CN111583694A - Control method and device for intelligent early warning of straight line driving in unmanned driving mode - Google Patents
Control method and device for intelligent early warning of straight line driving in unmanned driving mode Download PDFInfo
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention discloses a control method for intelligent early warning of straight line running in an unmanned driving mode, wherein the current basic running information of a vehicle at least comprises a future steering path and a lane running path of the vehicle; side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data. The invention receives the incoming early warning from the side vehicle while detecting the road of the current running vehicle, and transmits the self road detection result as the side road detection data of other vehicles, thereby forming a closed-loop detection system, and particularly, when the T-shaped road junction has great influence on the crossing conditions with obstacles, insensitive identification, weak signals and other environmental factors, the early warning during unmanned driving can be automatically completed, thereby greatly reducing the potential safety hazard. The invention has the advantages of simple operation, convenient use, powerful function, capability of effectively reducing potential safety hazard and extremely high commercial value.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to a control method and device for intelligent early warning of straight line driving in an unmanned driving mode.
Background
The unmanned automobile is an intelligent automobile which senses road environment through a vehicle-mounted sensing system, automatically plans a driving route and controls the automobile to reach a preset target.
The vehicle-mounted sensor is used for sensing the surrounding environment of the vehicle, and controlling the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road. The unmanned automobile integrates a plurality of technologies such as automatic control, a system structure, artificial intelligence, visual calculation and the like, is a product of high development of computer science, mode recognition and intelligent control technologies, is an important mark for measuring national scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.
However, in actual driving experience, when a vehicle often runs at an intersection, the vehicle and the front and side vehicles cannot avoid timely due to shielding of an obstacle, interference of a signal or some sudden situations, so that unmanned driving has a certain risk, and no technical scheme capable of properly solving the technical problems exists at present.
At present, a technical scheme capable of solving the technical problems does not exist, and specifically, a control method and a device for intelligent early warning of straight line driving in an unmanned driving mode are lacked.
Disclosure of Invention
Aiming at the technical defects in the prior art, the invention aims to provide a control method and a device for intelligent early warning of straight line running in an unmanned driving mode, according to one aspect of the invention, the control method for intelligent early warning of straight line running in the unmanned driving mode is provided, and the method detects automatic driving vehicles running straight at an intersection and timely early warns side vehicles or vehicles to be warned, and comprises the following steps:
a. judging whether to start lateral early warning or not based on current vehicle basic running information, wherein the current vehicle basic running information at least comprises a future steering path and a lane running path of a vehicle;
b. side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data.
Preferably, when the intersection is an intersection, the step a comprises:
a 1: judging whether the future steering path of the current vehicle is left-turning, straight-going or right-turning, if the future steering path is left-turning, not starting the lateral early warning, and if the future steering path is straight-going or right-turning, starting the lateral early warning;
a 2: judging whether the lane running path of the current vehicle is the leftmost lane, if so, not starting the lateral early warning, and if not, starting the lateral early warning;
a 3: and judging whether the distance between the current vehicle and the right road is greater than a first threshold value, if so, not starting the lateral early warning, and if not, starting the lateral early warning.
Preferably, when the intersection is a T-junction, the step a includes:
a 4: judging whether the future steering path of the current vehicle is straight or right-turning, if the future steering path is right-turning, not starting the lateral early warning, and if the future steering path is straight, starting the lateral early warning;
a 5: judging whether the lane running path of the current vehicle is the leftmost lane, if so, not starting the lateral early warning, and if not, starting the lateral early warning;
a 6: and judging whether the distance between the current vehicle and the right road is greater than a first threshold value, if so, not starting the lateral early warning, and if not, starting the lateral early warning.
Preferably, the step b comprises the steps of:
b 1: determining side road vehicle data of other vehicles corresponding to the current vehicle;
b 2: if the data of the side road vehicles shows that no vehicle exists, vehicle early warning is not started, and if the data of the side road vehicles shows that the vehicle exists, vehicle early warning is started.
Preferably, in the step b1, the side road vehicle data is determined by:
-based on road detection means;
-navigating based on an on-board system used by the current vehicle in common with other vehicles;
-third party navigation based on the current vehicle's use in common with other vehicles;
-based on data received by the vehicle backend server.
Preferably, before, during or after the step a, vehicle data of a current vehicle is determined based on road detection means and transmitted to other vehicles as side road vehicle data corresponding to the other vehicles.
