CN111002984A - Automatic driving method and device, vehicle and automatic driving equipment - Google Patents
Automatic driving method and device, vehicle and automatic driving equipment Download PDFInfo
- Publication number
- CN111002984A CN111002984A CN201911345746.5A CN201911345746A CN111002984A CN 111002984 A CN111002984 A CN 111002984A CN 201911345746 A CN201911345746 A CN 201911345746A CN 111002984 A CN111002984 A CN 111002984A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- information
- traffic light
- light intersection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
Abstract
The invention provides an automatic driving method, an automatic driving device, a vehicle and automatic driving equipment, wherein the method comprises the following steps: after the vehicle enters an automatic driving state, the distance between the current vehicle and a traffic light intersection in the surrounding environment information is acquired, the traffic light intersection in front is judged, and the path planning information is acquired to determine a target lane passing through the traffic light intersection and a lane route passing through the traffic light intersection on the target lane. By acquiring the information, the vehicle can be automatically controlled to pass through the traffic light intersection without human interference. The problem of when people are driving the vehicle, because the traffic flow is great or be unfamiliar with the road conditions, pass through traffic lights crossing in-process at the driving vehicle, cause the vehicle can't get into the driver expected lane in, do not go extra to do nothing is solved. In addition, in the process that the driver drives the vehicle to enter the expected lane, the problem of violation caused by the fact that the driver presses the solid line of the lane to enter the expected lane due to negligence or influence of other vehicles can be avoided.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an automatic driving method, an automatic driving device, a vehicle and automatic driving equipment.
Background
With the development of society and the improvement of living standard of people, automobiles are more and more popular, and the number of motor vehicles running on roads every day is more and more. In the rush hour of work or on the road section with larger traffic flow at ordinary times, the situation that the vehicles are arranged to wait for the traffic lights happens occasionally.
In the process of waiting for traffic lights when driving vehicles, as the traffic flow is large, for some drivers, large psychological pressure is easily caused, and the drivers worry about rubbing. Meanwhile, due to the fact that the traffic flow is large or the driver is unfamiliar with the road conditions, in the process of driving the vehicle, the vehicle cannot enter the expected lane of the driver easily, and the driver does not feel extra, too much.
Disclosure of Invention
The invention aims to provide an automatic driving method, an automatic driving device, a vehicle and automatic driving equipment, which aim to solve the problem that a driver cannot enter a correct lane to make excessive travel to make an extra way when driving the vehicle to pass through a traffic light intersection in the prior art.
In order to achieve the above object, the present invention provides an automatic driving method, comprising:
when the vehicle enters an automatic driving state, acquiring current surrounding environment information of the vehicle and/or acquiring path planning information on a path navigator;
if a traffic light intersection exists in a first preset distance in front of a current driving lane according to the current ambient environment information and/or the path planning information, determining a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane according to the current ambient environment information and/or the path planning information;
and controlling the vehicle to run according to the lane route.
Optionally, the automatic driving method, wherein the current surrounding environment information includes at least one of:
traffic light state information, traffic light intersection distance, traffic light intersection lane solid lines, arrow guide lines in the lane solid lines, obstacles around the vehicle and traffic information in the lane.
Optionally, the automatic driving method, wherein the obtaining of the current surrounding environment information of the vehicle includes:
and acquiring the current surrounding environment information through a camera and/or a radar which are installed on the vehicle.
Optionally, the automatic driving method, wherein the controlling the vehicle to travel according to the lane route, comprises:
and sending a control signal to a running execution function device of the vehicle to control the vehicle to run along the lane route.
Optionally, the automatic driving method, wherein when the vehicle reaches a second preset distance from a lane solid line of the target lane, the method further comprises:
judging whether the vehicle drives into the target lane or not;
and if the vehicle does not drive into the target lane, sending an alarm signal.
