CN108773373A - Method and apparatus for operating automatic driving vehicle - Google Patents
Method and apparatus for operating automatic driving vehicle Download PDFInfo
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Abstract
This application discloses the method and apparatus for operating automatic driving vehicle.One specific implementation mode of the method includes：It collects double of automatic driving vehicle of driver and carries out used driving scheme and Driving Scene information when abnormal intervene；According to the scheme of driving, risk class is determined；The driving-environment information of driving environment residing for object information, vehicle running state information and vehicle is decomposited from Driving Scene information；Object information and corresponding risk class are learnt, identify risk subjects associated with risk class；For risk subjects, it to object information, vehicle running state information, driving-environment information and drives scheme and learns, determine incidence relation between object information, vehicle running state information, the combination of driving-environment information and the driving scheme of risk subjects using as driving strategy；Candidate driving scheme is determined using driving strategy.The embodiment is realized drives scheme according to the action optimization candidate of driver.
Description
The application is to be September in 2016 14 application No. is CN201610825323.3, the applying date, entitled " use
In operation automatic driving vehicle method and apparatus " Chinese patent application divisional application.
Technical field
This application involves technical field of vehicle, and in particular to automatic driving vehicle technology, more particularly, to operation are automatic
The method and apparatus for driving vehicle.
Background technology
Automatic Pilot relates generally to three kinds of identification, decision, control major techniques.For automatic Pilot, safety is first
The condition of position.In the prior art, generally use manual type removes the risk subjects that mark is identified for vehicle-mounted inductor, goes forward side by side one
The risk of step assessment each object establishes driving scheme by testing repeatedly.
Manually risk factors are labeled however, fully relying on, cost is high.Also, in open driving environment
In, existing risk factors are difficult to the person of being designed and producer's limit and artificial mark, to allow system to go automatic identification.This
Outside, even if when design or manufacture vehicle has marked out current all risk subjects but can if after vehicle comes into operation in advance
Constantly be likely to cause driving risk new things appear in vehicle travel process, and existing way can not in time to these not
The disconnected new risk subjects occurred are labeled, and it is even more impossible to establish risk assessment strategies or driving for these new risk subjects in time
Strategy.Therefore, it is necessary to design to the quick of risk subjects, scale, the recognition methods of low cost.
Invention content
This application provides the method and apparatus for operating automatic driving vehicle, for solving above-mentioned background technology part
?.
In a first aspect, this application provides a kind of method for operating automatic driving vehicle, the method includes：It collects
Double of automatic driving vehicle of driver carries out used driving scheme and the semi-automatic driving vehicle institute when abnormal intervene
Locate the Driving Scene information of Driving Scene；According to scheme is driven used by driver, determine that the semi-automatic driving vehicle exists
The residing risk class for driving risk under the Driving Scene；It is decomposited in the Driving Scene from the Driving Scene information
The driving-environment information of driving environment residing for the object informations of scenario objects, vehicle running state information and vehicle；To object
Information and corresponding risk class are learnt, and identify risk subjects associated with risk class in scenario objects；Needle
To the risk subjects identified, to object information, vehicle running state information, driving-environment information and corresponding driving side
Case is learnt, and determines the object information of risk subjects, combination and the driving side of vehicle running state information, driving-environment information
Incidence relation between case is using the driving strategy as automatic driving vehicle；Automatic driving vehicle is determined using the driving strategy
Candidate driving scheme.
In some embodiments, the method further includes：The step of driving strategy is optimized, including：It uses
The driving strategy, in the scene that driving simulator is simulated control test travelled with vehicle；Detect the test vehicle
Whether meet preconfigured driving rule in the driving simulator when driving；The driving plan is corrected according to testing result
Slightly.
In some embodiments, the driving strategy is corrected using nitrification enhancement.
In some embodiments, the method further includes：The driving strategy is added to driving for semi-automatic driving vehicle
It sails in policy database；Determine whether semi-automatic driving vehicle is carried out abnormal dry by driver when the driving strategy is triggered
In advance；If semi-automatic driving vehicle is not intervened extremely, the confidence level of the driving strategy is improved.
In some embodiments, the method further includes：If semi-automatic driving vehicle is intervened extremely, continues acquisition and drive
Double of automatic driving vehicle of the person of sailing used driving scheme and corresponding Driving Scene information when being intervened, with according to new
The driving scheme of acquisition adjusts the driving strategy with Driving Scene information.