Preferably, the road detection device determines the vehicle data by:
i: acquiring detection data of two single-line laser radar detection elements in a detection time period;
ii: and determining whether a vehicle passes through the detection time period based on the detection data.
Preferably, the step i includes:
i 1: two single-line laser radar detection elements are arranged on the right side of the road horizontally in the traffic flow direction at intervals;
i 2: and continuously acquiring detection data which is { DAi, DBi }, wherein DAi is the detection data of the single-line laser radar detection element at the upstream position along the traffic direction, and DBi is the detection data of the single-line laser radar detection element at the downstream position along the traffic direction.
Preferably, in step ii, if two single-line lidar detection units detect that a vehicle passes through at the same time, it is determined that the vehicle passes through.
Preferably, the vehicle early warning at least comprises deceleration, lane change, vibration and ringing.
According to another aspect of the invention, the control device for the intelligent early warning of the straight line running in the unmanned driving mode is provided, the control method is adopted to realize the detection of the automatic driving vehicle which runs straight at the intersection and timely early warning of the side vehicle or the side vehicle, and the control device comprises an in-vehicle system, a background server and a road detection device, wherein the road detection device is communicated with the in-vehicle system, and the background server is respectively connected with the road detection device and the in-vehicle system.
Preferably, the in-vehicle system includes at least:
the first judging device: judging whether to start lateral early warning or not based on the current vehicle basic driving information;
a first processing device: side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data.
Preferably, the first judgment means includes:
second judging means: judging the future steering path of the current vehicle;
a third judging device: judging the lane running path of the current vehicle;
a fourth judging device: and judging whether the distance between the current vehicle and the right road is greater than a first threshold value.
Preferably, the first processing means includes:
the first determination means: determining side road vehicle data of other vehicles corresponding to the current vehicle;
a second processing device: if the data of the side road vehicles shows that no vehicle exists, vehicle early warning is not started, and if the data of the side road vehicles shows that the vehicle exists, vehicle early warning is started.
Preferably, the road detection device includes:
the system comprises two single-line laser radar detection units which are arranged at intervals and used for detecting whether a vehicle passes through or not;
the data processing module is used for processing detection data obtained by the two single-line laser radar detection units and determining vehicle data;
and the data sending module is used for sending the vehicle data to a background server or an in-vehicle system.
Preferably, the in-vehicle system further includes:
a data receiving module: for receiving vehicle data from a road detection device;
the signal processing module: for processing vehicle data from the road detection device;
a vehicle control module: which is used to control or assist in controlling the current vehicle.
Preferably, the in-vehicle system receives vehicle data by:
-a DSRC signal module; or
-5G signal module.
The invention discloses a control method for intelligent early warning of straight line running in an unmanned driving mode, which detects an automatic driving vehicle running straight at an intersection and timely early warns a side vehicle or a vehicle to be early warned, judges whether to start the side early warning or not based on current vehicle basic running information, wherein the current vehicle basic running information at least comprises a future steering path and a lane running path of the vehicle; side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data. The invention receives the incoming early warning from the side vehicle while detecting the road of the current running vehicle, and transmits the self road detection result as the side road detection data of other vehicles, thereby forming a closed-loop detection system, and particularly, when the T-shaped road junction has great influence on the crossing conditions with obstacles, insensitive identification, weak signals and other environmental factors, the early warning during unmanned driving can be automatically completed, thereby greatly reducing the potential safety hazard. The invention has the advantages of simple operation, convenient use, powerful function, capability of effectively reducing potential safety hazard and extremely high commercial value.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 shows a flowchart of a control method for intelligent early warning of straight-line driving in the unmanned driving mode according to an embodiment of the present invention;
fig. 2 is a schematic specific flowchart illustrating the determination of whether to enable the side warning based on the current vehicle basic driving information according to the first embodiment of the present invention;
fig. 3 is a schematic flowchart illustrating a specific process of determining whether to enable the side warning based on the current vehicle basic driving information according to the second embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a specific process of receiving side road vehicle data from other vehicles and determining whether to issue a vehicle warning based on the side road vehicle data according to a third embodiment of the present invention;
FIG. 5 is a detailed flowchart showing a manner in which the road detection device determines vehicle data according to a fourth embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a specific process of acquiring detection data of two single line lidar detection elements in a detection time period according to a fifth embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a topology connection of a control device for straight-driving intelligent warning in the unmanned driving mode according to another embodiment of the present invention;
fig. 8 is a schematic block diagram showing a connection of the in-vehicle system according to the sixth embodiment of the present invention;
FIG. 9 is a schematic view of a T-port display of a seventh embodiment of the present invention;
fig. 10 is a schematic view showing a display of the road detecting apparatus at a T-junction according to the eighth embodiment of the present invention;
fig. 11 is a line graph showing the judgment result of the detected data according to the ninth embodiment of the present invention;
FIG. 12 is a schematic view showing a process for determining whether a vehicle is in or out according to a tenth embodiment of the present invention; and
fig. 13 is a schematic flow chart illustrating the intelligent warning process of the branch vehicle for detecting the vehicle driving in the backward direction according to the eleventh embodiment of the invention.
