CN108399792A - A kind of automatic driving vehicle preventing collision method, device and electronic equipment - Google Patents
A kind of automatic driving vehicle preventing collision method, device and electronic equipment Download PDFInfo
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- CN108399792A CN108399792A CN201810074150.5A CN201810074150A CN108399792A CN 108399792 A CN108399792 A CN 108399792A CN 201810074150 A CN201810074150 A CN 201810074150A CN 108399792 A CN108399792 A CN 108399792A
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- vehicle
- evacuation
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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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
The invention discloses a kind of automatic driving vehicle preventing collision method and devices, are related to unmanned technical field, and this method includes：Obtain the result of detection to road conditions；When the result of detection is unsatisfactory for preset meeting condition, evacuation information is generated according to the result of detection and preset evacuation rule；The evacuation information includes the evacuation rule；The evacuation information is sent at least one nearby vehicle, so that at least one nearby vehicle carries out meeting according to the evacuation information.The present invention can judge whether road disclosure satisfy that meeting, and when road cannot meet meeting, provide a kind of Automatic Negotiation Mechanism, so that mode realizes the evacuation of vehicle through consultation between the vehicle of meeting by identifying condition of road surface.
Description
Technical field
The present invention relates to a kind of unmanned technical field more particularly to automatic driving vehicle preventing collision method, device and electricity
Sub- equipment.
Background technology
Pilotless automobile is one kind of intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving instrument based on calculation machine system realizes unpiloted target.
There are two kinds of scenes for automatic driving vehicle evacuation, first, driving errors lead to possible head-on crash or knock into the back, separately
It is a kind of the reason is that existing so that it cannot meet on the meeting or road of both sides' vehicle due to the not enough width of road itself
Barrier, which causes original road to narrow, to be caused to be unable to meeting.
Since the development of unmanned technology is at present also in the experimental stage, do not come into operation.And in the prior art, greatly
In the case that most unmanned technologies all assumes that lane width is enough, how research prevents what vehicle from colliding to ask
Topic.
However in practical applications, many roads can have latter issues.Such as there are some roads in Chinese many cities
Road short of width itself is enough with the two automobiles or road width for accommodating Facing Movement, but road occupying of stopping is more, can not
Accommodate parallel two cars.When there is this problem, the evacuation technology of existing automatic driving vehicle cannot solve such ask
Topic.
Invention content
(1) goal of the invention
When present invention aim to address automatic driving vehicles with manned vehicle or automatic driving vehicle meeting, due to
Road width not enough cannot achieve the technical issues of evacuation.
(2) technical solution
To solve the above problems, the first aspect of the present invention provides a kind of automatic driving vehicle preventing collision method, including：It obtains
Take the result of detection to road conditions；When the result of detection is unsatisfactory for preset meeting condition, according to the result of detection and in advance
If evacuation rule generate evacuation information；The evacuation information includes the evacuation rule；It is sent at least one nearby vehicle
The evacuation information, so that at least one nearby vehicle carries out meeting according to the evacuation information.
Optionally, described obtain further includes to the result of detection of road conditions：
Obtain the travel direction and identification data of nearby vehicle；
Identity-based identification data obtain the vehicle Rankine-Hugoniot relations and mailing address of this vehicle nearby vehicle.
Optionally, the preset meeting condition is：L1-C1-C2 >=2*S1 or L1-C1-C2 >=2*S1+S2；Wherein,
L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, and S1 is preset following distance, and S2 is barrier
Width.
Optionally, the identification data is the number-plate number or scheduled unique identifier.
Optionally, the carrier of the identification data is one or more of car plate, Quick Response Code, RFID tag.
Optionally, the method further includes：
Obtain the live state information of meeting；
The evacuation rule is adjusted according to the live state information；
Evacuation rule after adjustment is sent at least one nearby vehicle.
Optionally, the live state information is sensor gathered data and/or nearby vehicle feedback information.
Optionally, the nearby vehicle feedback information includes the second evacuation rule.
Optionally, the travel direction for obtaining nearby vehicle, including：
Receive its own travel direction that nearby vehicle is broadcasted；Or the comparison by current vehicle speed and opposite travel speed
As a result the travel direction of nearby vehicle is obtained.
Optionally, the evacuation rule includes：According in the result of detection vehicle distances and after can crossing place
Distance information, the transmits information of vehicle, communications address information and vehicle evacuation direction congestion in road situation letter
At least one in breath determines evacuation side.
Optionally, after described can crossing place be the width based on road in the rear to determine.
