresponding to each wireless signal is aggregated in Frame.

In certain embodiments, the described information according to the wireless signal obtained and the coordinate of described detecting location, determine The relative position of at least one radio signal source and described automatic driving vehicle, including: according to the nothing in the Frame after collecting The information of line signal and the coordinate of described detecting location, determine at least one radio signal source of synchronization with described nobody drive Sail the relative position of vehicle.

In certain embodiments, described method also includes: according at least one radio signal source of the synchronization determined With the relative position of described automatic driving vehicle, determine that at least one radio signal source described is relative to described automatic driving vehicle Movement locus；According to described movement locus, adjust the travel direction of described automatic driving vehicle.

In certain embodiments, described method also includes: obtain based on image-recognizing method identify described nobody drive Sail the barrier of vehicle periphery and the relative position information of described automatic driving vehicle；And/or obtain based on radar detection method The barrier around described automatic driving vehicle detected and the relative position information of described automatic driving vehicle；By determine The barrier of described radio signal source position relative with described automatic driving vehicle and acquisition and described automatic driving vehicle Relative position information compares, and obtains the accuracy of described radio signal source and the relative position of described automatic driving vehicle.

Fourth aspect, the application provides a kind of device for controlling automatic driving vehicle, and described device includes: first obtains Taking unit, for obtaining the information of the wireless signal around automatic driving vehicle, described wireless signal is described unmanned by being placed on Drive the multiple sensitive detection parts at the detecting location that vehicle is preset to obtain, described wireless communication at interval of the first preset time period detection Number information include the frequency of described wireless signal, the mark of described wireless signal and below at least one: detect described nothing The moment of line signal, the intensity of described wireless signal；Determine unit, for the information according to the wireless signal obtained and described spy The coordinate that location is put, determines the relative position of at least one radio signal source and described automatic driving vehicle；Control unit, is used for According to described relative position, control the speed of described automatic driving vehicle.

In certain embodiments, described determine that unit includes: signal source determines module, for according to described wireless signal Frequency and the mark of described wireless signal, determine at least one radio signal source；Position determination module relatively, for for each Described radio signal source, according to detecting moment of described wireless signal or the intensity of described wireless signal and described detecting location Coordinate, determine the relative position of described radio signal source and described automatic driving vehicle.

In certain embodiments, described device also includes: collection unit, for determining that unit is according to the nothing obtained described The information of line signal and the coordinate of described detecting location, determine the phase of at least one radio signal source and described automatic driving vehicle Before position, the information of the wireless signal that synchronization is detected and the coordinate of detecting location corresponding to each wireless signal It is aggregated in Frame.

In certain embodiments, described determine that unit is further used for: according to the wireless signal in the Frame after collecting Information and the coordinate of described detecting location, determine at least one radio signal source of synchronization and described automatic driving vehicle Relative position.

In certain embodiments, described device also includes: track determines unit, for according to the synchronization determined extremely The relative position of a few radio signal source and described automatic driving vehicle, determine described at least one radio signal source relative to The movement locus of described automatic driving vehicle；Direction adjustment unit, for according to described movement locus, adjusts described unmanned The travel direction of vehicle.

In certain embodiments, described device also includes: second acquisition unit, knows based on image-recognizing method for obtaining The barrier around described automatic driving vehicle not gone out and the relative position information of described automatic driving vehicle；And/or the 3rd Acquiring unit, for obtaining the barrier around the described automatic driving vehicle detected based on radar detection method and described nothing People drives the relative position information of vehicle；Comparing unit, for described radio signal source and the described automatic driving car that will determine The relative position information of relative position and the barrier of acquisition with described automatic driving vehicle compare, obtain described nothing The accuracy of line signal source and the relative position of described automatic driving vehicle.

Car-mounted device that the application provides and for controlling the system of automatic driving vehicle, method and apparatus, by nothing People drives and arranges multiple sensitive detection parts to the wireless signal detecting around automatic driving vehicle at the detecting location that vehicle is preset, and Determine that multiple radio signal source and radio signal source are relative to automatic driving vehicle according to the above-mentioned wireless signal detected Position, and according to the radio signal source determined relative to the position of automatic driving vehicle, control the speed of automatic driving vehicle.From And improve the accuracy of pedestrian detection, and by controlling the speed of automatic driving vehicle, it is ensured that automatic driving vehicle and row The safety of people.

Accompanying drawing explanation

By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application Feature, purpose and advantage will become more apparent upon:

Fig. 1 is the structural representation of an embodiment of the car-mounted device according to the application；

Fig. 2 is the schematic diagram of an application scenarios of the car-mounted device according to the application；

Fig. 3 is the structural representation of another embodiment of the car-mounted device according to the application；

Fig. 4 is the structural representation of an embodiment of the system for controlling automatic driving vehicle according to the application；

Fig. 5 is the schematic flow sheet of an embodiment of the method for controlling automatic driving vehicle according to the application；

Fig. 6 is the structural representation of an embodiment of the device for controlling automatic driving vehicle according to the application；

Fig. 7 is adapted for the computer system of the device for controlling automatic driving vehicle for realizing the embodiment of the present application Structural representation.

Detailed description of the invention

With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to It is easy to describe, accompanying drawing illustrate only the part relevant to about invention.

It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.

Fig. 1 shows the structural representation of an embodiment of the car-mounted device 100 according to the application.As it is shown in figure 1, this The car-mounted device 100 of embodiment includes detection device 101, positioner 102 and the speed control unit communicated to connect successively 103.It is understood that above-mentioned communication connection can be to pass through wireless connections, it is also possible to by wired connection, wireless connections side Formula can include but not limited to that 3G/4G connects, WiFi connects, bluetooth connects, WiMAX connects, Zigbee connects, UWB (ultra Wideband) connection and other currently known or exploitation in the future radio connection.