Detailed Description
In order to better and clearly show the technical scheme of the invention, the invention is further described with reference to the attached drawings.
FIG. 1 shows a detailed flowchart of a control method for intelligent early warning of straight-line driving in an unmanned driving mode, which is a specific embodiment of the present invention, and those skilled in the art understand that the present invention aims to intelligently early warn the situation of untimely avoidance caused by the shielding of obstacles, the imperfection of signal lamps, the complexity of road conditions, etc. when an unmanned vehicle drives to an intersection and has a solider, merge or drive to the same station track with a side vehicle, so that the early warning or preprocessing of advanced vehicle behavior is performed based on real-time road conditions, thereby improving the safety index of the unmanned vehicle, and for actual road condition information, the present invention analyzes two distinct solutions strategies by using the intersection and a relatively rare T-shaped intersection as research objects, and realizes intelligent early warning by using different pre-judgment strategies corresponding to different road conditions, the technical scheme adopted by the invention includes but is not limited to the realization of the two technologies, and all the technical schemes of the early warning mode adopted by the invention, the road detection mode adopted by the invention and all complex road conditions are within the protection scope of the invention as long as the early warning strategy of the side vehicle is realized by the road detection.
Further, the invention discloses a control method for intelligent early warning of straight line running in an unmanned driving mode, which detects an automatic driving vehicle running straight at an intersection and timely early warns a side vehicle or a side vehicle, in such an embodiment, two technical schemes exist, namely how to realize early warning of the side vehicle and how to realize early warning of the side vehicle, and specifically, the method comprises the following steps:
firstly, step S101 is entered, whether lateral early warning is started or not is judged based on current vehicle basic running information, the current vehicle basic running information at least comprises a future steering running path and a lane running path of a vehicle, the current vehicle is a vehicle in an unmanned driving mode in forward running, the lateral early warning is early warning for judging that the lateral vehicle can possibly generate potential safety hazards to the current vehicle when the current vehicle is in straight running or right turning, the future steering running path of the vehicle is a running state which is about to be carried out after the vehicle is in a certain distance and comprises turning around, left turning, right turning, straight running and the like, the invention mainly analyzes three basic conditions of left turning, straight running and right turning, and the lane running path is on which road and which lane to be carried out, in the embodiment, the lane in one way running can be a track, Two-lane, three-lane or even more, and the present invention is intended to record which lane of the current lane the current vehicle is in.
Finally, the process proceeds to step S102, where the side road vehicle data from other vehicles is received, and whether to issue a vehicle warning is determined based on the side road vehicle data, in such an embodiment, it is first determined whether the current vehicle needs to initiate a lateral warning, and if it needs to initiate a lateral warning, step S102 is executed, otherwise, no lateral warning needs to be activated, for example, if it is determined that the current vehicle is in the leftmost lane, and the vehicle turns on the left turn light, it is determined that there may be a left turn or a turn, then no lateral warning needs to be initiated, and when the vehicle is in the rightmost lane or the middle lane, the vehicle warning is preferably initiated, i.e., real-time receipt of vehicle data from other vehicles, whose side road vehicle data may be good, the vehicle early warning system can determine whether to send out vehicle early warning or not by judging whether no vehicle passes or not. Further, the side road vehicle data of the other vehicles may be determined by a third-party data system, background determination, road detection determination, and the like, which will be further described in the detailed description below and will not be repeated herein.
It is understood by those skilled in the art that before, during, or after the step S101, the step of determining the vehicle data of the current vehicle based on the road detection device and transmitting the vehicle data of the current vehicle to the other vehicle as the side road vehicle data corresponding to the other vehicle may be completed before the step S102 and at any time before, during, or after the step S101, and specifically, the purpose of the step is to determine the vehicle data of the current vehicle as the side road vehicle data corresponding to the other vehicle, that is, the vehicle data of the current vehicle to be determined by the road detection device, and further transmit the vehicle data of the current vehicle to the other vehicle as the side road vehicle data corresponding to the other vehicle when the other vehicle needs the side warning.