According to another aspect of the present invention, a kind of automatic driving vehicle avoiding device is provided, including：Data acquisition mould
Block, for obtaining the result of detection to road conditions；Judgment module, for judging whether the result of detection meets preset meeting spoke
Part, and when the determination result is yes, evacuation information is generated according to the result of detection and preset evacuation rule；Avoid information hair
Module is sent, the evacuation information is sent at least one nearby vehicle, so that at least one nearby vehicle is kept away according to
Information is allowed to carry out meeting.
Optionally, the data acquisition module includes：
Vehicle data acquisition module, the travel direction for obtaining nearby vehicle and identification data；
Vehicle identification module obtains vehicle Rankine-Hugoniot relations and the communication of this vehicle nearby vehicle for identity-based identification data
Address.
Optionally, described device further includes：
Live acquisition module, the live state information for obtaining meeting；
Rule adjustment module, for adjusting the evacuation rule according to the live state information；
Policy Updates module, for the evacuation rule after adjustment to be sent at least one nearby vehicle.
Optionally, the vehicle data acquisition module includes：
Broadcasting reception module, its own travel direction broadcasted for receiving nearby vehicle；And/or
Speed comparing module, for obtaining the row of nearby vehicle by the comparison result of current vehicle speed and opposite travel speed
Sail direction.
Optionally, the judgment module includes：Evacuation side's determination module, for according to the vehicle in the result of detection away from
From and after can crossing place distance information, the transmits information of vehicle, communications address information and vehicle evacuation side
To congestion in road situation information at least one of determine evacuation side.
According to another aspect of the present invention, a kind of computer readable storage medium is provided, is deposited on the storage medium
The step of containing computer program, above-mentioned automatic driving vehicle preventing collision method realized when described program is executed by processor.
According to another aspect of the present invention, a kind of electronic equipment is provided, including：Memory, processor and storage
On the memory and the computer program that can run on the processor, the processor are realized when executing described program
The step of automatic driving vehicle preventing collision method.
(3) advantageous effect
The above-mentioned technical proposal of the present invention has following beneficial technique effect：The present invention is by identifying condition of road surface, energy
Enough judge whether road disclosure satisfy that meeting, and when road cannot meet meeting, provides a kind of Automatic Negotiation Mechanism, from
And so that mode realizes the evacuation of vehicle through consultation between the vehicle of meeting.
Description of the drawings
Fig. 1 is the step flow chart of the first embodiment of preventing collision method of the present invention；
Fig. 2 is the schematic diagram of a scenario of embodiment application shown in FIG. 1；
Fig. 3 is the step flow chart of the second embodiment of preventing collision method of the present invention；
Fig. 4 is the schematic diagram of a scenario of embodiment application shown in Fig. 3；
Fig. 5 is a kind of module relationship schematic diagram of an embodiment of avoiding device provided by the invention；
Fig. 6 is the hardware architecture diagram of electronic equipment provided by the invention.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Fig. 1 is the step flow chart of the first embodiment of preventing collision method of the present invention.
Fig. 2 is the schematic diagram of a scenario of embodiment application shown in FIG. 1.
As shown in Figure 2, wherein B1 is this vehicle, and A is the front vehicles of this vehicle." √ " on arrow between A and B1 is indicated
It can be in communication with each other between vehicle A and vehicle B1.
As shown in Figure 1, in the present embodiment, preventing collision method is applied in the application scenarios of two cars meeting.Evacuation side
Method includes following S1-S3：
S1 obtains the result of detection to road conditions.
It obtains and includes to the result of detection of road conditions：S11 and S12.
S11 obtains the detection data to road conditions.
Detection data includes road width, on road the width and the object and this vehicle of object relative velocity.Specifically
The object on road and road is detected to obtain by using detection devices such as the laser or radar being installed on vehicle
To detection data.
S12 analyzes detection data to obtain result of detection.
According to the comparison result judgment object of object and the travel speed V1 of the relative velocity V2 and Ben Che of this vehicle whether be
Vehicle, judgment object whether be barrier, judgment object travel direction；According to the relative velocity V2 and Ben Che of object and this vehicle
Travel speed V1 difference judgment object travel speed.
Wherein, the relative velocity V2 of object and this vehicle is obtained according to detection data, and the travel speed V1 of this vehicle can pass through
Navigation system is obtained or is obtained according to the opposite variation calculation of itself GPS location.Specifically, if V1=V2, judge object
Body is barrier；If V1 ≠ v2, judge object for vehicle；If V1<V2 then judges object for vehicle, and the vehicle with
This vehicle travel direction is opposite；If V1>V2 then judges object for vehicle, and the vehicle is identical as this vehicle travel direction.According to V1
With the difference of V2, front vehicles travel speed is calculated：When travel direction is opposite, front vehicles travel speed is V2-V1；Traveling side
To it is identical when, front vehicles speed is V1-V2 (V2 values can be positive value or negative value).Based on comparing the analysis of V2 and V1,
It can obtain, if barrier is not present in road, result of detection includes：The width of road and the width of front vehicles；If
There are barriers, then result of detection to further include for road：The width of barrier.