Wherein, detection device 101 includes multiple sensitive detection parts (sensitive detection parts 1-sensitive detection parts 4 as shown in Figure 1).Many Individual sensitive detection parts are placed at the detecting location that automatic driving vehicle is preset, for unmanned at interval of the first preset time period detection Drive the wireless signal of vehicle periphery, and the information of the wireless signal detected is sent to positioner 102.In practice, Above-mentioned sensitive detection parts can be realized by the device of wireless signal acquisition device or other detectable wireless signal, and the present embodiment is to this Do not limit.Sensitive detection parts can be placed at the detecting location that automatic driving vehicle is preset, such as the engine of automatic driving vehicle On lid or case cover.Above-mentioned wireless signal can be the nothing that the electronic installation that the pedestrian around automatic driving vehicle carries is launched Line signal.Above-mentioned electronic installation can include but not limited to: the radio signal senders parts such as mobile phone, radio, phone wrist-watch.On State the information of wireless signal can include the frequency of wireless signal, the mark of wireless signal and below at least one: detect nothing The moment of line signal, the intensity of wireless signal.

As a example by the mobile phone that pedestrian around automatic driving vehicle carries, want in real time due to mobile phone and base station carries out wireless communication Number transmitting with receive to keep communicate, so it is permissible to be placed on the sensitive detection parts at the detecting location that automatic driving vehicle is default Detect the wireless signal that each mobile phone sends, such that it is able to obtain the frequency of wireless signal.Due to different cell phone network moulds Formula has different frequencies, and the wireless signal that the different wireless signal source being in same frequency range is launched has different marks Know.Such as GSM (Global System for Mobile Communication, global system for mobile communications) pattern up Frequency range is about 890-909MHz, and band downlink is about 935-954MHz, and in above-mentioned two frequency range, different mobile phones sends Wireless signal there is different marks.

In some optional implementations of the present embodiment, above-mentioned detection device can include at least four detector Part, above-mentioned at least four sensitive detection parts are individually positioned in the front and back of automatic driving vehicle.It is understood that this enforcement The front of the automatic driving vehicle of example indication refers to the front-wheel direction relative to automatic driving vehicle center of automatic driving vehicle, Rear refers to the trailing wheel direction relative to automatic driving vehicle center of automatic driving vehicle.

In some optional implementations of the present embodiment, above-mentioned at least four sensitive detection parts are individually positioned in nobody and drive Sail on the downside of the left front of vehicle, on the downside of right front, on the upside of middle front and on the downside of middle rear.

In the present embodiment, in order to detect the wireless communication that the radio signal source around automatic driving vehicle is launched more accurately Number, each sensitive detection parts are placed on the antermarginal position of automatic driving vehicle, such as, can be the front car light of automatic driving vehicle The position at place--on the downside of left front and right front on the downside of, the centre position of automatic driving vehicle bonnet--on the upside of middle front with And the centre of automatic driving vehicle case cover--on the downside of middle rear.

It will be appreciated by persons skilled in the art that the detection device of the present embodiment can also include more sensitive detection parts, Can be distributed in each position of automatic driving vehicle overall profile, the position of all of sensitive detection parts constitutes one and is similar to car On the curved surface of profile such that it is able to the wireless signal that the detected wireless signals source of Multi-orientation multi-angle is launched.It is positioned such that dress Put the 102 relative positions that can be more accurately located radio signal source and automatic driving vehicle.

Positioner 102, for the information according to the wireless signal detected received and the coordinate of each detecting location, Determine the relative position of at least one radio signal source and automatic driving vehicle, and above-mentioned relative position is sent to speed controlling Device 103.

In the present embodiment, the wireless signal that positioner 102 can detect according to each sensitive detection parts of detection device 101 Information and the coordinate of each detecting location, determine at least one radio signal source and above-mentioned at least one by various location algorithms The relative position of individual radio signal source and automatic driving vehicle.Owing to each sensitive detection parts of detection device 101 are at automatic driving car Detecting location be known, thus may determine that the coordinate that above-mentioned each detecting location is in vehicle axis system.Due to unmanned Driving vehicle is constantly to travel, so the geodetic coordinates of above-mentioned each detecting location changes always, so using at vehicle Coordinate in coordinate system determines the relative position of each radio signal source and automatic driving vehicle.

In some optional implementations of the present embodiment, positioner 102 first can be according to detection device 101 The frequency of the wireless signal that each sensitive detection parts detect and the mark of wireless signal, determine at least one radio signal source.In reality In trampling, above-mentioned radio signal source can be the wireless signal transmitting device that pedestrian carries.Positioner 102 is determining wireless communication After the number in number source, can pass based on electric wave according to the moment detecting wireless signal received or the intensity of wireless signal (time of arrival, TOA) algorithm between sowing time, based on radio wave propagation time difference (time difference of Arrival, TDOA) algorithm, based on receive signal intensity (received signal strength indication, RSSI) algorithm determines the relative position of each radio signal source and automatic driving vehicle.Equally, the position of above-mentioned each radio signal source The coordinate that can also use vehicle axis system represents.

Speed control unit 103, for each radio signal source and the automatic driving vehicle that determine according to positioner 102 Position relatively, controls the speed of automatic driving vehicle.

