CN112721931A - Vehicle meeting method, device, equipment and storage medium - Google Patents
Vehicle meeting method, device, equipment and storage medium Download PDFInfo
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Abstract
The present application relates to the field of automatic driving technologies, and in particular, to a vehicle meeting method, apparatus, device, and storage medium. The method comprises the following steps: receiving an auxiliary meeting instruction; controlling a detection system on the vehicle to acquire image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction; the detection system comprises an image detection subsystem and a distance detection subsystem; determining environment detection information on a meeting path according to the image information and the position information; determining a meeting driving path according to the environment detection information and a preset safety distance; and controlling the vehicles to meet according to the meeting driving path. And planning a meeting driving path and controlling the vehicle to drive according to the acquired environment detection information on the meeting path. The vehicle meeting method has the advantages that the vehicles can automatically solve the optimal path to smoothly complete vehicle meeting in the meeting scene of the narrow road section, and the phenomenon that some drivers scratch and rub due to limited skills or vehicle blind areas to cause vehicle meeting is avoided.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a vehicle meeting method, apparatus, device, and storage medium.
Background
Along with the rapid development of science and technology and social economy, the living standard of people is increasingly improved, and the continuous perfection of traffic infrastructure promotes the continuous increase of the keeping quantity of automobiles in the current human society. According to statistics, the quantity of automobiles in China breaks through 2.7 hundred million. As the quantity of automobiles kept increases, various traffic accidents are more and more.
When the vehicle runs on a bidirectional single lane of a nonstandard road such as a narrow rural road section, due to the fact that the number of visual field blind areas and road surface barriers is large, if the driving technology of a driver is limited, the vehicle distance cannot be accurately judged when the driver meets the vehicle, the road width is limited, and therefore traffic accidents such as scraping and even collision can often occur. The automatic meeting system can effectively deal with the driving road conditions. At present, laser projection lamps are arranged on two sides of a vehicle and matched with a light assembly, so that the effect of reminding a driver of avoiding in a long distance and high definition is achieved, and safety accidents in driving, meeting and other emergency situations can be reduced. However, the device can only remind the coming vehicle of avoiding ahead of time, and the driver still needs to make a judgment decision if the driver selects a meeting driving path and the driving vehicle keeps a safe distance from the coming vehicle for meeting. For drivers with limited driving skills, how to grasp safe distance and complete vehicle meeting on narrow rural roads still has no small challenge.
Disclosure of Invention
The invention aims to solve the technical problem that the existing automatic meeting system cannot assist a driver in meeting the vehicle.
In order to solve the technical problem, in a first aspect, an embodiment of the present application discloses a vehicle meeting method, including:
receiving an auxiliary meeting instruction;
controlling a detection system on the vehicle to acquire image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction; the detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on the meeting path; the distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path;
determining environment detection information on the meeting path according to the image information and the position information;
determining a meeting driving path according to the environment detection information and a preset safety distance;
and controlling the vehicles to meet according to the meeting driving path.
Further, the determining the environment detection information on the meeting route according to the image information and the position information includes:
performing feature fusion on the image information and the position information to obtain feature fusion information;
and determining environment detection information on the meeting path according to the feature fusion information.
Further, before determining the environment detection information on the meeting route according to the image information and the position information, the method further includes:
and if the current vehicle speed of the vehicle is greater than the threshold value, controlling the vehicle to reduce the current vehicle speed to be less than or equal to the vehicle speed threshold value.
Further, the determining a meeting driving path according to the environment detection information and a preset safe distance includes:
determining the current position of the vehicle according to the environment detection information;
determining whether an optimal vehicle meeting advancing path exists according to the current position of the vehicle and a preset safety distance;
and under the condition that the optimal meeting vehicle traveling path exists, determining the optimal meeting vehicle traveling path as a meeting vehicle traveling path.
Further, the determining a meeting driving path according to the environment detection information and a preset safe distance further includes:
under the condition that the optimal meeting advancing path does not exist, determining a meeting avoiding path according to the environment detection information and the preset safety distance;
and determining the meeting avoiding path as the meeting driving path.
Further, the method further comprises:
and under the condition that the meeting avoidance path does not exist in the current position of the vehicle, controlling the vehicle to carry out emergency braking.
Further, the controlling the vehicle to meet according to the meeting traveling path includes:
controlling the detection system to acquire real-time detection information;
and controlling the vehicles to meet according to the meeting driving path and the real-time detection information.