S2, when the result of detection is unsatisfactory for preset meeting condition, according to the result of detection and the evacuation to prestore
Rule generates evacuation information.
Whether preset meeting condition is to judge the difference of the width of each object on the width and road of road more than preset
Safety meeting distance.If result of detection is unsatisfactory for preset meeting condition, illustrates that road cannot meet meeting, at this time need
Consider Avoidance., whereas if result of detection meets preset meeting condition, then illustrate the width meeting of disclosure satisfy that of road
The case where vehicle is in this case not have to evacuation, and what the present invention solved, which is the width of road, cannot meet meeting, therefore this
Kind situation is not within the scope of the consideration of the present invention.
In yet another embodiment of the present invention, road is held sway there is no when barrier, and preset meeting condition is：
L1-C1-C2≥2*S1；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, and S1 is default
Following distance.In yet another embodiment of the present invention, road is held sway there are when barrier, and preset meeting condition is：L1-
C1-C2≥2*S1+S2；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, and S1 is default
Following distance, S2 be barrier width.
Avoiding rule is pre-set and is stored in vehicle-mounted memory, can also be stored in remote server, root
According to the triggering of user evacuation rule is obtained from remote server.Evacuation rule refers to determining the double of meeting according to default rule
Just which side is the rule of evacuation side.In order to enable the public is better understood from evacuation rule of the present invention, evacuation rule
Any one of following rule may be used：First rule：According to vehicle distances thereafter can the distance of crossing place determine
Fixed evacuation side；Second Rule：Evacuation side is determined according to the travel direction of vehicle；Third rule：It determines to avoid according to mailing address
Side；4th rule：Evacuation side is determined according to the congestion in road situation of the direction of retreat of vehicle.It should be noted that in addition to this four
Except kind rule, it can also determine which side is evacuation side using other rules, it is listed above for example, by using random method
The evacuation rule gone out can not limit protection scope of the present invention.
It includes evacuation rule and evacuation result to generate evacuation information.The evacuation result makes a decision the evacuation side's vehicle.
It may be front vehicles, front vehicle to avoid result, it is also possible to this vehicle.
S3 sends evacuation information, so that at least one nearby vehicle is kept away according to at least one nearby vehicle
Information is allowed to carry out meeting.
Nearby vehicle can be manned vehicle, and having can be with automatic driving vehicle.When nearby vehicle and Ben Che are supported
The communications such as DSRC (Dedicated Short Range Communications, Dedicated Short Range Communications technology), LTE-V, 5G
When mode, this vehicle can be communicated by the communication mode with nearby vehicle, i.e., is sent out to nearby vehicle by the communication port
Send evacuation information.
Here nearby vehicle includes this vehicle, i.e., in the worst case, only controls this vehicle and avoided.
In yet another embodiment of the present invention, S1 obtain S13 further comprising the steps of to the result of detection of road conditions and
S14。
S13 obtains the identification data of this vehicle nearby vehicle.
Identification data refers to representing that the unique identification data of vehicle, identification data can be the car plates of vehicle
Number or the unique identification data of other definition.
Identification data can be presented by one or more different forms.Such as：Pass through the number-plate number or two
Tie up code.
S14, identity-based identification data obtain the vehicle Rankine-Hugoniot relations and mailing address of this vehicle nearby vehicle.
Identity-based identifies that the mailing address that data obtain this vehicle nearby vehicle is specially：Identity-based identifies data access
Server obtains mailing address corresponding with identification data.Wherein, mailing address is the IP address or MAC of vehicle
Location.Identity-based identifies that the vehicle Rankine-Hugoniot relations that data obtain this vehicle nearby vehicle is specially：Based on the identification number of itself
The nearby vehicle Rankine-Hugoniot relations of this vehicle is generated according to the identification data with nearby vehicle.
The identification data for obtaining this vehicle nearby vehicle, Yi Jiji are illustrated below in conjunction with 4 specific implementation modes
The vehicle Rankine-Hugoniot relations of this vehicle nearby vehicle and the process of mailing address are obtained in identification data.