Fig. 2 is a schematic specific flowchart of a first embodiment of the present invention, which is used for determining whether to enable a side warning based on current vehicle basic driving information, in such an embodiment, the present invention determines a vehicle warning condition analysis for an intersection by using a relatively common intersection as an exploration object, and specifically, when the intersection is an intersection, the step S101 includes:
firstly, step S1011 is entered, whether the future turning path of the current vehicle is left-turning, straight-going or right-turning is judged, when the vehicle turns left, the lateral pre-warning is not started, and when the vehicle turns straight or right, the lateral pre-warning is started, in such an embodiment, when the current vehicle turns straight at the intersection, the current vehicle may drive into a traffic lane together with the right-turning vehicle at the right side of the intersection, and as an unmanned vehicle, there may be a potential safety hazard caused by untimely avoidance due to the situation of obstacle shielding and the like, so in such a situation, the lateral pre-warning needs to be started, correspondingly, when the current vehicle turns right at the intersection, there may be a potential safety hazard caused by untimely avoidance due to the situation of obstacle shielding and the like, in such cases, therefore, a lateral warning needs to be activated as well.
Then, step S1012 is performed, and those skilled in the art understand that the three steps in fig. 2 may be performed individually or in a linkage manner, and the sequence between the three steps may be changed arbitrarily, which does not affect the technical scheme of the present invention, that is, in such an embodiment, the lateral warning may be started after any one of the three steps is performed, or the lateral warning may be determined whether to be started after the three steps are performed, and the lateral warning is not started only when none of the three steps satisfies the condition of starting the lateral warning.
Further, if the lane driving path of the current vehicle is the leftmost lane, if so, the lateral early warning is not started, and if not, the lateral early warning is started.
Finally, step S1013 is performed, whether the distance between the current vehicle and the right road is greater than a first threshold is determined, if so, the lateral pre-warning is not activated, and if not, the lateral pre-warning is activated.
Fig. 3 shows a detailed flow diagram of a second embodiment of the present invention, which shows a specific process diagram of determining whether to enable a lateral pre-warning based on current vehicle basic driving information, where fig. 3 is a core content of the present invention, and specifically discloses a technical scheme of how to implement an intelligent pre-warning under a relatively complex road condition in an unmanned environment, and in order to describe the technical scheme of the present invention more clearly, the present invention will jointly analyze an early warning condition of a T-shaped intersection in the present invention with reference to fig. 9 and 10, fig. 9 shows a T-shaped intersection display diagram of a seventh embodiment of the present invention, fig. 10 shows an eighth embodiment of the present invention, a road detection device is arranged at a distance of 30m-50m from the T-shaped intersection, and a real-time pre-warning of a vehicle on two lateral sides of the T-shaped intersection can be effectively implemented by the road detection device, the specific structure of the road detecting device can be more clearly understood from fig. 10, and will be described in more detail in the following detailed description.
Further, when the intersection is a T-junction, the step S101 includes:
firstly, step S1014 is performed to determine whether the future turning path of the current vehicle is straight or right turning, when the current vehicle turns right, the lateral pre-warning is not activated, and when the current vehicle turns right, the lateral pre-warning is activated, in such an embodiment, due to the particularity of the T-junction, in combination with fig. 9 and 10, when the current vehicle turns right, no danger is generated with other vehicles, that is, the lateral pre-warning is not activated, and when the current vehicle turns right, the current vehicle may enter a lane together with a right-turning vehicle on the right side of the intersection, and as an unmanned vehicle, a potential safety hazard may be generated due to untimely avoidance caused by the situation of obstruction, and the like, so in such a situation, the lateral pre-warning needs to be activated.
Then, step S1015 is entered, and those skilled in the art understand that, as described in fig. 2, the three steps in fig. 3 may be executed individually or in a linkage manner, and the sequence between the three steps may be changed arbitrarily, which does not affect the technical solution of the present invention, i.e. in such an embodiment, after any one of the three steps is executed, the lateral warning may be started, or after the three steps are executed, whether the lateral warning is started may be determined, further, whether the lane driving path of the current vehicle is the leftmost lane may be determined, the step S1015 may be analyzed specifically in multiple situations, rather than as a situation analysis, that is, when there are multiple lanes, whether the lane driving path of the current vehicle is the leftmost lane is determined, if yes, the lateral warning is not enabled, if not, the lateral warning is enabled, when there are only one lane or one lane, even if the lane running path of the current vehicle is the leftmost lane, the lateral early warning can be started, which does not influence the specific scheme of the invention and is not described herein.