In a second aspect, an embodiment of the present application discloses a vehicle meeting device, including:
the receiving module is used for receiving an auxiliary meeting instruction;
the acquisition module is used for controlling a detection system on the vehicle to acquire image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction; the detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on the meeting path; the distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path;
the environment detection information determining module is used for determining environment detection information on the meeting path according to the image information and the position information;
the meeting vehicle running path determining module is used for determining a meeting vehicle running path according to the environment detection information and a preset safe distance;
and the vehicle control module is used for controlling the vehicles to meet according to the meeting running path.
In an alternative embodiment, the environment detection information determination module comprises:
the information fusion unit is used for carrying out feature fusion on the image information and the position information to obtain feature fusion information;
and the environment detection information determining unit is used for determining the environment detection information on the meeting path according to the characteristic fusion information.
In an optional embodiment, the apparatus further comprises:
and the vehicle speed control module is used for controlling the vehicle to reduce the current vehicle speed to be less than or equal to a vehicle speed threshold value if the current vehicle speed of the vehicle is greater than the threshold value.
In an optional embodiment, the meeting vehicle traveling path determining module includes:
a current position determining unit configured to determine a current position of the vehicle according to the environment detection information;
the optimal meeting vehicle traveling path determining unit is used for determining whether an optimal meeting vehicle traveling path exists according to the current position of the vehicle and a preset safety distance;
and the vehicle crossing traveling path determining unit is used for determining that the optimal vehicle crossing traveling path is the vehicle crossing traveling path under the condition that the optimal vehicle crossing traveling path exists.
In an optional embodiment, the meeting vehicle traveling path determining module further includes:
the meeting avoidance path determining unit is used for determining a meeting avoidance path according to the environment detection information and the preset safety distance under the condition that the optimal meeting advancing path does not exist;
and the meeting vehicle running path determining unit is also used for determining that the meeting vehicle avoiding path is the meeting vehicle running path.
In an optional embodiment, the apparatus further comprises:
and the emergency braking module is used for controlling the vehicle to perform emergency braking under the condition that the meeting avoiding path does not exist in the current position of the vehicle.
In one optional embodiment, the vehicle control module comprises:
the real-time detection information acquisition unit is used for controlling the detection system to acquire real-time detection information;
and the vehicle meeting control unit is used for controlling the vehicles to meet according to the vehicle meeting running path and the real-time detection information.
In a third aspect, an embodiment of the present application discloses an apparatus, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executes the vehicle meeting method described above.
In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the vehicle meeting method as described above.
The vehicle meeting method, the device, the equipment and the storage medium provided by the embodiment of the application have the following technical effects:
according to the vehicle meeting method, the vehicle meeting driving path is determined according to the environment detection information on the obtained meeting path and the preset safety distance, and then the vehicle is controlled to drive. The vehicle meeting system has the advantages that the vehicle meeting can be completed smoothly by automatically solving the optimal path through starting the auxiliary vehicle meeting system in the meeting scene of the narrow road section, and the occurrence of scraping and accidents caused by limited skills or vehicle blind areas of partial drivers during meeting is avoided.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of an application environment provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a vehicle with an auxiliary vehicle crossing system and a detection system according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a vehicle meeting method according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a vehicle crossing apparatus according to an embodiment of the present disclosure;
the following is a supplementary description of the drawings:
101-auxiliary meeting switch; 102-auxiliary-conference controller; 111-a steering wheel; 112-a steering column; 113-a steering gear; 201-left camera; 202-left radar; 203-left front radar; 204-front camera; 205-front right radar; 206-right radar; 207-right camera.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to improve the travel conditions of the rural areas, the village-based policy is implemented in China, and rural roads are built in almost all the rural areas. But is limited by terrain conditions and construction costs, and rural roads are mostly bidirectional nonstandard roads. When vehicles meet on the road, the safety distance between the two vehicles is usually very small, and drivers with less driving experience often cannot grasp the safety distance, so that the vehicles are scratched.
Referring to fig. 1, fig. 1 is a schematic view of an application environment provided in an embodiment of the present application, and the method for supplementing electric quantity of a battery provided in the embodiment of the present application can be applied to a vehicle meeting method and can be applied to a motor vehicle, such as a household automobile, a passenger car, a minivan, and other vehicles. The vehicle is provided with an auxiliary vehicle crossing system 100 and a detection system 103, and the auxiliary vehicle crossing system 100 is in communication connection with the detection system 200. Optionally, the auxiliary vehicle crossing system 100 and the detection system 200 are connected through a wired link, for example, the auxiliary vehicle crossing system 100 and the detection system 200 are connected through a Controller Area Network (CAN). Optionally, the auxiliary meeting system 100 and the detection system 200 may be connected via a wireless link, such as a bluetooth connection.