In a specific embodiment, identification data is the number-plate number, and carries the carrier of identification data
For car plate.Specifically, the vehicle front of this vehicle and vehicle body rear are provided with camera, which is used for the front vehicle to this vehicle
And the number-plate number of front vehicle take pictures, and result of taking pictures is sent to the Vehicle License Plate Recognition System of this vehicle, Car license recognition
Photo is identified in system, to obtain this vehicle fore-aft vehicle the number-plate number.In the vehicle for the fore-aft vehicle for obtaining this vehicle
After trade mark code, this vehicle generates the arrangement of this vehicle and fore-aft vehicle based on the number-plate number of itself and the number-plate number of fore-aft vehicle
Relationship, and based between vehicle communication interaction or with server interact generate nearby vehicle Rankine-Hugoniot relations.Generating week
After the Rankine-Hugoniot relations of side vehicle, this vehicle can find the vehicle for waiting being sent to evacuation information based on the Rankine-Hugoniot relations of nearby vehicle
Trade mark code, and the mailing address (IP address or MAC Address) of the vehicle is obtained based on the number-plate number from server, to this
Mailing address sends evacuation information.Wherein, the Rankine-Hugoniot relations of nearby vehicle is generated based on the communication interaction between vehicle, it is specific to wrap
It includes：Pass through DSRC (Dedicated Short Range Communications Dedicated Short Range Communications technology), LTE-V, 5G
Equal communication modes receive the number-plate number and Rankine-Hugoniot relations of vehicle itself and its fore-aft vehicle that nearby vehicle is sent, and are based on connecing
The number-plate number and Rankine-Hugoniot relations and Ben Che of receipts and the Rankine-Hugoniot relations of fore-aft vehicle generate the Rankine-Hugoniot relations of nearby vehicle.It is based on
With server interact generate nearby vehicle Rankine-Hugoniot relations, including：This vehicle is by base station by the car plate of Ben Che and fore-aft vehicle
Number and Rankine-Hugoniot relations are sent to server, and the car plate of the vehicle itself and its fore-aft vehicle from server acquisition nearby vehicle
Number and Rankine-Hugoniot relations, to generate the Rankine-Hugoniot relations of nearby vehicle.
In another embodiment, identification data is the unique identifier defined in advance to each vehicle,
And the carrier for carrying identification data is Quick Response Code.Specifically, the vehicle front of this vehicle and vehicle body rear are provided with camera,
The camera is for taking pictures to the front vehicles of this vehicle and the Quick Response Code of front vehicle, and the result that will take pictures is sent to this vehicle
Quick Response Code identifying system, photo is identified in Quick Response Code identifying system, knows to obtain the identity of fore-aft vehicle of this vehicle
Other data.After the identification data for the fore-aft vehicle for obtaining this vehicle, this vehicle is based on the identification data of itself with before
The identification data of rear vehicle generates the Rankine-Hugoniot relations of this vehicle and fore-aft vehicle, and based between vehicle communication interaction or with
The interaction of server generates the Rankine-Hugoniot relations of nearby vehicle.After the mutual arrangement relationship for generating multiple vehicles, this vehicle can be with
Based on the Rankine-Hugoniot relations for generating nearby vehicle, the corresponding identification data of vehicle for waiting being sent to evacuation information is found, and
The mailing address of the vehicle is obtained from server based on the identification data, to send evacuation information to the mailing address.
Wherein, the Rankine-Hugoniot relations that nearby vehicle is generated based on the communication interaction between vehicle, is specifically included：DSRC can be passed through
The communication modes such as (Dedicated ShortRange Communications Dedicated Short Range Communications technology), LTE-V, 5G connect
Receive the identification data and Rankine-Hugoniot relations of vehicle itself and its fore-aft vehicle that nearby vehicle is sent, and the identity based on reception
Identify that data and Rankine-Hugoniot relations and the Rankine-Hugoniot relations of Ben Che and fore-aft vehicle generate the Rankine-Hugoniot relations of nearby vehicle.Based on clothes
The interaction of business device generates the Rankine-Hugoniot relations of nearby vehicle, including：This vehicle is by base station by the identification of Ben Che and fore-aft vehicle
Data and Rankine-Hugoniot relations are sent to server, and the identity of the vehicle itself and its fore-aft vehicle from server acquisition nearby vehicle
Data and Rankine-Hugoniot relations are identified, to generate the Rankine-Hugoniot relations of nearby vehicle.
In another embodiment, identification data is the unique identifier of definition, and carries identification
The carrier of data is RFID tag.