Another preferred embodiment of the present invention also provides an automatic driving apparatus, including:
the information acquisition module is used for acquiring the current surrounding environment information of the vehicle and/or acquiring the path planning information on the path navigator when the vehicle enters an automatic driving state;
the first information processing module is used for judging whether a traffic light intersection exists at a first preset distance in front of a current driving lane of the vehicle according to the current ambient environment information and/or the path planning information, and if so, determining a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane according to the current ambient environment information and/or the path planning information;
and the control module is used for controlling the vehicle to run according to the lane route.
Optionally, the automatic driving device, wherein the current surrounding environment information includes at least one of:
the method comprises the steps of obtaining traffic light state information, obtaining traffic light intersection distance, traffic light intersection lane solid lines, arrow guide lines in the lane solid lines, obstacles around vehicles and traffic flow information in the lanes.
Optionally, the automatic driving device, wherein the information obtaining module is specifically configured to, when obtaining the current surrounding environment information:
and acquiring the current surrounding environment information through a camera and/or a radar which are installed on the vehicle.
Optionally, the automatic driving device, wherein the control module is specifically configured to, when controlling the vehicle to travel according to the lane route:
and sending a control signal to a running execution function device of the vehicle to control the vehicle to run along the lane route.
Optionally, the automatic driving device, wherein the automatic driving device further comprises:
the second information processing module is used for judging whether the vehicle drives into the target lane or not when a lane solid line between the vehicle and the target lane reaches a second preset distance;
and the alarm module is used for sending out an alarm signal when the judgment result of the second information processing module is that the vehicle does not drive into the target lane.
Still another preferred embodiment of the present invention also provides a vehicle including: an autopilot device as claimed in any one of the preceding claims.
Another preferred embodiment of the present invention also provides an autopilot device comprising a processor, a memory and a program stored on the memory and executable on the processor, which program, when executed by the processor, implements an autopilot method as defined in any one of the above.
The technical scheme of the invention has the following beneficial effects:
according to the automatic driving method provided by the embodiment of the invention, after a vehicle enters an automatic driving state, the distance between the current vehicle and a traffic light intersection in the surrounding environment information can be acquired through a vehicle-mounted Ethernet, and the traffic light intersection in the front of the vehicle is judged to exist, and the path planning information can be acquired through the vehicle-mounted Ethernet to determine a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane. By acquiring the information, the vehicle can be controlled to pass through the traffic light intersection without human intervention in an automatic driving state. The problem of artificially driving the vehicle under, because the traffic flow is great or navigating mate is unfamiliar with the road conditions, pass through the traffic lights crossing in-process at driving the vehicle, cause the vehicle very easily and can't get into the driver expected lane in, do nothing to do the extra way is solved.
Drawings
FIG. 1 is a schematic flow diagram of an autonomous driving method of the present invention;
fig. 2 shows a schematic flow diagram of the inventive autopilot.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
Referring to fig. 1, the present invention provides an automatic driving method, including:
s101: when the vehicle enters the automatic driving state, the current surrounding environment information of the vehicle is acquired and/or the path planning information on the path navigator is acquired.
The automatic driving method provided by the invention can be applied to a controller, and the controller can be a domain controller or other controllers different from the domain controller.
In an embodiment of the present invention, the driver may control the vehicle to enter the automatic driving mode through physical keys or touch screen keys on the vehicle, or through a voice assistant.
When the vehicle enters an automatic driving state, the controller receives an automatic driving signal and starts a camera and a radar which are installed on the vehicle to collect surrounding environment information. The controller may acquire the current surrounding environment information through a camera and/or a radar installed on the vehicle. The surrounding environment information may be, for example, traffic light state information, a traffic light intersection distance, a traffic light intersection lane solid line, an arrow guide line in the lane solid line, an obstacle around the vehicle, and traffic information in the lane. The controller may also obtain path planning information on the path navigator. The route planning information may be, for example, a distance between the vehicle and the red light intersection, and a lane to be driven through the red light intersection is a left-turn lane, a right-turn lane, or a straight lane.