In the embodiment of the present application, fig. 2 is a schematic structural diagram of a vehicle provided with an auxiliary vehicle-meeting system and a detection system according to the embodiment of the present application, and as shown in fig. 2, the auxiliary vehicle-meeting system 100 may be a vehicle-mounted computer. Optionally, the vehicle-meeting assisting system 100 includes a vehicle-meeting assisting switch 101, a vehicle-meeting assisting controller 102, and a driving control mechanism. The user can actively turn on or off the assistant vehicle crossing system 100 through the assistant vehicle crossing switch 101. The auxiliary vehicle controller 102 is used for realizing automatic control of auxiliary vehicle meeting and processing data. The driving control mechanism is used for controlling the vehicle to turn according to the control instruction of the auxiliary conference controller 102. In some embodiments, the steering control mechanism includes a steering wheel 111, a steering column 112, a steering gear 113, and the like. The detection system is used to detect the environment surrounding the vehicle. Optionally, the detection system comprises an image detection subsystem and a range detection subsystem. The image detection subsystem comprises a plurality of camera detectors. The range detection subsystem includes a number of radar detectors. In an alternative embodiment, as shown in fig. 2, the image detection subsystem includes a left camera 201, a right camera 207 and a front camera 204, which are respectively disposed at the left side, the right side and the head of the vehicle body. Optionally, the left camera 201 includes one to more sub-cameras, the right camera 207 includes one to more sub-cameras, and the front camera 204 includes one to more sub-cameras. Because the visual field that the camera detector detected is less, in order to improve the precision of detecting, adopt many cameras to fix a position the discernment to the target object. The distance detection subsystem comprises a left radar 202, a right radar 206, a left front radar 203 and a right front radar 205 which are respectively arranged at the left side, the right side, the left vehicle head side position and the right vehicle head side position of the vehicle body. In some embodiments, the range detection subsystem further includes a left rear radar and a right rear radar disposed at a left position of the vehicle rear and a right position of the vehicle rear, respectively. Because the radar detector can realize great detection visual field, in order to reduce cost, the radar detector on the automobile body adopts single radar to survey.
In the embodiment of the application, each detector in the detection system can be freely combined and selected based on the characteristics of the detector and the use cost. The camera detector can be a monocular vision detector, a binocular stereo vision detector, a panoramic vision detector, an infrared camera detector and the like. The radar detector can be a laser radar detector, a millimeter wave radar detector, an ultrasonic radar detector and the like. The monocular vision detector is mainly used for detecting and identifying characteristic symbols, such as lane line detection, traffic sign identification, traffic light identification, pedestrian and vehicle detection and the like, but the reliability of vision detection is not very high. The binocular stereo vision detector has high detection precision, but the data synchronism is poor. The millimeter waves transmitted by the millimeter wave radar detector work in a millimeter wave band millimeter wave, the working frequency is 30-100GHz, the wavelength is 1-10mm, the direction and the distance of a target are accurately detected by transmitting the electromagnetic waves to an obstacle and receiving echoes, and the millimeter wave radar has the characteristics of all-weather all-day-long and accurate speed and distance measurement. The laser radar detector detects a target by using laser, and can obtain real-time three-dimensional point cloud data in great detail through scanning at 600 revolutions per minute or 1200 revolutions per minute, wherein the real-time three-dimensional point cloud data comprises three-dimensional coordinates, distance, azimuth, intensity of reflected laser, laser coding, time and the like of the target, and single lines, 4 lines, 16 lines, 32 lines, 64 lines, 128 lines and the like are commonly used. The laser radar detector is a high-precision sensor and has the characteristics of good stability, high robustness and the like. However, the use of lidar detectors is costly.
While specific embodiments of a data processing method of the present application are described below, fig. 3 is a schematic flow chart of a vehicle crossing method provided by the embodiments of the present application, and the present specification provides the method operation steps as in the embodiments or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner according to the embodiments or methods shown in the figures, for example, in a parallel processor or multi-threaded environment. Specifically, as shown in fig. 3, the method may include:
s301: and receiving an auxiliary meeting instruction.