Specifically, (Dedicated Short Range Communications special short distances are logical by DSRC for this vehicle
Letter technology), the communication ports such as LTE-V, 5G get RFID tag and the geographical location of surrounding vehicles, and based on acquisition around
The RFID tag of vehicle and geographical location generate vehicle Rankine-Hugoniot relations.Alternatively, this vehicle obtains the vehicle of surrounding vehicles from server
(geographical location of itself and RFID tag are uploaded to server to Rankine-Hugoniot relations by vehicle in real time, and server is based on each vehicle
The geographical location of biography and RFID tag generate vehicle Rankine-Hugoniot relations).After obtaining the Rankine-Hugoniot relations of nearby vehicle, this vehicle can be with
Rankine-Hugoniot relations based on nearby vehicle finds the corresponding identification data of vehicle for waiting being sent to evacuation information, and is based on
The identification data obtains the mailing address of the vehicle from server, to send evacuation information to the mailing address.
In another implementation concrete mode, identification data is the unique identifier of definition, and carries identification
The carrier of data is Quick Response Code and RFID tag.
Specifically, the vehicle front of this vehicle and vehicle body rear are provided with camera, which is used for the front to this vehicle
Vehicle and the Quick Response Code of front vehicle are taken pictures, and result of taking pictures is sent to the Quick Response Code identifying system of this vehicle, Quick Response Code
Photo is identified in identifying system, to obtain this vehicle fore-aft vehicle identification data.This vehicle passes through DSRC
The communication ports such as (Dedicated Short Range Communications Dedicated Short Range Communications technology), LTE-V, 5G connect
Receive the RFID tag of nearby vehicle broadcast.Identity-based identifies that data and RFID tag obtain the Rankine-Hugoniot relations of nearby vehicle.This
Vehicle can find the corresponding identification of vehicle for waiting being sent to evacuation information based on the Rankine-Hugoniot relations of the nearby vehicle of generation
Data and mailing address, to send evacuation information to the mailing address.
The travel direction of this vehicle nearby vehicle is obtained by way of following steps S131 or S132.
S131, if this vehicle can by DSRC (Dedicated Short Range Communications, it is special short
Distance communication technology), the communication modes such as LTE-V, 5G communicated with other nearby vehicles, then before being received by the communication port
Its own travel direction of square vehicle broadcasted.
S132, if DSRC (Dedicated Short Range Communications special short distances cannot be passed through
The communication technology), the communication modes such as LTE-V, 5G communicated with front vehicles, then pass through the travel speed V1 of this vehicle and other weeks
The comparison with the relative velocity V2 of this vehicle of side vehicle obtains the travel directions of other nearby vehicles, and (specific manner of comparison is aforementioned
By the agency of, details are not described herein again).For this vehicle：Or it can be with from vehicle-mounted compass sensor from vehicle mounted guidance data
Obtain the travel direction of this vehicle；The travel speed V1 of this vehicle can be obtained from sensors such as vehicle-mounted velometers.
After the travel direction for obtaining this vehicle nearby vehicle, the traveling side of the travel direction and front vehicles of this vehicle is judged
To whether on the contrary.If the travel direction of the travel direction of this vehicle and front vehicles on the contrary, if illustrate that this vehicle and front vehicles must
There must be a side to be avoided (i.e. this vehicle is the first bus travelled in the same direction)., whereas if the travel direction and front of this vehicle
Travel direction is identical, then it is the first bus travelled in the same direction to illustrate this vehicle not, need not negotiate to avoid with front vehicles, it is only necessary to receive
The evacuation of first bus instructs.
Fig. 3 is the step flow chart of the second embodiment of preventing collision method of the present invention.
Fig. 4 is the schematic diagram of a scenario of embodiment application shown in Fig. 3.
As shown in figure 3, embodiment of the present invention is used for the scene of more vehicle meetings.Preventing collision method includes the following steps S10-
S30：
S10 obtains the live state information of meeting.
Wherein, the live state information is sensor gathered data and/or nearby vehicle feedback information.The nearby vehicle is anti-
Feedforward information includes the second evacuation rule.
S20 adjusts the evacuation rule according to the live state information；
If the second evacuation rule in nearby vehicle feedback information indicates that this vehicle is evacuation side, anti-according to nearby vehicle
Feedforward information adjustment evacuation rule.
Evacuation rule after adjustment is sent at least one nearby vehicle by S30.
Specifically, if nearby vehicle feedback information indicates that this vehicle is evacuation side, evacuation instruction is generated, and keep away described
Instruction is allowed to be sent to one or more front vehicles identical with this vehicle travel direction.Evacuation instruction for control vehicle into
Row evacuation to realize that controlling this vehicle is avoided, and controls and receives the vehicle that evacuation instructs and is avoided.