In the present embodiment, the relative position that speed control unit 103 can be different carries out the classification of speed, such as distance Within 5 meters, the speed of control automatic driving vehicle is at 20km/h, and distance, between 5-20 rice, controls the speed of automatic driving vehicle Degree is at 30km/h；One velocity function can also be set, using the speed of automatic driving vehicle as dependent variable, by radio signal source with The relative position of automatic driving vehicle is as independent variable, the road speed that different relative position correspondences is different；The present embodiment pair This does not limits.

With continued reference to Fig. 2, it is shown that according to the schematic diagram of an application scenarios of the car-mounted device of the application.Sensitive detection parts 2021,2022,2023 and 2024 it is respectively placed on the downside of the left front of automatic driving vehicle, on the downside of right front, on the upside of middle front On the downside of middle rear, the wireless signal of the handset emissions that the pedestrian in automatic driving vehicle front carries can be detected, and will detection To the information of wireless signal be sent to positioner 203, positioner 202 is after determining the position of pedestrian, by determine Position is sent to speed control unit 204, thus controls the speed of automatic driving vehicle.

The car-mounted device that above-described embodiment of the application provides, by being placed on the detecting location that automatic driving vehicle is preset Wireless signal around the sensitive detection parts detection automatic driving vehicle at place, positioner is according to the letter of the wireless signal detected Breath, determines the relative position of at least one radio signal source and automatic driving vehicle, and speed control unit is true according to positioner The travel speed of fixed relative position control automatic driving vehicle.Improve the accuracy of pedestrian detection, and unmanned by controlling Drive the speed of vehicle, it is ensured that automatic driving vehicle and the safety of pedestrian.

Referring further to Fig. 3, it is shown that according to the structural representation of another embodiment of the car-mounted device 300 of the application Figure.As it is shown on figure 3, the car-mounted device 300 of the present embodiment includes: detect device 301, collect device 302, positioner 303, side To controlling device 304, speed control unit 305, pattern recognition device 306 and checking device 307.

Wherein, detection device 301 includes that multiple sensitive detection parts, multiple sensitive detection parts are placed on what automatic driving vehicle was preset At detecting location, for detecting the wireless signal around automatic driving vehicle at interval of the first preset time period, and will detect The information of wireless signal be sent to collect device 302.

Collect device 302, for the information of wireless signal detected at synchronization by detection device 301 and each nothing The coordinate of the detecting location that line signal is corresponding is aggregated in Frame, and the Frame after collecting is sent to positioner 303.

For same radio signal source, launch owing to the sensitive detection parts of different detecting locations detect this radio signal source The information of wireless signal different.In the present embodiment, each sensitive detection parts can be unmanned at interval of a Preset Time detection The wireless signal of vehicle periphery, such as, can be spaced detection in 1 second once.It is understood that each sensitive detection parts detection wireless The moment of signal is the most identical, so, collects all signals of the radio signal source that synchronization just can be detected by device 302 It is aggregated in Frame, and the Frame after collecting is sent to positioner 303.

Positioner 303, for according to collecting the information of wireless signal in the Frame after device 302 collects and unmanned Drive the coordinate of each detecting location of vehicle, determine at least one radio signal source of synchronization and the phase of automatic driving vehicle To position, and relative position is sent to speed control unit 305.

In some optional implementations of the present embodiment, positioner 303 can also be according to the synchronization determined At least one radio signal source and the relative position of automatic driving vehicle, determine that at least one radio signal source is relative to unmanned Drive the movement locus of vehicle, and the movement locus determined is sent to direction-control apparatus 304.

Determine each moment radio signal source with behind the relative position of automatic driving vehicle, analyze each moment wireless communication The relative position in number source, it may be determined that radio signal source is relative to the movement locus of automatic driving vehicle.

Direction-control apparatus 304, for the movement locus determined according to positioner 303, adjusts automatic driving vehicle Travel direction.

The movement locus being determined by, adjusts the travel direction of automatic driving vehicle, can be effectively prevented from unmanned Vehicle collides pedestrian in the process of moving.

Speed control unit 305, at least one radio signal source of determining according to positioner 303 with unmanned The relative position of vehicle, controls the speed of automatic driving vehicle.

Pattern recognition device 307, for identifying the barrier around automatic driving vehicle, and the barrier that will identify that with The relative position information of automatic driving vehicle is sent to verify device 306.

In the present embodiment, pattern recognition device 307 can include that multiple video camera or telescope etc. can carry out image knowledge Other device, by being analyzed the image obtained, it may be determined that the barrier around automatic driving vehicle.

Radar detection apparatus 308, for detecting the barrier around automatic driving vehicle, and by the barrier that detects with The relative position information of automatic driving vehicle is sent to verify device 306.

In the present embodiment, radar detection apparatus 308 can be radar sensor, by launching radar signal, receives and divides The radar signal that analysis returns determines the barrier around automatic driving vehicle.

Checking device 306, for obtaining the phase of at least one radio signal source and automatic driving vehicle from positioner 303 To position, and the barrier itself and radar detection apparatus 308 and/or pattern recognition device 307 obtained is unmanned with described The relative position information of vehicle compares, and obtains the accuracy of the relative position that positioner 303 determines.

Checking device 306 communicates with positioner 303, radar detection apparatus 308 and/or pattern recognition device 307 respectively Connect, and the obstacle information around automatic driving vehicle three or both analyses obtained compares, so that it is determined that fixed The accuracy of the relative position of the radio signal source that position device 303 determines.

In some optional implementations of the present embodiment, above-mentioned car-mounted device 300 also includes the filter not shown in Fig. 3 Wave apparatus, is used for the phase of at least one radio signal source the most in the same time and automatic driving vehicle determining positioner 303 Position curve determined by position is filtered, the data bigger to remove error, improves the accuracy rate of speed controlling.