The following describes a process of acquiring the surrounding environment information:
after the vehicle enters into automatic driving, the camera collects images, and the camera sends the collected images to the controller through the vehicle-mounted Ethernet. And the controller compares the image collected by the camera with the pre-stored image of the traffic light intersection after receiving the image collected by the camera. And when the controller judges that the similarity between the picture acquired by the camera and the picture of the traffic light intersection stored in advance reaches a set threshold value, determining that the traffic light intersection exists in front of the traffic light intersection. The controller controls the first radar to collect the distance between the vehicle and the traffic light, namely the distance between the traffic light and the intersection in the surrounding environment information. And the distance of the traffic light intersection collected by the first radar is sent to the controller through the vehicle-mounted Ethernet, and then the controller acquires the distance of the traffic light intersection. In order to enable the first radar to better acquire the intersection distance between the vehicle and the traffic light, the first radar can be arranged on the roof of the vehicle, and can be a laser radar. The threshold may be 95%, 99%, or another value. In order to make the shooting range of the camera wider, the camera can be additionally arranged on the periphery of the vehicle to form a 360-degree panorama.
The process of acquiring the traffic light intersection lane solid line, the arrow guide line in the lane solid line, the obstacles around the vehicle and the traffic flow information in the lane is similar to the process, and repeated description is omitted.
S102: and judging whether a traffic light intersection exists within a first preset distance in front of the current driving lane according to the current surrounding environment information and/or the path planning information, and if so, executing S103.
The controller can be pre-stored with a first preset distance, the first preset distance generally refers to a safety distance set for safely passing through a traffic light intersection when a vehicle passes through the traffic light intersection, and the vehicle automatically driven within the safety distance can safely pass through the traffic light intersection. The first preset distance can be set by a manager according to statistics of a large amount of data, and can also be set by the controller after acquiring driving data of a driver in a daily process and calculating the driving data.
The method for judging whether the traffic light intersection exists in the first preset distance in front of the current driving lane by the controller according to the current surrounding environment information is as follows:
when the surrounding environment information comprises the intersection distance of the red road lamp, the intersection distance of the red road lamp is compared with the first preset distance, and when the intersection distance of the traffic light is smaller than the first preset distance, the controller can judge that the traffic light intersection exists in the first preset distance in front of the current driving lane.
Further, the method for judging that the traffic light intersection exists in the first preset distance in front of the current driving lane by the controller according to the path planning information on the path navigator is as follows:
comparing the distance between the vehicle and the red light intersection at present in the path planning information with the first preset distance, and when the distance between the vehicle and the traffic light intersection at present in the path planning information is smaller than the first preset distance, the controller can judge that the traffic light intersection exists in the first preset distance in front of the current driving lane of the vehicle.
S103: and determining a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane according to the current surrounding environment information and/or the path planning information.
The path navigation planning information comprises that a target lane to be entered is a left-turn lane, a right-turn lane or a straight-through lane, the controller can determine the direction of the vehicle passing through the target lane of the traffic light intersection according to the target lane to be entered by the vehicle, and any lane in the direction is selected as the target lane of the vehicle passing through the traffic light intersection and the lane route of the vehicle passing through the traffic light intersection on the target lane. For example, when the lane to which the vehicle is about to enter is a left-turn lane, any one of the left-turn lanes may be used as a target lane for the vehicle to pass through the traffic light intersection and a lane route for the vehicle to pass through the traffic light intersection on the target lane.
Further, in order to determine the target lane more accurately, ambient environment information may be considered, for example, traffic light lane solid lines at the intersection, arrow guide lines in the lane solid lines, obstacles around the vehicle, and traffic information in the lane may be considered. And in the process of driving the vehicle into the target lane, the controller can confirm whether the lane to which the vehicle is about to drive is consistent with the target lane again according to the acquired traffic light intersection lane solid line and the arrow guide line in the lane solid line, so that the accuracy of driving the vehicle into the target lane is improved. And the controller can also select a better target lane according to obstacles around the vehicle and traffic information in the lane.