In the embodiment of the application, the auxiliary meeting instruction received by the auxiliary meeting system can be sent to a driver by operating the auxiliary meeting switch 101, so that the driver can actively start the auxiliary meeting system. The ECU is triggered to send an auxiliary vehicle crossing instruction to the auxiliary vehicle crossing system according to the fact that detection information detected by the detection system meets a preset condition, and therefore starting of the auxiliary vehicle crossing system is achieved. As an optional implementation manner, when the vehicle is in a driving process, the detection system detects an environment around the vehicle in real time, and when it is detected that there is an oncoming vehicle ahead and a distance between the oncoming vehicle and the current vehicle is smaller than a preset distance, for example, smaller than 50m, the ECU sends an auxiliary vehicle-meeting instruction to the auxiliary vehicle-meeting system to start the auxiliary vehicle-meeting system. In some embodiments, the auxiliary vehicle-meeting system is turned on and off along with the vehicle host, and when the vehicle is running, an auxiliary vehicle-meeting instruction is sent according to whether there is an incoming vehicle in a front direction, and the auxiliary vehicle-meeting instruction is used for enabling the auxiliary vehicle-meeting controller 102 to control the vehicle to realize auxiliary vehicle-meeting. Preferably, the auxiliary vehicle-crossing system is not used under most conditions, and is possibly used only when the opposite vehicle is encountered under the condition of a narrow road, so that the auxiliary vehicle-crossing instruction received by the auxiliary vehicle-crossing system can be sent to the driver by operating the auxiliary vehicle-crossing switch 101, and the driver can actively start the auxiliary vehicle-crossing system.
S303: and controlling a detection system on the vehicle to acquire image information and position information of the obstacle target on the meeting path according to the auxiliary meeting instruction.
In the embodiment of the application, in order to ensure the meeting safety of the vehicle, before determining the environment detection information on the meeting path according to the image information and the position information, the method further comprises the step of assisting the meeting controller 102 to judge the current vehicle speed of the vehicle, and if the current vehicle speed of the vehicle is greater than a threshold value, the vehicle is controlled to reduce the current vehicle speed to be less than or equal to a vehicle speed threshold value. And if the current speed of the vehicle is less than or equal to the threshold value, determining the environment detection information on the meeting path according to the image information and the position information. The threshold value of the vehicle speed can be a set value, such as 20km/h, and different threshold values can be adopted according to different road conditions. After the auxiliary vehicle-meeting system is started, the auxiliary vehicle-meeting controller 102 acquires the environmental detection data of the detection system around the current vehicle according to the auxiliary vehicle-meeting instruction. The detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on a meeting path. The distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path. The obstacle targets detected by the detection system include the oncoming vehicles, the stationary obstacles on the current road, the moving obstacles, the moving trends of the moving obstacles, and the like. The scene of using the auxiliary meeting vehicles is usually that the vehicles meet the oncoming vehicles under the condition of a narrow road, and under the scene, the safety distance between the vehicles is usually very small during meeting, so that the detection system needs to have higher detection precision so as to avoid safety accidents caused by larger detection errors of the detection system. As an alternative embodiment, as shown in fig. 2, the left camera 201, the right camera 207, and the front camera 204 in the image detection subsystem all use monocular vision detectors, the left radar 202 and the right radar 206 in the distance detection subsystem use laser radars, and the left front radar 203 and the right front radar 205 use millimeter-wave radars. Therefore, not only can higher detection precision be realized, but also the cost of the detection system is comprehensively considered. When the detection system is used for detecting, a target can be roughly captured quickly in a large airspace through the millimeter wave radar, and then the target is precisely tracked and measured through the laser radar and the monocular vision detector.
S305: and determining environment detection information on the meeting path according to the image information and the position information.
In the embodiment of the application, the detection system detects the image information and the position information of the obstacle object on the current path, and then the auxiliary vehicle controller 102 in the auxiliary vehicle crossing system performs data processing on the image information and the position information to determine the environment detection information. Optionally, the data processing includes, but is not limited to, noise reduction of data, compensation of data, fusion of data, and the like. In some embodiments, the detection system detects image information and location information of an obstacle object on the current path, and the detection system then data-processes the image information and location information to determine environmental detection information.