The car-mounted device that above-described embodiment of the application provides, the synchronization detection device collected by collecting device is visited The wireless signal surveyed, determines the radio signal source movement locus relative to automatic driving vehicle, can adjust unmanned in real time The travel direction of vehicle；By becoming with technology relative to position of radio signal source that positioner is determined and automatic driving vehicle Ripe the radar exploration technique and image recognition technology compare, on the one hand can supplementing as other detection technique, another Aspect can be to the method offer improvement foundation determining pedestrian position according to wireless signal improving the present embodiment.

Referring further to Fig. 4, it is shown that according to an enforcement of the system for controlling automatic driving vehicle of the application The structural representation 400 of example.As shown in Figure 4, the system being used for controlling automatic driving vehicle of the present embodiment includes: portable unit 401 and as in Fig. 2 or Fig. 3 embodiment provide car-mounted device 402.

Wherein, portable unit 401 is carried by the pedestrian around automatic driving vehicle, is used for launching wireless signal.In practice, Above-mentioned portable unit 401 can be mobile phone, radio or other can launch the electronics of the how wireless signal of country's use standard Device.

Detection device in car-mounted device 402 is for detecting the wireless signal that portable unit 401 is launched.

The system for controlling automatic driving vehicle that above-described embodiment of the application provides, utilizes wireless signal acquisition skill Art can effectively detect the wireless signal of the wireless signal transmitter part transmitting that the pedestrian around automatic driving vehicle carries, from And the pedestrian around automatic driving vehicle can be accurately detected, improve the traffic safety of automatic driving vehicle.

Fig. 5 shows the flow process signal of an embodiment of the method for controlling automatic driving vehicle according to the application Figure 50 0.As it is shown in figure 5, the method being used for controlling automatic driving vehicle of the present embodiment comprises the following steps:

Step 501, the information of the wireless signal around acquisition automatic driving vehicle.

In the present embodiment, the method being used for controlling automatic driving vehicle runs on electronic equipment thereon (as nobody drives Sail the car running computer of vehicle) can obtain unmanned at the sensitive detection parts of detection wireless signal by wirelessly or non-wirelessly mode The information of the wireless signal of vehicle periphery.Wherein, above-mentioned wireless signal is by being placed on the detecting location that automatic driving vehicle is preset Multiple sensitive detection parts at place obtain at interval of the first preset time period detection.The information of wireless signal includes the frequency of wireless signal Rate, the mark of wireless signal and below at least one: detect the intensity of the moment of wireless signal, wireless signal.

In some optional implementations of the present embodiment, before above-mentioned wireless signal is by being placed on automatic driving vehicle At least four sensitive detection parts at side and rear obtain at interval of the first preset time period detection.

In some optional implementations of the present embodiment, above-mentioned wireless signal is by the left side being placed on automatic driving vehicle When at least four sensitive detection parts on the downside of front, on the downside of right front, on the upside of middle front and on the downside of middle rear are preset at interval of first Between section detection and obtain.

It will be appreciated by persons skilled in the art that the present embodiment can also include more sensitive detection parts, can be distributed in Each position of automatic driving vehicle overall profile, the position of all of sensitive detection parts constitutes a song being similar to vehicle's contour On face such that it is able to the wireless signal that the detected wireless signals source of Multi-orientation multi-angle is launched.

Step 502, according to information and the coordinate of detecting location of the wireless signal obtained, determines at least one wireless signal The relative position of source and automatic driving vehicle.

Information according to the wireless signal obtained and the coordinate of detecting location, determine at least one by various location algorithms The relative position of radio signal source and at least one radio signal source above-mentioned and automatic driving vehicle.

Owing to detecting location is known, thus may determine that the coordinate that above-mentioned each detecting location is in vehicle axis system. Owing to automatic driving vehicle is constantly to travel, so the geodetic coordinates of above-mentioned each detecting location changes, so adopting always The coordinate being used in vehicle axis system is to determine the relative position of each radio signal source and automatic driving vehicle.

In some optional implementations of the present embodiment, determining at least one radio signal source and automatic driving car Relative position time, at least one wireless communication can be determined first according to frequency and the mark of wireless signal of wireless signal Number source.After determining the number of radio signal source, can be according to the moment detecting wireless signal received or wireless communication Number intensity, based on radio wave propagation time (time of arrival, TOA) algorithm, based on radio wave propagation time difference (time Difference of arrival, TDOA) algorithm, based on receive signal intensity (received signal strength Indication, RSSI) algorithm determines the relative position of each radio signal source and automatic driving vehicle.

Step 503, according to relative position, controls the speed of automatic driving vehicle.

Determine that each radio signal source, with behind the relative position of automatic driving vehicle, can pass through the classification preset determining The method of method or preset function realizes controlling the speed of automatic driving vehicle.

In some optional implementations of the present embodiment, before step 503, said method also includes in Fig. 5 not The following steps illustrated:

Bent to position determined by least one radio signal source the most in the same time and the relative position of automatic driving vehicle Line is filtered.

Through above-mentioned filtering, it is possible to remove the data that in above-mentioned position curve, error is bigger, improve the accurate of speed controlling Rate.

In some optional implementations of the present embodiment, before step 502, said method also includes in Fig. 5 not The following steps illustrated:

The coordinate of the information of the wireless signal detected by synchronization and detecting location corresponding to each wireless signal converges Always in Frame.