Second aspect, this application provides a kind of device for operating automatic driving vehicle, described device includes：It is described
Device includes：Collector unit carries out used driving side when exception is intervened for collecting double of automatic driving vehicle of driver
The Driving Scene information of Driving Scene residing for case and the semi-automatic driving vehicle；
Level de-termination unit, for according to scheme is driven used by driver, determining that the semi-automatic driving vehicle exists
The residing risk class for driving risk under the Driving Scene；Resolving cell, for being decomposited from the Driving Scene information
Driving environment residing for the object information of each scenario objects, vehicle running state information and vehicle drives in the Driving Scene
Sail environmental information；Risk subjects unit, for learning to object information and corresponding risk class, identification appears on the scene
Risk subjects associated with risk class in scape object；Driving scheme unit is right for the risk subjects identified
Object information, vehicle running state information, driving-environment information and corresponding driving scheme are learnt, and determine risk subjects
Object information, vehicle running state information, the incidence relation between the combination of driving-environment information and driving scheme using as
The driving strategy of automatic driving vehicle；Scheme determination unit is driven, for determining automatic driving vehicle using the driving strategy
Candidate driving scheme.
In some embodiments, described device further includes driving strategy optimization unit, and the driving strategy optimization unit is used
In：Using the driving strategy, in the scene that driving simulator is simulated control test is travelled with vehicle；Detect the test
Whether meet preconfigured driving rule in the driving simulator when driving with vehicle；It is driven described in correcting according to testing result
Sail strategy.
In some embodiments, described device further includes tactful amending unit, is used for：The driving strategy is added to half
In the driving strategy database of automatic driving vehicle；Determine whether semi-automatic driving vehicle is driven when the driving strategy is triggered
The person of sailing carries out abnormal intervention；If semi-automatic driving vehicle is not intervened extremely, the confidence level of the driving strategy is improved.
In some embodiments, the tactful amending unit is additionally operable to：If semi-automatic driving vehicle is intervened extremely, after
Used driving scheme and corresponding Driving Scene information when continuous acquisition double of automatic driving vehicle of driver is intervened,
To adjust the driving strategy according to freshly harvested driving scheme and Driving Scene information.
Method and apparatus provided by the present application for operating automatic driving vehicle, by driver to semi-automatic driving vehicle
Abnormal intervening act determine risk class, and scenario objects and risk class are learnt, to from scenario objects
It identifies and the related risk subjects of risk class.It in this way, can be constantly to the abnormal intervening act of user
Learnt, so as to automatically identify risk subjects from the scenario objects of emergence, realizes the automatic of risk subjects
Mark, to significantly reduce the workload manually marked, emerging risk factors after capable of also coming into operation in time to vehicle
It is marked.Further, it is also possible to determine the object information of risk subjects and the incidence relation of risk class and generate for driving automatically
The risk assessment strategies that vehicle uses are sailed, so as to be carried out to risk identification by the abnormal intervening act for learning driver
Optimization.In addition, identified risk subjects are directed to, when also intervening by the way that double of automatic driving vehicle of driver is carried out exception
Driving scheme learnt as sample, establish object information, vehicle running state and the driving environment of risk subjects with
The incidence relation of driving scheme, to generate driving strategy, which can be used for determining that the candidate of automatic driving vehicle drives
Scheme, so as to according to the candidate driving scheme of the action optimization automatic driving vehicle of driver.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the flow chart according to one embodiment of the method for operating automatic driving vehicle of the application；
Fig. 3 is the flow chart according to another embodiment of the method for operating automatic driving vehicle of the application；
Fig. 4 is the structural schematic diagram according to one embodiment of the device for operating automatic driving vehicle of the application；
Fig. 5 is the structural representation according to another embodiment of the device for operating automatic driving vehicle of the application
Figure；
Fig. 6 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present application
Figure.
Specific implementation mode
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, is illustrated only in attached drawing and invent relevant part with related.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows showing for the embodiment that can apply the method and apparatus for operating automatic driving vehicle of the application
Example sexual system framework 100.
As shown in Figure 1, system architecture 100 may include semi-automatic driving vehicle 101,102,103, and network 104,106, clothes
Business device 105 and automatic driving vehicle 107.Network 104 to semi-automatic driving vehicle 101,102,103 and server 105 it
Between the medium of transmission link is provided, network 104 between automatic driving vehicle 107 and server 105 providing transmission link
Medium.Network 104,106 may include various connection types, such as wired, wireless transmission link or fiber optic cables etc..
Vehicle electronic device is installed in semi-automatic driving vehicle 101,102,103 and automatic driving vehicle 107, to be adopted into row information
Collection, processing and communication.
Semi-automatic driving vehicle 101,102,103 can acquire required data in the process of moving, and will collect
Data upload onto the server 105 to be further processed.
Server 105 can be to provide on the server of various services, such as double of automatic driving vehicle 101,102,103
The data of biography carry that for processing server.Server 105 can utilize the data that semi-automatic driving vehicle 101,102,103 uploads
It is trained, to generate risk assessment strategies or driving strategy.Corresponding strategy can be sent to automatic Pilot by server 105
Vehicle 107, to use corresponding policing action automatic driving vehicle 107 to complete the assessment of risk or drive the determination of scheme.This
Outside, strategy can also be sent back to each semi-automatic vehicle by server 105, so as to each semi-automatic vehicle to corresponding strategy into
Row test, to promote advanced optimizing for strategy.