Finally, step S1016 is executed, it is determined whether the distance between the current vehicle and the right road is greater than a first threshold, if so, the lateral warning is not activated, and if not, the lateral warning is activated.
Fig. 4 is a schematic diagram illustrating a specific process of receiving side road vehicle data from other vehicles and determining whether to issue a vehicle warning based on the side road vehicle data according to a third embodiment of the present invention, in such an embodiment, when a current vehicle has activated a side warning and side road vehicle data is acquired through a certain data interaction device, the step S102 includes the following steps:
in such an embodiment, since the side road vehicle data of the other vehicle is fed back and updated in real time, there are many such data, and it is the key of this step to perform data screening and further determine the side road vehicle data of the other vehicle corresponding to the current vehicle, specifically, when the current vehicle is a certain distance away from the intersection or when the current vehicle starts the side warning, it is preferable to use the side road vehicle data of all other vehicles within 1S or 2S before and after the time when the side warning is started as the side road vehicle data corresponding to the current vehicle.
Then, the process proceeds to step S1022, if the side road vehicle data indicates no vehicle, then the vehicle pre-warning is not activated, if the side road vehicle data indicates no vehicle, then the vehicle pre-warning is activated, if the side road vehicle data indicates no vehicle, then no potential safety hazard exists, that is, the vehicle pre-warning is not activated, and it is worth noting that the vehicle pre-warning is a vehicle pre-warning rather than a side pre-warning, and the vehicle pre-warning refers to a certain measure taken in advance for a certain potential safety hazard, in the present invention, the vehicle pre-warning includes, but is not limited to, deceleration, lane change, vibration, and ring, further, if the side road vehicle data indicates a vehicle, then the vehicle pre-warning is activated, and further, the vehicle pre-warning is realized by using any one or any plurality of deceleration, lane change, vibration, and ring.
Further, in the step S1021, the side road vehicle data is determined based on the road detection device, as a preferred embodiment of the present invention, which will be further described in the detailed description below, and in other embodiments, in addition to the determination of the side road vehicle data by the above-described manner, the side road vehicle data may be determined based on an on-vehicle system navigation used by the current vehicle and another vehicle, that is, an on-vehicle navigation of a vehicle of the same brand or a third party navigation system installed on a vehicle of the same brand based on an on-vehicle system navigation used by the current vehicle and another vehicle.
Further, the side road vehicle data may also be determined by third party navigation based on common use of the current vehicle and other vehicles, similar to a Baidu map, a Gauss map, or the like, by a path navigated under login conditions by set account information, a current position displayed by a GPS, or the like, which may be set in third party navigation, and the distance between the current vehicle and other vehicles, the potential safety hazard of whether the current vehicle and other vehicles are side road, may be determined.
Further, the side road vehicle data may also be determined based on data received by a vehicle backend server, which is a control center for receiving, transferring and processing various side road vehicle data in such an embodiment, and may perform screening, determining, sending and the like on the warning information of the current vehicle.
Fig. 5 shows a detailed flowchart of a manner of determining vehicle data by the road detection device according to a fourth embodiment of the present invention, and as a core technical solution of the present invention for implementing vehicle data determination, the present invention shows a manner of implementing detection data determination by a laser radar, specifically, a manner of determining vehicle data by the road detection device is implemented by the following steps:
firstly, step S201 is performed, and detection data of two single line laser radar detection units in a detection time period is obtained, and as understood by those skilled in the art, the single line laser radar detection unit detects a passing vehicle in real time, and records as 0 when no vehicle passes through, and records as 1 when a vehicle passes through, and records as 0 again after the vehicle passes through, and as a certain distance exists between the two single line laser radar detection units, an overlapping portion may exist in the detection data.
Finally, step S202 is performed, and whether a vehicle passes through the detection time period is determined based on the detection data, in such an embodiment, if at the same time, two single-line lidar detection units detect that a vehicle passes through, then a vehicle passes through is determined, and if at the same time, two single-line lidar detection units detect that no vehicle passes through, then no vehicle passes through is determined. With reference to fig. 11, fig. 11 is a line graph showing the result of determination of detection data according to the ninth embodiment of the present invention, and fig. 11 is a schematic diagram showing that when two single line lidar detection units detect that a vehicle passes through at the same time, it is determined that the vehicle passes through.