For same radio signal source, due to the wireless communication of this radio signal source transmitting that different detecting locations detect Number information different.The information of the wireless signal that synchronization is detected and the seat of detecting location corresponding to each wireless signal Mark is aggregated in Frame, and the position that can be more beneficial for the radio signal source to each moment positions.

In some optional implementations of the present embodiment, step 502 may further include:

Information according to the wireless signal in the Frame after collecting and the coordinate of detecting location, determine that synchronization is extremely Lack the relative position of a radio signal source and automatic driving vehicle.

In some optional implementations of the present embodiment, said method also includes the following steps not shown in Fig. 5:

The relative position of at least one radio signal source according to the synchronization determined and automatic driving vehicle, determine to A few radio signal source is relative to the movement locus of automatic driving vehicle；According to movement locus, adjust automatic driving vehicle Travel direction.

Determine each moment radio signal source with behind the relative position of automatic driving vehicle, analyze each moment wireless communication The relative position in number source, it may be determined that radio signal source is relative to the movement locus of automatic driving vehicle.The motion rail being determined by Mark, adjusts the travel direction of automatic driving vehicle, can be effectively prevented from automatic driving vehicle and collide pedestrian in the process of moving.

Obtain the barrier around the automatic driving vehicle identified based on image-recognizing method and automatic driving vehicle Relative position information；And/or

Obtain the barrier around the automatic driving vehicle detected based on radar detection method and automatic driving vehicle Relative position information；

By barrier and the automatic driving car of the radio signal source position relative with automatic driving vehicle that determine and acquisition Relative position information compare, obtain the accuracy of radio signal source and the relative position of automatic driving vehicle.

By the radio signal source position relative with automatic driving vehicle that will be determined by detection wireless signal and based on Obstacle information around image-recognizing method or the automatic driving vehicle that obtains based on radar detection method analysis compares, Thus calculate the accuracy of the relative position of the radio signal source determined, improve automatic driving vehicle peace in the process of moving Quan Xing.

The method being used for controlling automatic driving vehicle that above-described embodiment of the application provides, is placed on unmanned by acquisition Drive the wireless signal information that the sensitive detection parts at vehicle difference detecting location detect at interval of preset time period, determine multiple nothing The relative position of line signal source and each radio signal source and automatic driving vehicle, thus control the speed of automatic driving vehicle, Improve the accuracy of pedestrian detection.

With further reference to Fig. 6, as the realization to method shown in Fig. 4, this application provides one and drive for controlling nobody Sailing an embodiment of the device of vehicle, this device embodiment is corresponding with the embodiment of the method shown in Fig. 4, and this device specifically may be used To be applied in the vehicle-mounted computer of automatic driving vehicle.

As shown in Figure 6, the device 600 being used for controlling automatic driving vehicle of the present embodiment includes: the first acquiring unit 601, unit 602 and control unit 603 are determined.

Wherein, the first acquiring unit 601, for obtaining the information of the wireless signal around automatic driving vehicle.Above-mentioned nothing Line signal is by being placed on multiple sensitive detection parts of the detecting location that automatic driving vehicle is preset at interval of the first preset time period Detect and obtain.The information of wireless signal include the frequency of wireless signal, the mark of wireless signal and below at least one: detect The moment of wireless signal, the intensity of wireless signal.

It is understood that the front of the automatic driving vehicle of the present embodiment indication refers to the front-wheel phase of automatic driving vehicle For the direction at automatic driving vehicle center, rear refers to that the trailing wheel of automatic driving vehicle is relative to automatic driving vehicle center Direction.

In some optional implementations of the present embodiment, above-mentioned wireless signal is by being placed on described automatic driving vehicle Left front on the downside of, at least four sensitive detection parts on the downside of right front, on the upside of middle front and on the downside of middle rear pre-at interval of first If the time period detects and obtains.

Determine unit 602, for information and the automatic driving vehicle of the wireless signal according to the first acquiring unit 601 acquisition The coordinate of the detecting location preset, determines the relative position of at least one radio signal source and automatic driving vehicle.

In some optional implementations of the present embodiment, determine unit 602 when determining above-mentioned relative position, specifically Can determine that module and position determination module relatively realize by the signal source not shown in Fig. 6.

Wherein, signal source determines module, for the frequency according to wireless signal and the mark of wireless signal, determines at least one Individual radio signal source.

Position determination module relatively, for for each radio signal source, according to the moment or the nothing that detect wireless signal The intensity of line signal and the coordinate of detecting location, determine the relative position of radio signal source and automatic driving vehicle.

In the present embodiment, relative position determination module can be according to the moment detecting wireless signal or wireless received The intensity of signal, based on radio wave propagation time (time of arrival, TOA) algorithm, based on radio wave propagation time difference (time Difference of arrival, TDOA) algorithm, based on receive signal intensity (received signal strength Indication, RSSI) algorithm determines the relative position of each radio signal source and automatic driving vehicle.

Control unit 603, for according to the relative position determining that unit 602 determines, controlling the speed of automatic driving vehicle.

In some optional implementations of the present embodiment, the above-mentioned device 600 for controlling automatic driving vehicle is also Including the filter unit not shown in Fig. 6, at least one radio signal source the most in the same time and automatic driving vehicle Position curve determined by position relatively is filtered.

In some optional implementations of the present embodiment, the above-mentioned device 600 for controlling automatic driving vehicle is also Including the collection unit not shown in Fig. 6, at the wireless signal determining that unit 602 obtains according to the first acquiring unit 601 Information and the coordinate of detecting location, determine at least one radio signal source with before the relative position of automatic driving vehicle, will The coordinate of the information of the wireless signal that synchronization detects and detecting location corresponding to each wireless signal is aggregated into Frame In.