It should be understood that the number of the semi-automatic driving vehicle, automatic driving vehicle, network and server in Fig. 1 is only
Schematically.According to needs are realized, can have any number of semi-automatic driving vehicle, automatic driving vehicle, network kimonos
Business device.
Referring to FIG. 2, it illustrates one embodiment of the method according to the application for operating automatic driving vehicle
Flow 200.It should be noted that the method for operating automatic driving vehicle that the embodiment of the present application is provided is mainly by scheming
Server 105 in 1 executes, some steps can also be by automatic driving vehicle 107 or semi-automatic driving vehicle 101,102,103
It executes；Correspondingly, it is generally positioned in server 105 for operating the device of automatic driving vehicle, some units can also be set
It is placed in automatic driving vehicle 107 or semi-automatic driving vehicle 101,102,103.This approach includes the following steps：
Step 201, collect double automatic driving vehicle of driver carry out when abnormal intervene used driving scheme and
The Driving Scene information of Driving Scene residing for semi-automatic driving vehicle.
In the present embodiment, the method for operating automatic driving vehicle runs electronic equipment (such as Fig. 1 institutes thereon
The server 105 shown) by wired connection mode or radio connection the semi-automatic of its traveling can be utilized from driver
It drives vehicle and collects data.Wherein, semi-automatic driving vehicle is that have the induction system of automatic driving vehicle and in driving procedure
The vehicle of manual intervention can be carried out by driver.
Wherein, collected data include that double of automatic driving vehicle of driver carries out used driving when abnormal intervene
The Driving Scene information of Driving Scene residing for scheme and semi-automatic driving vehicle.In practice, these data can be by with
What under type was collected：
First, each semi-automatic driving vehicle detects whether to carry out abnormal intervention by driver in the process of moving.Secondly,
When detecting that executing exception by driver intervenes, semi-automatic driving vehicle acquisition driver carries out used when abnormal intervention
Driving scheme and the Driving Scene information for acquiring Driving Scene residing for semi-automatic driving vehicle at this time.Wherein, Driving Scene information
It detected by various sensors or other means on semi-automatic driving vehicle, can be used for describing residing driver training ground
The data of scape.For example, the video for recording vehicle-periphery can be collected by vehicle-mounted vidicon, can pass through
Laser radar can collect the point cloud data of vehicle periphery, can also obtain the height in section residing for vehicle from high in the clouds by network
Precision map datum and current weather data etc..These data can be used for further merging and analysis, to be driven
Information of the object of plurality of classes in scene, such as vehicle running state information, driving-environment information, scenario objects information etc..
Finally, each semi-automatic driving vehicle uploads the data acquired (including driving scheme and corresponding Driving Scene information)
To electronic equipment, electronic equipment can be collected into these data.
In some optional realization methods of the present embodiment, above-mentioned driving scheme includes to Vehicle Speed and/or vehicle
The controlling behavior data that travel direction is controlled.Wherein, the controlling behavior of Vehicle Speed is primarily referred to as to vehicle
Brake and throttle etc. influence the controlling behavior of the component of car speed, are referred to as longitudinally controlled behavior.Vehicle is travelled
The controlling behavior in direction is primarily referred to as on the controlling behavior of the component of steering wheel for vehicle this influence vehicle heading, can also
Referred to as crosswise joint behavior.
Step 202, according to scheme is driven used by driver, determine semi-automatic driving vehicle under above-mentioned Driving Scene
The residing risk class for driving risk.
In the present embodiment, electronic equipment can be according to the default mapping ruler between the scheme of driving and risk class, will
Driving scheme in step 201 in acquired data is mapped as risk class, so that it is determined that semi-automatic driving vehicle is driven above-mentioned
Sail the residing risk class for driving risk under scene.In general, risk class can be characterized by numerical value.For example, bringing to a halt pair
The risk class answered is 10 grades, and corresponding risk class of turning right is 9 grades.In practice, the controlled quentity controlled variable of controlling behavior can be combined with
Further grading, such as according to brake or the amplitude turned right to operation grading of specifically braking or turn right.Optionally, risk class
Determination can also be directed to crosswise joint behavior and longitudinally controlled behavior combination.
Step 203, the object information of each scenario objects in Driving Scene is decomposited from Driving Scene information.
In the present embodiment, based on the Driving Scene information acquired in step 201, electronic equipment can be decomposited therefrom respectively
The object information of a scenario objects.In practice, Driving Scene information can be analyzed by certain algorithm, therefrom decomposed
Go out in Driving Scene to influence the scenario objects of risk residing for vehicle.Scenario objects may be vehicle, pedestrian, ride voluntarily
The people of vehicle and other movements or static target etc..Object information can be the letter of the feature for characterizing these scenario objects
Breath.These features may include the static natures such as structure, color, can also include the behavioral characteristics such as the direction of motion, movement velocity.