Fig. 6 is a schematic diagram illustrating a specific flow of acquiring detection data of two single-line lidar detection elements in a detection time period according to a fifth embodiment of the present invention, and fig. 6 is a detailed description of step S201 in the present invention, where step S201 includes:
firstly, step S2011 is entered, two single line laser radar detection units are arranged on the right side of the road horizontally in the traffic flow direction at intervals, as shown in fig. 10, detection ports of the two single line laser radar detection units are perpendicular to the traffic flow direction of the side road, in a preferred embodiment, a test period is within 60 seconds after the single line laser radar detection unit in the road detection device is initially started, the two single line laser radar detection units are horizontally arranged along the side road, the spacing distance between the two single line laser radar detection units is 1 meter, the ground height is 1 meter, the detection direction faces to a lane, and the whole detection device can be placed on the road for road detection in a frame mode.
Finally, step S2012 is executed, wherein detection data obtained continuously is { DAi, DBi }, where DAi is detection data of the single line lidar detection unit at the upstream position in the traffic flow direction, DBi is detection data of the single line lidar detection unit at the downstream position in the traffic flow direction, and the road detection device mainly functions to detect whether there is a vehicle entering or exiting on the side road or not
Further, in this step S2012, referring to fig. 12, fig. 12 shows a schematic flow chart of determining whether a vehicle enters or exits according to a tenth embodiment of the present invention, where the detecting method includes the steps of firstly, respectively obtaining detection data of two single line lidar detecting elements, a detector at an upstream position in the vehicle flow direction being a detector a, a detector at a downstream position in the vehicle flow direction being a detector B, and both detectors continuously reading at the same time to obtain a combination { DAi, DBi } of detection results at time i, and then taking the lane centerline position distance reading as a threshold value, i.e., a reference distance (when the device is initially set, a field installer can read the reference distance along the detecting element direction and standing at the lane centerline position), so as to obtain reference data { DAk, DBk }; then, in order to simplify the data processing process, converting the detection result combination { DAi, DBi } into { Ai, Bi }, wherein the conversion logic is that if DAk > DAi (the result of the detector a is smaller than the reference distance, namely the detector a detects that a vehicle appears in the lane), Ai is 1, and if DBk > DBi (in the same way, the detector B detects that a vehicle appears in the lane), Bi is 1, so as to obtain a continuous detection result { Ai, Bi }; finally, referring to fig. 11, if two detectors at the same time, which are 1 meter away from each other, detect that a vehicle passes through, that is, { Ai, Bi } ═ 1, 1}, then it is determined that a vehicle enters or exits.
As a supplementary explanation of the present invention, fig. 13 shows a schematic flow chart of a vehicle intelligent warning after a branch vehicle detects a vehicle driving in a forward direction according to an eleventh embodiment of the present invention, specifically, in fig. 13, information is first collected by a road detection device, lane information is collected and analyzed, whether a vehicle is in a lane is judged, if not, the next cycle calculation is returned, if yes, the lane information is sent to a current vehicle, if the current vehicle judges whether a DSRC is working, if yes, the DSRC is used to receive data, a lateral vehicle information condition is analyzed, if not, 5G is used to receive data and report an error, a lateral vehicle information condition is analyzed, whether a vehicle is merged, whether a potential safety hazard exists, and finally a vehicle warning is performed.
Fig. 7 shows a schematic view of a topological connection of a control device for intelligent early warning of straight-line driving in an unmanned driving mode according to another embodiment of the present invention, and the present invention discloses a control device for intelligent early warning of straight-line driving in an unmanned driving mode, which uses the control methods in fig. 1 to 6 to detect an automatically driven vehicle going straight at an intersection and early warn a side vehicle or a vehicle to be warned in time, and comprises an in-vehicle system 1, a background server 2 and a road detection device 3, wherein the road detection device 3 is in communication with the in-vehicle system 1, and the background server 2 is respectively connected with the road detection device 3 and the in-vehicle system 1. The in-vehicle system 1 is an unmanned system for receiving and processing vehicle data and controlling vehicles to perform vehicle early warning, the background server 2 is a control center for uniformly managing, receiving and sending a plurality of vehicle data of a plurality of vehicles, and the road detection device 3 is a core detection unit for determining the vehicle data.