S104: and controlling the vehicle to run according to the lane route.
So as to control the vehicle to enter the target lane and further pass through the traffic light intersection.
When the controller judges that the vehicle has a traffic light intersection in a first preset distance in front of the current driving lane, the controller performs the next operation, which is as follows: and after the controller acquires a target lane needing to be driven in through the traffic light intersection, determining whether the current driving lane of the vehicle is consistent with the target lane according to an arrow guide line in a lane solid line in the surrounding environment information. And if the detected signals are consistent with the first radar, the controller sends a control signal to a running execution function device of the vehicle, and the controller acquires the information of the obstacles around the vehicle according to a second radar. Wherein the obstacle information around the vehicle may be distance information between the vehicle and other vehicles around. The controller controls the vehicle to travel according to the lane route, that is, controls the vehicle to travel along the lane route. The second radar may be a millimeter wave radar, and the second radar may be additionally installed around the vehicle in order to make the vehicle obstacle information acquired by the second radar more comprehensive. And the controller may control the vehicle to maintain a safe distance from surrounding vehicles according to the obstacle information around the vehicle collected by the second radar. Wherein, the executive function device comprises at least one of the following components: brake pedal, accelerator pedal, steering wheel and indicator light. Generally, when the steering wheel is operated to steer, the corresponding steering indicator light is turned on to give a prompt.
If the lane where the vehicle currently runs is not consistent with the target lane, the controller controls the executive function device according to the obstacle information around the vehicle in the current surrounding environment information, and controls the vehicle to run into the target lane by combining the arrow leading line from the vehicle to the solid line in the current surrounding environment information.
As in the above-described embodiment, the target lane is not limited to only one lane, and a plurality of lanes may be present. When a plurality of target lanes exist, the controller can preferably select a target lane with a smaller traffic flow according to the traffic flow information in the lanes in the current surrounding environment information, and further control the vehicle to drive into the target lane.
During the process that the vehicle enters the target lane, for the sake of insurance, when a lane solid line of the vehicle, which is far away from the target lane, reaches a second preset distance, the controller judges whether the vehicle enters the target lane; and if the vehicle does not drive into the target lane, sending an alarm signal.
Specifically, a second preset distance may be pre-stored in the controller, where the second preset distance generally refers to a distance from a current vehicle to a solid line of a traffic light intersection lane in front of a current driving lane. The distance can be set by a manager according to statistics of a large amount of data, and can also be set by the controller after acquiring the driving data of the driver in the daily process and calculating the driving data. Generally, the controller may store a distance value of the solid line of the traffic light intersection lane in advance. And the controller compares the difference value of the distance between the current vehicle and the traffic light intersection and the distance between the vehicle and the solid line of the lane of the traffic light intersection with the second preset distance. When the difference value is smaller than the second preset distance, the controller compares the arrow guiding line in the lane solid line acquired by the camera with a target lane needing to be driven into through the traffic light intersection in the path planning information, and if the comparison result is consistent, the controller can judge whether the vehicle drives into the target lane when the lane solid line between the vehicle and the target lane reaches the second preset distance.
Before entering the solid line of the target lane, the controller identifies the position of the solid line of the lane according to the information of the solid line of the traffic light intersection lane shot by the camera, controls the running execution function device of the vehicle, and avoids pressing the solid line of the traffic light intersection lane in the process that the vehicle enters the target lane.
If the vehicle drives into the target lane when the solid line of the lane far away from the target lane reaches a second preset distance, the controller controls the vehicle to pass through the traffic light intersection according to the green light information in the traffic light state information collected by the camera. And if the controller judges that the current vehicle cannot pass through the traffic light intersection when the traffic light is changed from the green light to the red light, the controller controls the brake pedal to execute brake operation, and controls the vehicle to pass through the traffic light intersection after waiting for the next green light.