In general, these features can be used for the identification to a certain concrete scene object.
Step 204, object information and corresponding risk class are learnt, is identified in scenario objects with risk etc.
The associated risk subjects of grade, and determine the incidence relation between the object information and risk class of risk subjects using as automatic
Drive the risk assessment strategies of vehicle.
In the present embodiment, above-mentioned electronic equipment can be according to obtained risk class and step 203 in step 202
In obtained object information learnt, will be in risk class attribution to each scenario objects.Wherein, in attribution process with wind
The dangerous related scenario objects of grade can be identified as risk subjects.It can be with for these risk subjects, in attribution process
Determine the incidence relation between the object information of these risk subjects and risk class.Wherein, which can be used as certainly
The dynamic risk assessment strategies for driving vehicle, for automatic driving vehicle calculation risk grade.
In some optional realization methods of the present embodiment, deep neural network algorithm may be used to object in step 204
Information and corresponding risk class are learnt.Deep neural network algorithm can make the automatic mode of learning feature of machine, and
Feature learning is dissolved into during establishing model, it is incomplete caused by reduce artificial design feature.
Optionally, above-mentioned risk subjects include the known risk subjects marked out in advance.For example, can be by artificial
Common known risk subjects, which mark out, when mode is by vehicle drive comes.In practice, the mould to these known risk subjects is needed
Formula feature is labeled.In this way, it can allow deep neural network algorithm that need not be frequently occurred to these
Risk subjects carry out pattern feature and relearn, the calculating reduced when deep neural network algorithm carries out feature learning is difficult
Degree improves computational efficiency.
Step 205, the risk class that risk is driven residing for risk assessment strategies identification automatic driving vehicle is utilized.
In the present embodiment, which can be configured in corresponding automatic driving vehicle by electronic equipment,
In this way, automatic driving vehicle can use the risk assessment strategies to identify the residing risk class for driving risk.Automatic Pilot vehicle
Using the risk assessment strategies when, can to identifying risk subjects from the Driving Scene information currently acquired, and
Current risk class is calculated according to the object information of risk subjects.
In some optional realization methods of the present embodiment, the above method further includes：It is decomposed from Driving Scene information
Go out the driving-environment information of driving environment residing for vehicle running state information and vehicle；And step 204 further comprises：It is right
Object information, vehicle running state information, driving-environment information and corresponding risk class are learnt, and identify scene pair
The risk subjects associated with risk class as in, and determine the object information of risk subjects, vehicle running state information, drive
Incidence relation between the combination and risk class of environmental information.In the realization method, risk class is attributed to scene pair
As, the combination of vehicle running state and driving environment, such risk assessment strategies are additionally contemplates that residing when scenario objects occur
Condition so that risk assessment strategies consider factor more fully.
The abnormal intervening act that the method that above-described embodiment of the application provides passes through double of automatic driving vehicle of driver
It determines risk class, and scenario objects and risk class is learnt, to be identified from scenario objects and risk class
Related risk subjects.In this way, constantly the abnormal intervening act of user can be learnt, so as to
Risk subjects are automatically identified from the scenario objects of emergence, realize the automatic marking of risk subjects, to mitigate significantly
The workload of artificial mark, emerging risk factors are marked after capable of also coming into operation in time to vehicle.In addition, may be used also
It generates the risk used for automatic driving vehicle to determine the object information of risk subjects and the incidence relation of risk class and comments
Strategy is estimated, so as to be optimized to risk identification by the abnormal intervening act for learning driver.
With further reference to Fig. 3, it illustrates the flows of another embodiment of the method for operating automatic driving vehicle
300.The flow 300 of this method, includes the following steps：
Step 301, collect double automatic driving vehicle of driver carry out when abnormal intervene used driving scheme and
The Driving Scene information of Driving Scene residing for semi-automatic driving vehicle.
In the present embodiment, the specific processing of step 301 can be with the step 201 in 2 corresponding embodiment of reference chart, here not
It repeats again.
Step 302, according to scheme is driven used by driver, determine that semi-automatic driving vehicle is residing under Driving Scene
Drive the risk class of risk.
In the present embodiment, the specific processing of step 302 can be with the step 202 in 2 corresponding embodiment of reference chart, here not
It repeats again.
Step 303, object information, the vehicle traveling shape of Driving Scene Scene object are decomposited from Driving Scene information
The driving-environment information of driving environment residing for state information and vehicle.