Further, the road detection device 3 includes two single line laser radar detection units 31 arranged at intervals, and is used for detecting whether a vehicle passes through the detection units.
Further, the road detection device 3 further includes a data processing module 32, which is used for processing the detection data obtained by the two single line laser radar detection units, determining the vehicle data, and communicating with the two single line laser radar detection units, wherein the data processing module obtains the detection data of the single line laser radar detection units, and determines whether there is a vehicle entering or exiting the side road.
Further, the road detection device 3 further includes a data sending module 33 for sending vehicle data to a background server or an in-vehicle system, and the data processing module 32 is connected to and communicates with the data sending module 33, and transmits the vehicle data of the side road to an automatic driving vehicle or a background processing server on the straight road through the data sending module 33.
Further, the in-vehicle system 1 includes a data receiving module 13: for receiving vehicle data from the road detection means, in particular from the data transmission module 33.
Further, the in-vehicle system 1 further includes a signal processing module 14 for processing vehicle data from the road detection device, and further, the in-vehicle system 1 further includes a vehicle control module 15: the invention is used for detecting whether vehicles come in or go out of a road, carrying out timely and effective early warning prompt on an automatic driving vehicle on a straight road to enable the automatic driving vehicle to carry out corresponding deceleration or lane change behaviors in advance, and sending vehicle data of the automatic driving vehicle on the straight road to other vehicles, namely determining the vehicle data of the current vehicle based on a road detection device and sending the vehicle data of the current vehicle to other vehicles as the vehicle data of a side road corresponding to other vehicles. More preferably, the manner in which the in-vehicle system 1 receives or transmits vehicle data includes, but is not limited to, a DSRC signal module or a 5G signal module.
Fig. 8 shows a schematic block connection diagram of the in-vehicle system according to a sixth embodiment of the present invention, and in such an embodiment, the in-vehicle system 1 includes at least a first determination device 11: whether to initiate the side warning is determined based on the current vehicle basic driving information, and the working principle of the first determining device 11 may refer to the step S101, which is not described herein again.
The in-vehicle system 1 further includes a first processing device 12, which receives the side road vehicle data from other vehicles, and determines whether to issue a vehicle warning based on the side road vehicle data, and the working principle of the first processing device 12 may refer to the step S102, which is not described herein again.
Further, the first judging device 11 includes a second judging device 111: the operation principle of the second determining device 111 can refer to the aforementioned step S1011 and step S1014, and is not repeated herein.
Further, the first judging device 11 further includes a third judging device 112: the operation principle of the third determining device 112 can refer to the aforementioned step S1012 and step S1015, which is not described herein again.
Further, the first judging device 11 further comprises a fourth judging device 113: the operation principle of the fourth determining device 113 can refer to the foregoing step S1013 and step S1016, which is not described herein again.
Further, the first processing means 12 comprises first determining means 121: the operation principle of the first determining device 121 may refer to the foregoing step S1021, and details thereof are omitted herein.
Further, the first processing device 12 further includes a second processing device 122: if the side road vehicle data indicates that there is no vehicle, the vehicle warning is not activated, and if the side road vehicle data indicates that there is a vehicle, the vehicle warning is activated, and the working principle of the second processing device 122 may refer to the step S1022, which is not described herein again.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (17)
1. A control method for intelligent early warning of straight line running in an unmanned driving mode detects an automatic driving vehicle running straight at an intersection and timely gives an early warning to a side vehicle or a vehicle to be side-headed, and is characterized by comprising the following steps:
a. judging whether to start lateral early warning or not based on current vehicle basic running information, wherein the current vehicle basic running information at least comprises a future steering path and a lane running path of a vehicle;
b. side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data.
2. The control method according to claim 1, wherein when the intersection is an intersection, the step a includes:
a 1: judging whether the future steering path of the current vehicle is left-turning, straight-going or right-turning, if the future steering path is left-turning, not starting the lateral early warning, and if the future steering path is straight-going or right-turning, starting the lateral early warning;
a 2: judging whether the lane running path of the current vehicle is the leftmost lane, if so, not starting the lateral early warning, and if not, starting the lateral early warning;
a 3: and judging whether the distance between the current vehicle and the right road is greater than a first threshold value, if so, not starting the lateral early warning, and if not, starting the lateral early warning.