If the vehicle does not drive into the target lane when the solid line of the lane far away from the target lane reaches a second preset distance, the controller can control the vehicle-mounted display terminal and the instrument to send out alarm signals, and can also control the vehicle-mounted voice assistant to send out alarm voice to request a driver to take over the vehicle and manually control the vehicle to pass through a traffic light intersection. The vehicle-mounted display terminal can flash an icon on the display module for prompt, can also perform text prompt, and can also accompany with alarm sound. The alarm mode of the instrument can be consistent with the alarm mode of the vehicle-mounted display terminal. The vehicle-mounted voice assistant can be arranged on the vehicle-mounted display terminal and can also be arranged on the vehicle.
Based on the same technical concept as the above-mentioned automatic driving method, as shown in fig. 2, another preferred embodiment of the present invention further provides an automatic driving device, the technical effect of which is the same as the technical effect of the above-mentioned method, and the repetition part is not repeated.
The device comprises:
the information acquisition module 201 is configured to acquire current ambient environment information of the vehicle and acquire path planning information on the path navigator when the vehicle enters an automatic driving state;
a first information processing module 202, configured to determine, according to the current ambient environment information and/or the path planning information, whether a traffic light intersection exists at a first preset distance in front of a current driving lane of the vehicle, and if the traffic light intersection exists, determine, according to the current ambient environment information and/or the path planning information, a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane;
and the control module 203 is used for controlling the vehicle to run according to the lane route.
The information obtaining module is specifically configured to, when obtaining the current ambient environment information:
and acquiring the current surrounding environment information through a camera and/or a radar which are installed on the vehicle.
As in the above-described embodiment, the current ambient information includes at least one of:
traffic light state information, traffic light intersection distance, traffic light intersection lane solid lines, arrow guide lines in the lane solid lines, obstacles around the vehicle and traffic information in the lane.
Further, when the control module controls the vehicle to travel according to the lane route, the control module is specifically configured to:
and sending a control signal to a running execution function device of the vehicle to control the vehicle to run along the lane route.
Further, the automatic driving device further comprises a second information processing module 204, configured to determine whether the vehicle has driven into the target lane when a lane solid line of the vehicle from the target lane reaches a second preset distance;
and the alarm module is used for sending out an alarm signal when the judgment result of the second information processing module is that the vehicle does not drive into the target lane.
In still another embodiment of the present invention, there is provided a vehicle including: an autopilot device as claimed in any one of the preceding claims.
Another embodiment of the present invention provides an autopilot device comprising a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing an autopilot method as in any one of the above.
Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. An automatic driving method, characterized by comprising:
when the vehicle enters an automatic driving state, acquiring current surrounding environment information of the vehicle and/or acquiring path planning information on a path navigator;
if a traffic light intersection exists in a first preset distance in front of a current driving lane according to the current ambient environment information and/or the path planning information, determining a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane according to the current ambient environment information and/or the path planning information;
and controlling the vehicle to run according to the lane route.
2. The autonomous driving method of claim 1, wherein the current ambient information includes at least one of:
traffic light state information, traffic light intersection distance, traffic light intersection lane solid lines, arrow guide lines in the lane solid lines, obstacles around the vehicle and traffic information in the lane.
3. The automatic driving method according to claim 1 or 2, wherein the acquiring current surrounding environment information of the vehicle includes:
and acquiring the current surrounding environment information through a camera and/or a radar which are installed on the vehicle.
4. The autopilot method of claim 1 wherein the controlling the vehicle to travel according to the lane route includes:
and sending a control signal to a running execution function device of the vehicle to control the vehicle to run along the lane route.
5. The autonomous driving method of claim 4, wherein when the vehicle reaches a second preset distance from a lane solid line of the target lane, the method further comprises:
judging whether the vehicle drives into the target lane or not;
and if the vehicle does not drive into the target lane, sending an alarm signal.