In the present embodiment, it is based on Driving Scene information collected by step 301, electronic equipment can be according to certain calculation
Method therefrom decomposites driving environment residing for the object information of Driving Scene Scene object, vehicle running state information and vehicle
Driving-environment information.Wherein, scenario objects are the scenario objects that vehicle operation may suffer from, such as pedestrian, road
Other motor vehicles, the cargo etc. that is scattered of non power driven vehicle, other vehicles.Vehicle running state information is mainly vehicle itself
Status information, such as vehicle heading, Vehicle Speed etc..Driving-environment information is then used to indicate residing for vehicle
Macro environment, such as the information such as road, current weather residing for vehicle.Since Driving Scene information is obtained by multiple sensors
The information arrived, various information are merged, and electronic equipment needs to decompose Driving Scene information, each to decomposite
The driving-environment information of driving environment residing for the object informations of scenario objects, vehicle running state information and vehicle.
Step 304, object information and corresponding risk class are learnt, is identified in scenario objects with risk etc.
The associated risk subjects of grade.
In the present embodiment, above-mentioned electronic equipment can be according to obtained risk class and step 203 in step 202
In obtained object information learnt, will be in risk class attribution to each scenario objects.Wherein, in attribution process with wind
The dangerous related scenario objects of grade can be identified as risk subjects.
Step 305, for the risk subjects identified, object information, vehicle running state information, driving environment are believed
Breath and corresponding driving scheme are learnt, and determine the object information, vehicle running state information, driving environment of risk subjects
Incidence relation between the combination and driving scheme of information is using the driving strategy as automatic driving vehicle.
In the present embodiment, the risk subjects identified for step 304, electronic equipment can be based in step 303
Obtained object information, vehicle running state information, driving-environment information and be based on the obtained driving side of step 301
Case, electronic equipment can will be directed to the data of above-mentioned risk subjects be trained as sample, to determine risk subjects
Object information, vehicle running state information, the incidence relation between the combination of driving-environment information and driving scheme, to make
For the driving strategy of automatic driving vehicle.
Step 306, the candidate driving scheme of automatic driving vehicle is determined using driving strategy.
In the present embodiment, it is based on the obtained driving strategy of step 304, electronic equipment can be configured to be driven automatically
It sails in vehicle, so as to determine the candidate driving scheme of the driving strategy using the driving strategy.It should be noted that candidate
Driving scheme can also be used as further for automatic driving vehicle as the driving scheme that automatic driving vehicle finally uses
The driving scheme of processing.In practice, automatic driving vehicle can be according to other decision-making assistant informations from multiple candidate driving sides
The driving scheme finally used, decision-making assistant information is selected to can include but is not limited to drivers preference information, weather letter in case
It is one or more in breath, distance information, consumption information.
In some optional realization methods of the present embodiment, the above method further includes the step optimized to driving strategy
Suddenly, which specifically includes：Test is controlled using driving strategy in the scene that driving simulator is simulated to be travelled with vehicle；Inspection
Survey whether test vehicle meets preconfigured driving rule in driving simulator when driving；It corrects and drives according to testing result
Strategy.
In the realization method, test is also carried out to driving strategy by simulator simulated scenario and according to test effect pair
Driving strategy is modified so that revised driving strategy can make the traveling of vehicle meet driving rule, in driving secure side
It is optimized in face of driving strategy.
In some optional realization methods of the present embodiment, in the step of being optimized to driving strategy, using extensive chemical
It practises algorithm and corrects driving strategy according to testing result.In the realization method, adopted when correcting driving strategy according to testing result
It is not met with nitrification enhancement so that the weight for meeting the driving scheme for driving rule in driving strategy is increased
The weight for driving the driving scheme of rule reduces.Pass through the test of a large amount of scenes, you can make in modified driving strategy various
Corresponding driving scheme meets driving rule as much as possible under Driving Scene.
In some optional realization methods of the present embodiment, the above method further includes：Driving strategy is added to semi-automatic
In the driving strategy database for driving vehicle；Determine whether semi-automatic driving vehicle is carried out by driver when driving strategy is triggered
It is abnormal to intervene；If semi-automatic driving vehicle is not intervened extremely, the confidence level of driving strategy is improved.In the realization method,
It can will obtain driving strategy to be configured in the driving strategy database of semi-automatic driving vehicle, for semi-automatic driving vehicle energy
It is enough to carry out road test.When driving strategy is triggered and is not intervened extremely by driver, then the confidence level of driving strategy is improved, from
And the validity of driving strategy is effectively verified by actual road test, and its confidence level is improved when effective, to make
Obtain the practical drive demand that driving strategy meets driver as far as possible.