3. The control method according to claim 1, wherein when the intersection is a T-junction, the step a includes:
a 4: judging whether the future steering path of the current vehicle is straight or right-turning, if the future steering path is right-turning, not starting the lateral early warning, and if the future steering path is straight, starting the lateral early warning;
a 5: judging whether the lane running path of the current vehicle is the leftmost lane, if so, not starting the lateral early warning, and if not, starting the lateral early warning;
a 6: and judging whether the distance between the current vehicle and the right road is greater than a first threshold value, if so, not starting the lateral early warning, and if not, starting the lateral early warning.
4. The control method according to any one of claims 1 to 3, characterized in that the step b includes the steps of:
b 1: determining side road vehicle data of other vehicles corresponding to the current vehicle;
b 2: if the data of the side road vehicles shows that no vehicle exists, vehicle early warning is not started, and if the data of the side road vehicles shows that the vehicle exists, vehicle early warning is started.
5. The control method according to claim 4, characterized in that in step b1, the side road vehicle data is determined by:
-based on road detection means;
-navigating based on an on-board system used by the current vehicle in common with other vehicles;
-third party navigation based on the current vehicle's use in common with other vehicles;
-based on data received by the vehicle backend server.
6. The control method according to claim 1, characterized in that before, at the time of, or after the step a, vehicle data of a current vehicle is determined based on a road detection device and transmitted to another vehicle as side road vehicle data corresponding to the other vehicle.
7. The control method according to claim 5 or 6, characterized in that the road detection device determines the vehicle data by:
i: acquiring detection data of two single-line laser radar detection elements in a detection time period;
ii: and determining whether a vehicle passes through the detection time period based on the detection data.
8. The control method according to claim 7, wherein the step i includes:
i 1: two single-line laser radar detection elements are arranged on the right side of the road horizontally in the traffic flow direction at intervals;
i 2: and continuously acquiring detection data which is { DAi, DBi }, wherein DAi is the detection data of the single-line laser radar detection element at the upstream position along the traffic direction, and DBi is the detection data of the single-line laser radar detection element at the downstream position along the traffic direction.
9. The control method according to claim 8, wherein in step ii, if two single line lidar detection units detect that a vehicle passes through at the same time, it is determined that a vehicle passes through.
10. The control method according to claim 1, wherein the vehicle warning includes at least deceleration, lane change, vibration, ringing.
11. A control device for intelligent early warning of straight line running in an unmanned driving mode, which adopts the control method of any one of claims 1 to 10 to realize detection of an automatic driving vehicle which runs straight at an intersection and timely early warning of a side vehicle or a vehicle to be early warned, comprises an in-vehicle system (1), a background server (2) and a road detection device (3), wherein the road detection device (3) is communicated with the in-vehicle system (1), and the background server (2) is respectively connected with the road detection device (3) and the in-vehicle system (1).
12. The control device according to claim 11, characterized in that the in-vehicle system (1) includes at least:
first judgment means (11): judging whether to start lateral early warning or not based on the current vehicle basic driving information;
first processing device (12): side road vehicle data from other vehicles is received and it is determined whether to issue a vehicle warning based on the side road vehicle data.
13. The control device according to claim 12, wherein the first judgment means (11) includes:
second determination means (111): judging the future steering path of the current vehicle;
third judgment means (112): judging the lane running path of the current vehicle;
fourth judgment means (113): and judging whether the distance between the current vehicle and the right road is greater than a first threshold value.
14. The control device according to claim 12, characterized in that the first processing means (12) comprise:
first determination means (121): determining side road vehicle data of other vehicles corresponding to the current vehicle;
second processing means (122): if the data of the side road vehicles shows that no vehicle exists, vehicle early warning is not started, and if the data of the side road vehicles shows that the vehicle exists, vehicle early warning is started.
15. The control device according to claim 11, characterized in that the road detection device (3) comprises:
two single line laser radar detection elements (31) arranged at intervals and used for detecting whether a vehicle passes through or not;
the data processing module (32) is used for processing the detection data obtained by the two single-line laser radar detection units and determining vehicle data;
and the data sending module (33) is used for sending the vehicle data to a background server or an in-vehicle system.
16. The control device according to claim 11, wherein the in-vehicle system (1) further includes:
data reception module (13): for receiving vehicle data from a road detection device;
signal processing module (14): for processing vehicle data from the road detection device;
vehicle control module (15): which is used to control or assist in controlling the current vehicle.
17. The control device according to claim 11, characterized in that the in-vehicle system (1) receives vehicle data by:
-a DSRC signal module; or
-5G signal module.
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