6. An autopilot device, comprising:
the information acquisition module is used for acquiring the current surrounding environment information of the vehicle and acquiring the path planning information on the path navigator when the vehicle enters an automatic driving state;
the first information processing module is used for judging whether a traffic light intersection exists at a first preset distance in front of a current driving lane of the vehicle according to the current ambient environment information and/or the path planning information, and if so, determining a target lane passing through the traffic light intersection and a lane route of the vehicle passing through the traffic light intersection on the target lane according to the current ambient environment information and/or the path planning information;
and the control module is used for controlling the vehicle to run according to the lane route.
7. The autopilot device of claim 6 wherein the current ambient information includes at least one of:
traffic light state information, traffic light intersection distance, traffic light intersection lane solid lines, arrow guide lines in the lane solid lines, obstacles around the vehicle and traffic information in the lane.
8. The autopilot device of claim 6 or 7, wherein the information acquisition module, when acquiring the current ambient information, is specifically configured to:
and acquiring the current surrounding environment information through a camera and/or a radar which are installed on the vehicle.
9. The autopilot device of claim 6 wherein the control module, when controlling the vehicle to travel along the lane route in accordance with the lane route, is specifically configured to:
and sending a control signal to a running execution function device of the vehicle to control the vehicle to run along the lane route.
10. The autopilot device of claim 9 further comprising:
the second information processing module is used for judging whether the vehicle drives into the target lane or not when a lane solid line between the vehicle and the target lane reaches a second preset distance;
and the alarm module is used for sending out an alarm signal when the judgment result of the second information processing module is that the vehicle does not drive into the target lane.
11. A vehicle characterized by comprising an autopilot device according to any one of claims 6 to 10.
12. An autopilot apparatus, comprising: a processor, a memory, and a program stored on and executable on the memory, the program when executed by the processor implementing the autopilot method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911345746.5A CN111002984A (en) | 2019-12-24 | 2019-12-24 | Automatic driving method and device, vehicle and automatic driving equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911345746.5A CN111002984A (en) | 2019-12-24 | 2019-12-24 | Automatic driving method and device, vehicle and automatic driving equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111002984A true CN111002984A (en) | 2020-04-14 |
Family
ID=70115979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911345746.5A Pending CN111002984A (en) | 2019-12-24 | 2019-12-24 | Automatic driving method and device, vehicle and automatic driving equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111002984A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111881232A (en) * | 2020-06-22 | 2020-11-03 | 武汉中海庭数据技术有限公司 | Semantic association lane acquisition method and device for traffic lights |
| CN112418031A (en) * | 2020-11-11 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Image recognition method and device, storage medium and electronic equipment |
| CN112693465A (en) * | 2021-01-11 | 2021-04-23 | 广东科学技术职业学院 | Method and device for controlling lane change of vehicle and unmanned vehicle |
| CN112765783A (en) * | 2020-12-31 | 2021-05-07 | 北京赛目科技有限公司 | Road processing method and device for simulation test |
| CN112802336A (en) * | 2020-12-31 | 2021-05-14 | 北京赛目科技有限公司 | Processing method and device for testing road stability |