In the present embodiment, detect, owing to there are multiple sensitive detection parts, the wireless signal that multiple radio signal source are launched, and And multiple sensitive detection parts detect above-mentioned wireless signal at set intervals, cause and determine that the data that unit receives are huge and complicated, The information of the wireless signal that each for synchronization sensitive detection parts are detected by collection unit combines the spy at each sensitive detection parts place The coordinate that location is put is aggregated in Frame, can be effectively improved the treatment effeciency determining unit 602.

In some optional implementations of the present embodiment, determine that unit 602 is further used for: converge according to collection unit The information of the wireless signal in the Frame of the General Logistics Department and the coordinate of detecting location, determine at least one wireless signal of synchronization The relative position of source and automatic driving vehicle.

In some optional implementations of the present embodiment, the above-mentioned device 600 for controlling automatic driving vehicle is also Unit and direction adjustment unit is determined including the track not shown in Fig. 6.

Wherein, track determines unit, for according at least one wireless signal determining synchronization that unit 602 determines Source and the relative position of automatic driving vehicle, determine at least one radio signal source motion rail relative to automatic driving vehicle Mark.

Determine unit 602 determine each moment radio signal source with behind the relative position of automatic driving vehicle, track Determine the relative position of element analysis each moment radio signal source, it may be determined that radio signal source is relative to the fortune of automatic driving vehicle Dynamic track.

Direction adjustment unit, for determining, according to track, the movement locus that unit determines, adjusts the row of automatic driving vehicle Sail direction.

In some optional implementations of the present embodiment, the above-mentioned device 600 for controlling automatic driving vehicle is also Including the second acquisition unit not shown in Fig. 6, the 3rd acquiring unit and comparing unit.

Wherein, second acquisition unit, for obtaining around the automatic driving vehicle identified based on image-recognizing method Barrier and the relative position information of automatic driving vehicle；And/or

3rd acquiring unit, for obtaining the barrier around the automatic driving vehicle detected based on radar detection method Relative position information with automatic driving vehicle.

Comparing unit, for the phase para-position by determining described radio signal source that unit 602 determines and automatic driving vehicle The barrier put and obtain from second acquisition unit and the 3rd acquiring unit is carried out with the relative position information of automatic driving vehicle Relatively, the accuracy of radio signal source and the relative position of automatic driving vehicle is obtained.

The device for controlling automatic driving vehicle that above-described embodiment of the application provides, is obtained by the first acquiring unit Take and be placed on the wireless signal letter that the sensitive detection parts at automatic driving vehicle difference detecting location detect at interval of preset time period Breath so that determine that unit determines the relative position of multiple radio signal source and each radio signal source and automatic driving vehicle, from And control unit can control the speed of automatic driving vehicle, improve the accuracy of pedestrian detection.

Below with reference to Fig. 7, it illustrates be suitable to for realize the embodiment of the present application for controlling automatic driving vehicle The structural representation of the computer system 700 of device.

As it is shown in fig. 7, computer system 700 includes CPU (CPU) 701, it can be read-only according to being stored in Program in memorizer (ROM) 702 or be loaded into the program random access storage device (RAM) 703 from storage part 708 and Perform various suitable action and process.In RAM 703, also storage has system 700 to operate required various programs and data. CPU 701, ROM 702 and RAM 703 are connected with each other by bus 704.Input/output (I/O) interface 705 is also connected to always Line 704.

It is connected to I/O interface 705: include the importation 706 of keyboard, mouse etc. with lower component；Penetrate including such as negative electrode The output part 707 of spool (CRT), liquid crystal display (LCD) etc. and speaker etc.；Storage part 708 including hard disk etc.； And include the communications portion 709 of the NIC of such as LAN card, modem etc..Communications portion 709 via such as because of The network of special net performs communication process.Driver 710 is connected to I/O interface 705 also according to needs.Detachable media 711, such as Disk, CD, magneto-optic disk, semiconductor memory etc., be arranged in driver 710, in order to read from it as required Computer program as required be mounted into storage part 708.

Especially, according to embodiment of the disclosure, the process described above with reference to flow chart may be implemented as computer Software program.Such as, embodiment of the disclosure and include a kind of computer program, it includes being tangibly embodied in machine readable Computer program on medium, described computer program comprises the program code for performing the method shown in flow chart.At this In the embodiment of sample, this computer program can be downloaded and installed from network by communications portion 709, and/or from removable Unload medium 711 to be mounted.When this computer program is performed by CPU (CPU) 701, perform in the present processes The above-mentioned functions limited.

Flow chart in accompanying drawing and block diagram, it is illustrated that according to system, method and the computer journey of the various embodiment of the application Architectural framework in the cards, function and the operation of sequence product.In this, each square frame in flow chart or block diagram can generation One module of table, program segment or a part for code, a part for described module, program segment or code comprises one or more For realizing the executable instruction of the logic function of regulation.It should also be noted that some as replace realization in, institute in square frame The function of mark can also occur to be different from the order marked in accompanying drawing.Such as, the square frame that two succeedingly represent is actual On can perform substantially in parallel, they can also perform sometimes in the opposite order, and this is depending on involved function.Also want It is noted that the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, Ke Yiyong The special hardware based system of the function or operation that perform regulation realizes, or can refer to computer with specialized hardware The combination of order realizes.