In some optional realization methods of a upper realization method, the above method further includes：If semi-automatic driving vehicle quilt
It is abnormal to intervene, then continue to acquire when double of automatic driving vehicle of driver is intervened used driving scheme and corresponding
Driving Scene information, to adjust driving strategy according to freshly harvested driving scheme and Driving Scene information.When driving strategy is touched
When sending out and being intervened extremely by driver, it is meant that the driving strategy triggered fails to meet the current drive demand of driver, from
And need to continue to acquire used driving scheme and corresponding driving when double of automatic driving vehicle of driver is intervened
Scene information, to be adjusted to driving strategy.Optionally, existing driving scheme and Driving Scene information and freshly harvested
Driving scheme and Driving Scene information can be simultaneously as the sample datas for generating new driving strategy.In practice, mould is being used
When type generates new driving strategy, can higher weight be set to freshly harvested driving scheme and Driving Scene information, to carry
The timeliness of high driving strategy.
The flow 300 of the method for operating automatic driving vehicle in the present embodiment is by driver to semi-automatic driving
The abnormal intervening act of vehicle determines risk class, and learns to scenario objects and risk class, thus from scenario objects
In identify and the related risk subjects of risk class.In this way, can row constantly be intervened to the abnormal of user
To be learnt, so as to automatically identify risk subjects from the scenario objects of emergence, oneself of risk subjects is realized
Dynamic mark, to significantly reduce the workload manually marked, after capable of also coming into operation in time to vehicle emerging risk because
Element is marked.In addition, identified risk subjects are directed to, it is also abnormal by carrying out double of automatic driving vehicle of driver
Driving scheme when intervention is learnt as sample, establishes object information, vehicle running state and the driving of risk subjects
The incidence relation of environment and the scheme of driving, to generate driving strategy, which can be used for determining the time of automatic driving vehicle
Driving scheme is selected, so as to according to the candidate driving scheme of the action optimization automatic driving vehicle of driver.
With further reference to Fig. 4, as the realization to method shown in above-mentioned each figure, this application provides one kind for operating certainly
One embodiment of the dynamic device for driving vehicle, the device embodiment is corresponding with embodiment of the method shown in Fig. 2, device tool
Body is generally used in the server 105 in Fig. 1.
As shown in figure 4, the device 400 for operating automatic driving vehicle described in the present embodiment includes：Collector unit
401, risk class determination unit 402, resolving cell 403, unit 404 and recognition unit 405.Wherein, collector unit 401
Used driving scheme and semi-automatic driving vehicle when exception is intervened are carried out for collecting double of automatic driving vehicle of driver
The Driving Scene information of residing Driving Scene；Risk class determination unit 402 is used for according to driving side used by driver
Case determines semi-automatic driving vehicle residing risk class for driving risk under Driving Scene；Resolving cell 403 is used for from driving
The object information of each scenario objects in Driving Scene is decomposited in scene information；Unit 404 be used for object information with
And corresponding risk class is learnt, and identifies risk subjects associated with risk class in scenario objects, and determine wind
Incidence relation between the object information and risk class of dangerous object is using the risk assessment strategies as automatic driving vehicle；And know
Other unit 405 is used to utilize the residing risk class for driving risk of risk assessment strategies identification automatic driving vehicle.
In the present embodiment, collector unit 401, risk class determination unit 402, resolving cell 403, unit 404
Specific processing with recognition unit 405 can be respectively with reference to step 201, step 202, step 203, step in 2 corresponding embodiment of figure
Rapid 204 and step 205, which is not described herein again.
In some optional realization methods of the present embodiment, resolving cell 403 is additionally operable to decompose from Driving Scene information
Go out the driving-environment information of driving environment residing for vehicle running state information and vehicle；And unit 404 is further used
In：Object information, vehicle running state information, driving-environment information and corresponding risk class are learnt, identified
Risk subjects associated with risk class in scenario objects, and determine the object information of risk subjects, vehicle running state letter
It ceases, incidence relation between the combination and risk class of driving-environment information.The specific processing of the realization method can be with reference chart 2
Corresponding realization method in corresponding embodiment, which is not described herein again.
In some optional realization methods of the present embodiment, above-mentioned driving scheme includes to Vehicle Speed and/or vehicle
The controlling behavior data that travel direction is controlled.The specific processing of the realization method can be in 2 corresponding embodiment of reference chart
Corresponding realization method, which is not described herein again.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides one kind for operating certainly
Another embodiment of the dynamic device for driving vehicle, the embodiment of the method for the device embodiment as shown in figure 3 is corresponding, the device
Specifically it can be applied in the server 105 in Fig. 1.
As shown in figure 5, the device 500 for operating automatic driving vehicle described in the present embodiment includes：Collector unit
501, resolving cell 502, incidence relation determination unit 503 and driving scheme determination unit 504.Wherein, collector unit 501 is used for
It collects double of automatic driving vehicle of driver and carries out used driving scheme and semi-automatic driving vehicle institute when abnormal intervene
Locate the Driving Scene information of Driving Scene；Resolving cell 502 is each in Driving Scene for being decomposited from Driving Scene information
The driving-environment information of driving environment residing for the object informations of scenario objects, vehicle running state information and vehicle；Association is closed
Be determination unit 503 be used to determine the object informations of risk subjects, vehicle running state information, driving-environment information combination with
Incidence relation between driving scheme, using the driving strategy as automatic driving vehicle；And it drives scheme determination unit 504 and is used for
The candidate driving scheme of automatic driving vehicle is determined using driving strategy.