Wherein, when sending evacuation rule, it can once send an evacuation rule and be kept away based on what the evacuation rule generated
The side's of allowing information, the evacuation side's information that can also once send a plurality of evacuation rule and be generated based on every evacuation rule.When each
When sending an evacuation rule, response message of the front vehicles based on the evacuation rule is obtained；If the response message is
Confirmation message then generates evacuation instruction；If the response message is NACK messages, other evacuation rules are sent, until
It is confirmation message to get response of the front vehicles based on a certain item evacuation rule.
Wherein, evacuation rule includes：According in the result of detection vehicle distances and after can crossing place distance
In far and near information, the transmits information of vehicle, communications address information and the congestion in road situation information in vehicle evacuation direction
At least one determines evacuation side.
If according to vehicle distances thereafter can the distance of crossing place determine evacuation side, including step S201-
S206：
S201 obtains the width of the road at the rear of this vehicle；
Embodiment one：In the case that vehicle has high-precision map, road width data are obtained from map datum, after search
To the width of road, the width of the road at the rear of this vehicle is obtained.
Embodiment two：In the case that vehicle does not have high-precision map, vehicle persistently measures road width itself, knot
Map route is closed, is persistently recorded within the scope of certain time (such as 30 minutes) or certain distance (such as 800 meters of ranges)
The road width data of route.Record data include travel route figure, the route GPS location at change width and road width
Value, to obtain the width of the road at the rear of this vehicle from record data.
S202, the width of the road based on the rear judge the road at rear with the presence or absence of can meeting point.
Compare the sum of the width of road width L and dual-way vehicle C1+C2, if L-C1-C2 is more than Safe width.
S203, if it is present calculate described in can meeting point this vehicle of positional distance position distance；
S204, obtain front vehicles apart from its rear can meeting point distance；
S205, compares two distance values, and judgement is evacuation side apart from a small side or apart from a big side；
S206, the evacuation side based on judgement generate evacuation side's information.
If determining evacuation side, specific steps S211-S212 according to the travel direction of vehicle：
S211 obtains the travel direction of this vehicle and the travel direction of front vehicles；
S212, it is evacuation side that judgement, which meets a side of preset preferential travel direction,；
Preset preferential travel direction is for example：Travel priority is travelled in westwards eastwards, and the vehicle westwards travelled is avoided；
Likewise, south orientation travel priority is travelled in north orientation, the southeast is travelled to travel priority in north-westward, and southwest is to travel priority in northeast
To traveling.
S213, the evacuation side based on judgement generate evacuation side's information.
If determining evacuation side according to mailing address；Then include the following steps S221-S224：
S221 obtains the mailing address of this vehicle and the mailing address of front vehicles.
Wherein, mailing address is：RFID is encoded or IP address.RFID codings can directly pass through RFID chip wireless induction
Goods；IP address directly obtains peer IP address and port numbers when two cars communicate.
S222, it is evacuation side that judgement mailing address, which meets a side of preset priority communication address,；
Such as：Compare the size for the one digit number specified in mailing address code.It is evacuation side or small one to specify a big side
Orientation evacuation side.
S221, the evacuation side based on judgement generate evacuation side's information.
If determining evacuation side according to the congestion in road situation of the direction of retreat of vehicle, include the following steps S231-
S233：
S231 obtains the congestion in road degree value of this vehicle direction of retreat and the congestion in road degree value of front vehicles.Road
Congestion level can be obtained from traffic information center, or the route being indecisive and changeable from navigation command real-time jam situation.
S232 judges that the smaller side of congestion in road degree value or a larger side are evacuation side；
S233, the evacuation side based on judgement generate evacuation side's information.
Fig. 5 is a kind of module relationship signal of an embodiment of automatic driving vehicle avoiding device provided by the invention
Figure.
As shown in figure 5, in embodiments of the present invention, automatic driving vehicle avoiding device includes：Data acquisition module is sentenced
Disconnected module, evacuation information generating module and evacuation information sending module,.
Data acquisition module, for obtaining the result of detection to road conditions.Data acquisition module includes：Detection data obtains mould
Block and detection data analysis module.
Detection data acquisition module, for obtaining the detection data to road conditions.Detection data includes road width, on road
The relative velocity of the width of object and the object and this vehicle.The spies such as laser or the radar on vehicle are installed in particular by utilization
Device is surveyed to detect to obtain detection data the object on road and road.