It is described in the embodiment of the present application involved unit to realize by the way of software, it is also possible to by firmly The mode of part realizes.Described unit can also be arranged within a processor, for example, it is possible to be described as: a kind of processor bag Include the first acquiring unit, determine unit and control unit.Wherein, the title of these unit be not intended that under certain conditions right The restriction of this unit itself, such as, the first acquiring unit is also described as " obtaining the wireless communication around automatic driving vehicle Number the unit of information ".

As on the other hand, present invention also provides a kind of nonvolatile computer storage media, this non-volatile calculating Machine storage medium can be the nonvolatile computer storage media described in above-described embodiment included in device；Can also be Individualism, is unkitted the nonvolatile computer storage media allocating in terminal.Above-mentioned nonvolatile computer storage media is deposited Contain one or more program, when one or more program is performed by an equipment so that described equipment: obtain The information of the wireless signal around automatic driving vehicle, described wireless signal is by being placed on the spy that described automatic driving vehicle is preset The multiple sensitive detection parts surveying position obtain at interval of the first preset time period detection, and the information of described wireless signal includes described The frequency of wireless signal, the mark of described wireless signal and below at least one: detect moment of described wireless signal, described The intensity of wireless signal；Information according to the wireless signal obtained and the coordinate of described detecting location, determine that at least one is wireless The relative position of signal source and described automatic driving vehicle；According to described relative position, control the speed of described automatic driving vehicle Degree.

Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein The technical scheme that the technical characteristic of energy is replaced mutually and formed.

Claims

1. a car-mounted device, it is characterised in that described device includes: the detection device that communicates to connect successively, positioner and Speed control unit；

Described detection device includes that multiple sensitive detection parts, the plurality of sensitive detection parts are placed on the detection that automatic driving vehicle is preset Position, the plurality of sensitive detection parts detect the wireless communication around described automatic driving vehicle at interval of the first preset time period Number, and the information of the wireless signal detected is sent to described positioner, the information of described wireless signal includes described nothing The frequency of line signal, the mark of described wireless signal and below at least one: detect the moment of described wireless signal, described nothing The intensity of line signal；

Described positioner, for the information according to the wireless signal detected described in receiving and the seat of described detecting location Mark, determines the relative position of at least one radio signal source and described automatic driving vehicle, and is sent extremely described relative position Described speed control unit；

Described speed control unit, for according to described relative position, controls the speed of described automatic driving vehicle.

Device the most according to claim 1, it is characterised in that described detection device includes at least four sensitive detection parts, institute State at least four sensitive detection parts and be individually positioned in the front and back of described automatic driving vehicle.

Device the most according to claim 2, it is characterised in that described at least four sensitive detection parts are individually positioned in described nothing People drives on the downside of the left front of vehicle, on the downside of right front, on the upside of middle front and on the downside of middle rear.

Device the most according to claim 1, it is characterised in that described positioner is further used for:

Frequency according to described wireless signal and the mark of described wireless signal, determine at least one radio signal source；

For each described radio signal source, according to the intensity in the moment or described wireless signal detecting described wireless signal with And the coordinate of described detecting location, determine the relative position of described radio signal source and described automatic driving vehicle, and by described Position relatively sends to described speed control unit.

Device the most according to claim 1, it is characterised in that described device also include communicating to connect described detection device and Described positioner collect device, for the information of wireless signal detected at synchronization by described detection device and every The coordinate of the detecting location that individual wireless signal is corresponding is aggregated in Frame, and the Frame after collecting is sent to described location dress Put.

Device the most according to claim 5, it is characterised in that described positioner is further used for:

Information according to the wireless signal in the Frame after described collecting and the coordinate of described detecting location, determine synchronization The relative position of at least one radio signal source and described automatic driving vehicle, and described relative position is sent to described speed Degree controls device.

Device the most according to claim 6, it is characterised in that described device also includes communicating to connect with described positioner Direction-control apparatus；And

Described positioner is further used for: according at least one radio signal source of the synchronization determined with described nobody drive Sail the relative position of vehicle, determine at least one the radio signal source described movement locus relative to described automatic driving vehicle, And described movement locus is sent to described direction-control apparatus；

Described direction-control apparatus, for according to described movement locus, adjusts the travel direction of described automatic driving vehicle.

8. according to the device described in any one of claim 1-7, it is characterised in that described device also includes pattern recognition device And/or radar detection apparatus and leading to described pattern recognition device and/or described radar detection apparatus and described positioner The checking device that letter connects；

Described pattern recognition device, for identifying the barrier around described automatic driving vehicle, and the barrier that will identify that It is sent to described checking device with the relative position information of described automatic driving vehicle；

Described radar detection apparatus, for detecting the barrier around described automatic driving vehicle, and the barrier that will detect It is sent to described checking device with the relative position information of described automatic driving vehicle；

Described checking device, for obtaining described relative position from described positioner, and by itself and described pattern recognition device And/or the relative position information of the barrier that obtains of described radar detection apparatus and described automatic driving vehicle compares, Accuracy to the described relative position that described positioner determines.

9. one kind for controlling the system of automatic driving vehicle, it is characterised in that described system includes: portable unit and such as right Require the car-mounted device described in any one of 1-8；

Described portable unit is carried by the pedestrian around described automatic driving vehicle, is used for launching wireless signal；

Detection device in described car-mounted device is for detecting the wireless signal that described portable unit is launched.

10. the method being used for controlling automatic driving vehicle, it is characterised in that described method includes:

The information of the wireless signal around acquisition automatic driving vehicle, described wireless signal is by being placed on described automatic driving vehicle The multiple sensitive detection parts at detecting location preset obtain, the information of described wireless signal at interval of the first preset time period detection Including the frequency of described wireless signal, the mark of described wireless signal and below at least one: detect described wireless signal Moment, the intensity of described wireless signal；

Information according to the wireless signal obtained and the coordinate of described detecting location, determine that at least one radio signal source is with described The relative position of automatic driving vehicle；

According to described relative position, control the speed of described automatic driving vehicle.