In the present embodiment, collector unit 501, level de-termination unit, resolving cell 503, risk subjects unit
503, implementation can be corresponded to reference to figure 3 respectively by driving the specific processing of scheme unit 505 and driving scheme determination unit 506
Step 301, step 302, step 303, step 304, step 305 and step 306 in example, which is not described herein again.
In some optional realization methods of the present embodiment, device 500 further includes driving strategy optimization unit (not shown),
Driving strategy optimization unit is used for：Using driving strategy, test vehicle row is controlled in the scene that driving simulator is simulated
It sails；Whether detection test vehicle meets preconfigured driving rule in driving simulator when driving；It repaiies according to testing result
Skipper's strategy.The specific processing of the realization method can be with corresponding realization method in 3 corresponding embodiment of reference chart, here no longer
It repeats.
In some optional realization methods of the present embodiment, device 500 further includes tactful amending unit (not shown), is used
In：Driving strategy is added in the driving strategy database of semi-automatic driving vehicle；Determine when driving strategy is triggered half from
Whether the dynamic vehicle that drives is by the abnormal intervention of driver's progress；If semi-automatic driving vehicle is not intervened extremely, driving plan is improved
Confidence level slightly.
In some optional realization methods of the present embodiment, above-mentioned strategy amending unit is additionally operable to：If semi-automatic driving vehicle
Intervened extremely, then continues to acquire when double of automatic driving vehicle of driver is intervened used driving scheme and right
The Driving Scene information answered, to adjust driving strategy according to freshly harvested driving scheme and Driving Scene information.The realization method
It is specific processing can be with corresponding realization method in 2 corresponding embodiment of reference chart, which is not described herein again.
Below with reference to Fig. 6, it illustrates suitable for for realizing the vehicle electronics on the embodiment of the present application server or vehicle
The structural schematic diagram of the computer system 600 of equipment.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various actions appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
It is connected to I/O interfaces 605 with lower component：Importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loud speaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also according to needing to be connected to I/O interfaces 605.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on driver 610, as needed in order to be read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, the computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed by communications portion 609 from network, and/or from removable
Medium 611 is unloaded to be mounted.
Flow chart in attached drawing and block diagram, it is illustrated that according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part for a part for one module, program segment, or code of table, the module, program segment, or code includes one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit can also be arranged in the processor, for example, can be described as：A kind of processor packet
Include collector unit, risk class determination unit, resolving cell, incidence relation determination unit, recognition unit.Wherein, these units
Title do not constitute the restriction to the unit itself under certain conditions, for example, collector unit be also described as " collect
Double of automatic driving vehicle of driver carries out used driving scheme and the semi-automatic driving vehicle institute when abnormal intervene
Locate the unit of the Driving Scene information of Driving Scene ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating
Machine storage medium can be nonvolatile computer storage media included in device described in above-described embodiment；Can also be
Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited
One or more program is contained, when one or more of programs are executed by an equipment so that the equipment：It collects
Double of automatic driving vehicle of driver carries out used driving scheme and the semi-automatic driving vehicle institute when abnormal intervene
Locate the Driving Scene information of Driving Scene；According to scheme is driven used by driver, determine that the semi-automatic driving vehicle exists
The residing risk class for driving risk under the Driving Scene；It is decomposited in the Driving Scene from the Driving Scene information
The object information of each scenario objects；Object information and corresponding risk class are learnt, identified in scenario objects
Risk subjects associated with risk class, and determine risk subjects object information and risk class between incidence relation with
Risk assessment strategies as automatic driving vehicle；Wind is driven using residing for risk assessment strategies identification automatic driving vehicle
The risk class of danger.Alternatively, above-mentioned nonvolatile computer storage media is stored with one or more program, when one
Or multiple programs by an equipment when being executed so that the equipment：It collects double of automatic driving vehicle of driver and carries out exception
The Driving Scene information of Driving Scene residing for used driving scheme and semi-automatic driving vehicle when intervention；According to driving
Driving scheme used by the person of sailing determines the semi-automatic driving vehicle residing risk for driving risk under the Driving Scene
Grade；Object information, the vehicle running state of the Driving Scene Scene object are decomposited from the Driving Scene information
The driving-environment information of driving environment residing for information and vehicle；Object information and corresponding risk class are learnt,
Identify risk subjects associated with risk class in scenario objects；For the risk subjects identified, to object information,
Vehicle running state information, driving-environment information and corresponding driving scheme are learnt, and determine the object letter of risk subjects
Incidence relation between breath, vehicle running state information, the combination of driving-environment information and driving scheme is using as automatic Pilot
The driving strategy of vehicle；The candidate driving scheme of automatic driving vehicle is determined using the driving strategy.