Detection data analysis module obtains result of detection for being analyzed detection data.According to object and this vehicle
Whether it is obstacle that whether the comparison result judgment object of the travel speed V1 of relative velocity V2 and Ben Che are vehicle, judgment object
The travel direction of object, judgment object；Judged according to the difference of object and the travel speed V1 of the relative velocity V2 and Ben Che of this vehicle
The travel speed of object.
Wherein, the relative velocity V2 of object and this vehicle is obtained according to detection data, and the travel speed V1 of this vehicle can pass through
Navigation system is obtained or is obtained according to the opposite variation calculation of itself GPS location.Specifically, if V1=V2, judge object
Body is barrier；If V1 ≠ v2, judge object for vehicle；If V1<V2 then judges object for vehicle, and the vehicle with
This vehicle travel direction is opposite；If V1>V2 then judges object for vehicle, and the vehicle is identical as this vehicle travel direction.According to V1
With the difference of V2, front vehicles travel speed is calculated：When travel direction is opposite, front vehicles travel speed is V2-V1；Traveling side
To it is identical when, front vehicles speed is V1-V2 (V2 values can be positive value or negative value).Based on comparing the analysis of V2 and V1,
It can obtain, if barrier is not present in road, result of detection includes：The width of road and the width of front vehicles；If
There are barriers, then result of detection to further include for road：The width of barrier.
Judgment module will determine that result is sent to evacuation for judging whether result of detection meets preset meeting condition
Rule Information generation module.
Whether preset meeting condition is to judge the difference of the width of each object on the width and road of road more than preset
Safety meeting distance.If result of detection is unsatisfactory for preset meeting condition, illustrates that road cannot meet meeting, at this time need
Consider Avoidance., whereas if result of detection meets preset meeting condition, then illustrate the width meeting of disclosure satisfy that of road
The case where vehicle is in this case not have to evacuation, and what the present invention solved, which is the width of road, cannot meet meeting, therefore this
Kind situation is not within the scope of the consideration of the present invention.
In yet another embodiment of the present invention, road is held sway there is no when barrier, and preset meeting condition is：
L1-C1-C2≥2*S1；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, and S1 is default
Following distance.In yet another embodiment of the present invention, road is held sway there are when barrier, and preset meeting condition is：L1-
C1-C2≥2*S1+S2；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, and S1 is default
Following distance, S2 be barrier width.
Avoiding rule is pre-set and is stored in vehicle-mounted memory, can also be stored in remote server, root
According to the triggering of user evacuation rule is obtained from remote server.Evacuation rule refers to determining the double of meeting according to default rule
Just which side is the rule of evacuation side.In order to enable the public is better understood from evacuation rule of the present invention, evacuation rule
Any one of following rule may be used：First rule：According to vehicle distances thereafter can the distance of crossing place determine
Fixed evacuation side；Second Rule：Evacuation side is determined according to the travel direction of vehicle；Third rule：It determines to avoid according to mailing address
Side；4th rule：Evacuation side is determined according to the congestion in road situation of the direction of retreat of vehicle.It should be noted that in addition to this four
Except kind rule, it can also determine which side is evacuation side using other rules, it is listed above for example, by using random method
The evacuation rule gone out can not limit protection scope of the present invention.
Information generating module is avoided, if the judging result of judgment module, which is result of detection, is unsatisfactory for preset meeting condition,
Evacuation information is then generated according to the result of detection and the evacuation rule to prestore.
It includes evacuation rule and evacuation result to generate evacuation information.The evacuation result makes a decision the evacuation side's vehicle.
It may be front vehicles, front vehicle to avoid result, it is also possible to this vehicle.
Information sending module is avoided, for sending evacuation information at least one nearby vehicle, so that described at least one
Nearby vehicle carries out meeting according to the evacuation information.
Nearby vehicle can be manned vehicle, and having can be with automatic driving vehicle.When nearby vehicle and Ben Che are supported
The communications such as DSRC (Dedicated Short Range Communications, Dedicated Short Range Communications technology), LTE-V, 5G
When mode, this vehicle can be communicated by the communication mode with nearby vehicle, i.e., is sent out to nearby vehicle by the communication port
Send evacuation information.
Here nearby vehicle includes this vehicle, i.e., in the worst case, only controls this vehicle and avoided.
Fig. 6 is the hardware architecture diagram of electronic equipment provided by the invention.
As shown in fig. 6, the present invention also provides a kind of electronic equipment, including：One or more processors and memory,
In Fig. 6 by taking a processor as an example.Further, electronic equipment can also include：Input unit and output device.
Processor, memory, input unit and output device can be connected by bus or other modes, with logical in Fig. 6
It crosses for the mode of bus connection.