| CN112849144A (en) * | 2021-02-01 | 2021-05-28 | 知行汽车科技（苏州）有限公司 | Vehicle control method, device and storage medium |
| CN112863212A (en) * | 2020-12-31 | 2021-05-28 | 北京赛目科技有限公司 | Road intersection processing method and device for simulation test |
| CN112874503A (en) * | 2021-01-11 | 2021-06-01 | 广东科学技术职业学院 | Method and device for controlling unmanned vehicle and unmanned vehicle |
| CN113442929A (en) * | 2021-06-21 | 2021-09-28 | 国汽智控(北京)科技有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN113487908A (en) * | 2021-08-24 | 2021-10-08 | 京东鲲鹏(江苏)科技有限公司 | Method and device for determining vehicle parking position and storage medium |
| CN114212108A (en) * | 2021-12-29 | 2022-03-22 | 阿波罗智联(北京)科技有限公司 | Automatic driving method, device, vehicle, storage medium and product |
| CN114299753A (en) * | 2021-11-30 | 2022-04-08 | 东风柳州汽车有限公司 | Blind area reminding method, device, equipment and storage medium |
| CN114435388A (en) * | 2022-02-23 | 2022-05-06 | 一汽解放汽车有限公司 | Safety control system, method, device and equipment of vehicle and vehicle |
| CN114582153A (en) * | 2022-02-25 | 2022-06-03 | 智己汽车科技有限公司 | Long solid line reminding method and system for ramp entrance and vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494598A (en) * | 2014-11-23 | 2015-04-08 | 北京联合大学 | Road-crossing driving control method for intelligent vehicles |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN108492605A (en) * | 2018-05-21 | 2018-09-04 | 苏州纽克斯电源技术股份有限公司 | A kind of road junction roadway air navigation aid and device |
| CN108519773A (en) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | The paths planning method of automatic driving vehicle under a kind of structured environment |
| CN109649391A (en) * | 2017-10-06 | 2019-04-19 | 本田技研工业株式会社 | Controller of vehicle |
| CN109903576A (en) * | 2019-04-22 | 2019-06-18 | 爱驰汽车有限公司 | Vehicle lane change based reminding method, system, equipment and storage medium based on navigation |
| CN109997015A (en) * | 2016-11-26 | 2019-07-09 | 星克跃尔株式会社 | For guiding device, method, computer program and the computer readable recording medium of route |
-
2019
- 2019-12-24 CN CN201911345746.5A patent/CN111002984A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494598A (en) * | 2014-11-23 | 2015-04-08 | 北京联合大学 | Road-crossing driving control method for intelligent vehicles |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN109997015A (en) * | 2016-11-26 | 2019-07-09 | 星克跃尔株式会社 | For guiding device, method, computer program and the computer readable recording medium of route |
| CN109649391A (en) * | 2017-10-06 | 2019-04-19 | 本田技研工业株式会社 | Controller of vehicle |
| CN108519773A (en) * | 2018-03-07 | 2018-09-11 | 西安交通大学 | The paths planning method of automatic driving vehicle under a kind of structured environment |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN108492605A (en) * | 2018-05-21 | 2018-09-04 | 苏州纽克斯电源技术股份有限公司 | A kind of road junction roadway air navigation aid and device |
| CN109903576A (en) * | 2019-04-22 | 2019-06-18 | 爱驰汽车有限公司 | Vehicle lane change based reminding method, system, equipment and storage medium based on navigation |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111881232A (en) * | 2020-06-22 | 2020-11-03 | 武汉中海庭数据技术有限公司 | Semantic association lane acquisition method and device for traffic lights |
| CN112418031A (en) * | 2020-11-11 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Image recognition method and device, storage medium and electronic equipment |
| CN112765783A (en) * | 2020-12-31 | 2021-05-07 | 北京赛目科技有限公司 | Road processing method and device for simulation test |
| CN112802336A (en) * | 2020-12-31 | 2021-05-14 | 北京赛目科技有限公司 | Processing method and device for testing road stability |
| CN112863212A (en) * | 2020-12-31 | 2021-05-28 | 北京赛目科技有限公司 | Road intersection processing method and device for simulation test |
| CN112874503B (en) * | 2021-01-11 | 2022-01-28 | 广东科学技术职业学院 | Method and device for controlling unmanned vehicle and unmanned vehicle |