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 technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical solutions of arbitrary combination and formation.Such as features described above has similar work(with (but not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (9)
1. a kind of method for operating automatic driving vehicle, which is characterized in that the method includes：
It collects when double automatic driving vehicle of driver carries out abnormal intervene used driving scheme and described semi-automatic drives
Sail the Driving Scene information of Driving Scene residing for vehicle；
According to scheme is driven used by driver, the semi-automatic driving vehicle residing driving under the Driving Scene is determined
The risk class of risk；
Object information, the vehicle running state letter of the Driving Scene Scene object are decomposited from the Driving Scene information
The driving-environment information of driving environment residing for breath and vehicle；
Object information and corresponding risk class are learnt, identify wind associated with risk class in scenario objects
Dangerous object；
For the risk subjects identified, to object information, vehicle running state information, driving-environment information and corresponding
Driving scheme is learnt, determine the object informations of risk subjects, vehicle running state information, driving-environment information combination with
Incidence relation between driving scheme is using the driving strategy as automatic driving vehicle；
The candidate driving scheme of automatic driving vehicle is determined using the driving strategy.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
The step of driving strategy is optimized, including：
Using the driving strategy, in the scene that driving simulator is simulated control test is travelled with vehicle；
Detect whether the test vehicle meets preconfigured driving rule in the driving simulator when driving；
The driving strategy is corrected according to testing result.
3. according to the method described in claim 2, it is characterized in that, correcting the driving strategy using nitrification enhancement.
4. according to the method described in one of claim 1-3, which is characterized in that the method further includes：
The driving strategy is added in the driving strategy database of semi-automatic driving vehicle；
Determine that whether semi-automatic driving vehicle is by the abnormal intervention of driver's progress when the driving strategy is triggered；
If semi-automatic driving vehicle is not intervened extremely, the confidence level of the driving strategy is improved.
5. according to the method described in claim 4, it is characterized in that, the method further includes：
If semi-automatic driving vehicle is intervened extremely, continues to acquire when double of automatic driving vehicle of driver is intervened and be adopted
Driving scheme and corresponding Driving Scene information, to adjust institute according to freshly harvested driving scheme and Driving Scene information
State driving strategy.
6. a kind of for operating the device of automatic driving vehicle, which is characterized in that described device includes：
Collector unit, for collect when double automatic driving vehicle of driver carries out abnormal intervene used driving scheme and
The Driving Scene information of Driving Scene residing for the semi-automatic driving vehicle；
Level de-termination unit, for according to scheme is driven used by driver, determining the semi-automatic driving vehicle described
The residing risk class for driving risk under Driving Scene；
Resolving cell, the object for decompositing each scenario objects in the Driving Scene from the Driving Scene information are believed
The driving-environment information of driving environment residing for breath, vehicle running state information and vehicle；
Risk subjects unit identifies scenario objects for learning to object information and corresponding risk class
In risk subjects associated with risk class；
Driving scheme unit to object information, vehicle running state information, drives for the risk subjects identified
Environmental information and corresponding driving scheme are learnt, and are determined the object information of risk subjects, vehicle running state information, are driven
Incidence relation between the combination of environmental information and driving scheme is sailed using the driving strategy as automatic driving vehicle；
Drive scheme determination unit, the candidate driving scheme for determining automatic driving vehicle using the driving strategy.
7. device according to claim 6, which is characterized in that described device further includes driving strategy optimization unit, described
Driving strategy optimization unit is used for：
Using the driving strategy, in the scene that driving simulator is simulated control test is travelled with vehicle；
Detect whether the test vehicle meets preconfigured driving rule in the driving simulator when driving；
The driving strategy is corrected according to testing result.
8. the device described according to claim 6 or 7, which is characterized in that described device further includes tactful amending unit, is used for：
The driving strategy is added in the driving strategy database of semi-automatic driving vehicle；
Determine that whether semi-automatic driving vehicle is by the abnormal intervention of driver's progress when the driving strategy is triggered；
If semi-automatic driving vehicle is not intervened extremely, the confidence level of the driving strategy is improved.
9. device according to claim 8, which is characterized in that the strategy amending unit is additionally operable to：
If semi-automatic driving vehicle is intervened extremely, continues to acquire when double of automatic driving vehicle of driver is intervened and be adopted
Driving scheme and corresponding Driving Scene information, to adjust institute according to freshly harvested driving scheme and Driving Scene information
State driving strategy.
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| CN201810588432.7A CN108773373B (en) | 2016-09-14 | 2016-09-14 | Method and device for operating an autonomous vehicle |
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Also Published As
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| CN108773373B (en) | 2020-04-24 |
| CN106347359A (en) | 2017-01-25 |
| CN106347359B (en) | 2019-03-12 |
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