The present invention is implemented it will be understood by those skilled in the art that the structure of electronic equipment shown in Fig. 6 is not constituted
The restriction of example, it, either busbar network, can also be hub-and-spoke configuration, can also include than illustrating more or fewer portions
Part either combines certain components or different components arrangement.
Processor can be made of integrated circuit (IntegratedCircuit, abbreviation IC), such as can be encapsulated by single
IC formed, can also be formed by connecting the encapsulation IC of more identical functions or different function.For example, processor can
Can also be CPU, digital signal processor only to include central processing unit (CentralProcessingUnit, abbreviation CPU)
(digitalsignalprocessor, abbreviation DSP), graphics processor (GraphicProcessingUnit, abbreviation GPU) and
The combination of various control chips.In embodiments of the present invention, CPU can be single operation core, can also include multioperation core
The heart.
Memory as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, it is non-temporarily
State computer class executes program and module, as the corresponding program instruction of automatic driving vehicle device in the embodiment of the present application/
Module is (for example, the regular sending module of attached data acquisition module shown in fig. 5, judgment module, evacuation and evacuation instruction generate mould
Block).Processor is stored in non-transient software program, instruction and the module of memory by operation, to execute server
The processing method of above-mentioned automatic driving vehicle preventing collision method embodiment is realized in various function application and data processing.
Memory may include storing program area and storage data field, wherein storing program area can storage program area, extremely
A few required application program of function；In embodiments of the present invention, operating system can be android system, iOS system
Or Windows operating system etc..Storage data field can be stored uses created data according to automatic driving vehicle device
Deng.Can also include non-transient memory in addition, memory may include high-speed random access memory, for example, at least one
Disk memory, flush memory device or other non-transient solid-state memories.In some embodiments, the optional packet of memory
Include the memory remotely located relative to processor.The embodiment of above-mentioned network include but not limited to internet, intranet,
LAN, mobile radio communication and combinations thereof.
Input unit can receive the number or character information of input, and generate the user with the processing unit of list operation
Setting and the related key signals input of function control.Input unit may include touch screen, keyboard, mouse etc., can also wrap
Include wireline interface, wireless interface etc..Output device may include the equipment such as display screen, loud speaker, can also include wireline interface, nothing
Line interface etc..
It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the present invention's
Principle, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.In addition, appended claims purport of the present invention
Covering the whole variations fallen into attached claim scope and boundary or this range and the equivalent form on boundary and is repairing
Change example.
Claims (10)
1. a kind of automatic driving vehicle preventing collision method, which is characterized in that including：
Obtain the result of detection to road conditions；
When the result of detection is unsatisfactory for preset meeting condition, generated according to the result of detection and preset evacuation rule
Avoid information；The evacuation information includes the evacuation rule；
The evacuation information is sent at least one nearby vehicle, so that at least one nearby vehicle is believed according to the evacuation
Breath carries out meeting.
2. according to the method described in claim 1, it is characterized in that, the acquisition further includes to the result of detection of road conditions：
Obtain the travel direction and identification data of nearby vehicle；
Identity-based identification data obtain the vehicle Rankine-Hugoniot relations and mailing address of this vehicle nearby vehicle.
3. according to the method described in claim 1, it is characterized in that, the preset meeting condition is：L1-C1-C2≥2*S1
Or L1-C1-C2 >=2*S1+S2；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle,
S1 is preset following distance, and S2 is barrier width.
4. according to the method described in claim 2, it is characterized in that, the identification data be the number-plate number or it is scheduled only
One identification code.
5. according to the method described in claim 2, it is characterized in that, the carrier of the identification data be car plate, Quick Response Code,
One or more of RFID tag.
6. according to the method described in claim 2, it is characterized in that, the method further includes：
Obtain the live state information of meeting；
The evacuation rule is adjusted according to the live state information；
Evacuation rule after adjustment is sent at least one nearby vehicle.
7. according to the method described in claim 6, it is characterized in that, the live state information is sensor gathered data and/or week
Side vehicle feedback information.
8. being advised the method according to the description of claim 7 is characterized in that the nearby vehicle feedback information includes the second evacuation
Then.
9. according to the method described in claim 2, it is characterized in that, it is described obtain nearby vehicle travel direction, including：
Receive its own travel direction that nearby vehicle is broadcasted；Or the comparison result by current vehicle speed and opposite travel speed
Obtain the travel direction of nearby vehicle.
10. according to claim 1-9 any one of them methods, which is characterized in that the evacuation rule includes：
According in the result of detection vehicle distances and after can crossing place distance information, the travel direction of vehicle
At least one in the congestion in road situation information of information, communications address information and vehicle evacuation direction determines evacuation side.
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