| CN112693465A (en) * | 2021-01-11 | 2021-04-23 | 广东科学技术职业学院 | Method and device for controlling lane change of vehicle and unmanned vehicle |
| CN112874503A (en) * | 2021-01-11 | 2021-06-01 | 广东科学技术职业学院 | Method and device for controlling unmanned vehicle and unmanned vehicle |
| CN114194193B (en) * | 2021-01-11 | 2023-06-27 | 广东科学技术职业学院 | Method for controlling lane change of vehicle |
| CN114194193A (en) * | 2021-01-11 | 2022-03-18 | 广东科学技术职业学院 | Method for controlling lane change of vehicle |
| CN112693465B (en) * | 2021-01-11 | 2021-11-26 | 广东科学技术职业学院 | Method and device for controlling lane change of vehicle and unmanned vehicle |
| CN112849144A (en) * | 2021-02-01 | 2021-05-28 | 知行汽车科技（苏州）有限公司 | Vehicle control method, device and storage medium |
| CN113442929A (en) * | 2021-06-21 | 2021-09-28 | 国汽智控(北京)科技有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
| CN113487908A (en) * | 2021-08-24 | 2021-10-08 | 京东鲲鹏(江苏)科技有限公司 | Method and device for determining vehicle parking position and storage medium |
| CN114299753A (en) * | 2021-11-30 | 2022-04-08 | 东风柳州汽车有限公司 | Blind area reminding method, device, equipment and storage medium |
| CN114212108A (en) * | 2021-12-29 | 2022-03-22 | 阿波罗智联(北京)科技有限公司 | Automatic driving method, device, vehicle, storage medium and product |
| CN114435388A (en) * | 2022-02-23 | 2022-05-06 | 一汽解放汽车有限公司 | Safety control system, method, device and equipment of vehicle and vehicle |
| CN114435388B (en) * | 2022-02-23 | 2023-09-12 | 一汽解放汽车有限公司 | Safety control system, method, device and equipment for vehicle and vehicle |
| CN114582153A (en) * | 2022-02-25 | 2022-06-03 | 智己汽车科技有限公司 | Long solid line reminding method and system for ramp entrance and vehicle |
| CN114582153B (en) * | 2022-02-25 | 2023-12-12 | 智己汽车科技有限公司 | Ramp entry long solid line reminding method, system and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111002984A (en) | Automatic driving method and device, vehicle and automatic driving equipment | |
| US20230365128A1 (en) | Multi-Model Switching on a Collision Mitigation System | |
| CN108693869B (en) | Vehicle control device | |
| CN110072748B (en) | Vehicle control device | |
| JP6493545B2 (en) | Information presenting apparatus and information presenting method | |
| US20200064138A1 (en) | Vehicle Control Apparatus, Vehicle Control Method, and Vehicle Control System | |
| CN113119956B (en) | Interaction method and device based on automatic driving | |
| CN110874229A (en) | Map upgrading method and device for automatic driving automobile | |
| CN110036426B (en) | Control device and control method | |
| US20200079359A1 (en) | Automated parking device and automated parking method | |
| CN110435651B (en) | Vehicle control device | |
| JPH11157404A (en) | Parking support device | |
| JP2007133692A (en) | Driving action evaluation device | |
| JP6604577B2 (en) | Driving support method, driving support apparatus, driving support system, automatic driving control apparatus, vehicle and program using the same | |
| JP7152339B2 (en) | Travel control device, travel control method, and program | |
| JP7256668B2 (en) | Control device, control method and program | |
| US20190286141A1 (en) | Vehicle control apparatus | |
| CN111727468A (en) | Vehicle control device and vehicle control method | |
| JP4888285B2 (en) | Driving support device, driving support method, and computer program | |
| US20210291736A1 (en) | Display control apparatus, display control method, and computer-readable storage medium storing program | |
| JP2020045039A (en) | Vehicle control method and vehicle control apparatus | |
| CN110428693B (en) | User driving habit training method, training module, vehicle-mounted device and storage medium | |
| US11073833B2 (en) | Vehicle control apparatus | |
| CN116176612A (en) | Driving assistance method, driving assistance device, vehicle, and storage medium | |
| CN116745595A (en) | Method for test driving with at least one test vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200414 |