11. methods according to claim 10, it is characterised in that described wireless signal is by being placed on described automatic driving car Front and back at least four sensitive detection parts at interval of first preset time period detection and obtain.

12. methods according to claim 11, it is characterised in that described wireless signal is by being placed on described automatic driving car Left front on the downside of, at least four sensitive detection parts on the downside of right front, on the upside of middle front and on the downside of middle rear are at interval of first Preset time period detects and obtains.

13. methods according to claim 10, it is characterised in that described according to the information of wireless signal obtained and described The coordinate of detecting location, determines the relative position of at least one radio signal source and described automatic driving vehicle, including:

For each described radio signal source, according to the intensity in the moment or described wireless signal detecting described wireless signal and The coordinate of described detecting location, determines the relative position of described radio signal source and described automatic driving vehicle.

14. methods according to claim 10, it is characterised in that in the described information according to the wireless signal obtained and institute State the coordinate of detecting location, determine at least one radio signal source with before the relative position of described automatic driving vehicle, described Method also includes:

The coordinate of the information of the wireless signal detected by synchronization and detecting location corresponding to each wireless signal is aggregated into In Frame.

15. methods according to claim 14, it is characterised in that described according to the information of wireless signal obtained and described The coordinate of detecting location, determines the relative position of at least one radio signal source and described automatic driving vehicle, including:

Information according to the wireless signal in the Frame after collecting and the coordinate of described detecting location, determine that synchronization is extremely Lack the relative position of a radio signal source and described automatic driving vehicle.

16. methods according to claim 15, it is characterised in that described method also includes:

At least one radio signal source according to the synchronization determined and the relative position of described automatic driving vehicle, determine institute State at least one radio signal source movement locus relative to described automatic driving vehicle；

According to described movement locus, adjust the travel direction of described automatic driving vehicle.

17. according to the method described in any one of claim 10-16, it is characterised in that described method also includes:

Obtain the barrier around the described automatic driving vehicle identified based on image-recognizing method and described automatic driving car Relative position information；And/or

Obtain the barrier around the described automatic driving vehicle detected based on radar detection method and described automatic driving car Relative position information；

By barrier and the described nothing of the described radio signal source position relative with described automatic driving vehicle determined and acquisition People drives the relative position information of vehicle and compares, and obtains the phase para-position of described radio signal source and described automatic driving vehicle The accuracy put.

18. 1 kinds for controlling the device of automatic driving vehicle, it is characterised in that described device includes:

First acquiring unit, for obtaining the information of the wireless signal around automatic driving vehicle, described wireless signal is by placing Multiple sensitive detection parts at the detecting location that described automatic driving vehicle is preset obtain at interval of the first preset time period detection, The information of described wireless signal include the frequency of described wireless signal, the mark of described wireless signal and below at least one: visit Measure the moment of described wireless signal, the intensity of described wireless signal；

Determine unit, for the information according to the wireless signal obtained and the coordinate of described detecting location, determine at least one nothing The relative position of line signal source and described automatic driving vehicle；

Control unit, for according to described relative position, controls the speed of described automatic driving vehicle.

19. devices according to claim 18, it is characterised in that described wireless signal is by being placed on described automatic driving car Front and back at least four sensitive detection parts at interval of first preset time period detection and obtain.

20. devices according to claim 19, it is characterised in that described wireless signal is by being placed on described automatic driving car Left front on the downside of, at least four sensitive detection parts on the downside of right front, on the upside of middle front and on the downside of middle rear are at interval of first Preset time period detects and obtains.

21. devices according to claim 18, it is characterised in that described determine that unit includes:

Signal source determines module, for the frequency according to described wireless signal and the mark of described wireless signal, determines at least one Individual radio signal source；

Position determination module relatively, for for each described radio signal source, according to the moment detecting described wireless signal Or the intensity of described wireless signal and the coordinate of described detecting location, determine described radio signal source and described automatic driving vehicle Relative position.

22. devices according to claim 18, it is characterised in that described device also includes:

Collection unit, for described determine unit according to the information of wireless signal obtained and the coordinate of described detecting location, Determine at least one radio signal source with before the relative position of described automatic driving vehicle, that is detected by synchronization is wireless The coordinate of the information of signal and detecting location corresponding to each wireless signal is aggregated in Frame.

23. devices according to claim 22, it is characterised in that described determine that unit is further used for:

24. devices according to claim 23, it is characterised in that described device also includes:

Track determines unit, at least one radio signal source according to the synchronization determined and described automatic driving vehicle Relative position, determine at least one the radio signal source described movement locus relative to described automatic driving vehicle；

Direction adjustment unit, for according to described movement locus, adjusts the travel direction of described automatic driving vehicle.

25. according to the device described in any one of claim 18-24, it is characterised in that described device also includes:

Second acquisition unit, for obtaining the barrier around the described automatic driving vehicle identified based on image-recognizing method Relative position information with described automatic driving vehicle；And/or

3rd acquiring unit, for obtaining the barrier around the described automatic driving vehicle detected based on radar detection method Relative position information with described automatic driving vehicle；

Comparing unit, for the described radio signal source position relative with described automatic driving vehicle that will determine and the barrier of acquisition Hinder thing to compare with the relative position information of described automatic driving vehicle, obtain described radio signal source unmanned with described The accuracy of the relative position of vehicle.