As an alternative embodiment, determining the environment detection information on the meeting path according to the image information and the position information includes: the auxiliary conference controller 102 performs feature fusion on the image information and the position information to obtain feature fusion information. The auxiliary meeting controller 102 determines environment detection information on the meeting path according to the feature fusion information. Specifically, the spatial fusion of the data of the multiple detectors is realized by establishing a precise coordinate conversion relation among a radar coordinate system, a three-dimensional world coordinate system, a camera coordinate system, an image coordinate system and a pixel coordinate system. The spatial fusion of the distance detection subsystem and the image detection subsystem is to convert the measured values of different detector coordinate systems into the same coordinate system. Because the forward image detection subsystem is mainly vision, the spatial synchronization of the multiple detectors can be realized only by converting the measuring points under the radar detector coordinate system of the distance detection subsystem into the pixel coordinate system corresponding to the camera through the coordinate system. According to the conversion relation, the conversion relation between the radar coordinate system and the camera pixel coordinate system can be obtained. Therefore, matching of the radar detector detection target in the space to the visual image detected by the image detection subsystem can be completed, and on the basis, the motion state information of the target corresponding to the radar detector detection is output. Visual information detected by the radar detector and the image detection subsystem needs to be fused in space, and the detector also needs to synchronously acquire data in time, so that time fusion is realized. As an example, the sampling period of a radar detector is 50ms, i.e. the sampling frame rate is 20 frames/second, while the sampling frame rate of a camera detector is 25 frames/second. In order to ensure the reliability of data, the sampling rate of the camera is taken as a reference, the camera selects the data cached in the last frame of the radar detector every time the camera acquires one frame of image, namely the data of the visual fusion of the radar detector and the camera detector which are sampled together is completed, and therefore the time synchronization of the data of the radar detector and the data of the camera detector is ensured. Feature fusion information is obtained through fusion of the image information and the position information, and then the auxiliary conference controller 102 can determine which obstacle targets are in the surrounding environment of the current vehicle according to the feature fusion information, and environment detection information such as the shape and the volume of the obstacle targets, the distance between the obstacle targets and the current vehicle and the like.
S307: and determining a meeting driving path according to the environment detection information and the preset safe distance.
In the embodiment of the present application, after the auxiliary meeting controller 102 acquires the environment detection information, the meeting driving path is planned according to the preset safe distance. Optionally, the preset safety distance is a minimum distance between the vehicle and the obstacle target, for example, 5 cm. Optionally, the preset safe distance is a safe distance range between the vehicle and the obstacle target when the vehicle is running, for example, 5-30 cm. And the auxiliary meeting controller 102 plans the meeting driving path of the vehicle according to the environment detection information and the preset safe distance.
As an optional implementation manner, the auxiliary meeting controller 102 determines the meeting driving path according to the environment detection information and the preset safe distance, including: the auxiliary train controller 102 determines the current position of the vehicle based on the environment detection information. The auxiliary meeting controller 102 determines whether there is an optimal meeting traveling path according to the current position of the vehicle and a preset safe distance. In the case where there is an optimal vehicle-crossing travel path, the auxiliary vehicle-crossing controller 102 determines the optimal vehicle-crossing travel path as a vehicle-crossing travel path. Specifically, the controller 102 determines, according to the environment detection information, what obstacle objects, and shape and volume of the obstacle objects, are located around the current position of the vehicle, where the obstacle objects include stationary obstacle objects, such as stones, roadblocks, roadside canals, roadside trees, and the like. Obstacle objects also include moving obstacle objects such as pedestrians, bicycles, motor vehicles, animals, and the like. For a stationary obstacle target, it is only necessary to acquire the position and shape thereof, and for a moving obstacle target, it is necessary to acquire the movement tendency thereof in addition to the position and shape thereof. And the auxiliary meeting vehicle controller 102 plans a path for the vehicle to travel according to the information and by taking the preset safe distance between the auxiliary meeting vehicle controller and the obstacle target as a path planning principle, and if the path exists, the path is the optimal meeting vehicle traveling path. The auxiliary vehicle-meeting controller 102 may use the optimal vehicle-meeting traveling path as a vehicle-meeting traveling path on which the vehicle is about to travel.
As an optional implementation manner, the auxiliary meeting controller 102 determines the meeting driving path according to the environment detection information and the preset safe distance, and further includes: under the condition that the optimal meeting advancing path does not exist in the auxiliary meeting controller 102, the auxiliary meeting controller 102 determines a meeting avoiding path according to the environment detection information and the preset safe distance. The auxiliary vehicle meeting controller 102 determines the vehicle meeting avoiding path as a vehicle meeting driving path. Specifically, the auxiliary meeting vehicle controller 102 determines what obstacle targets and shape volumes of the obstacle targets are around the current position of the vehicle through the environment detection information, and plans the optimal meeting traveling path by using a preset safety distance between the obstacle targets and the obstacle targets as a path planning principle. If the preset safe distance cannot be met, namely the optimal meeting traveling path does not exist, the current position of the vehicle cannot move ahead to finish meeting. At the moment, a meeting avoiding path can be planned according to the environment detection information and the preset safety distance so as to avoid the opposite coming vehicle and enable the opposite side to advance in advance to finish the meeting. For example, the distance between the vehicle and the oncoming vehicle is short, the vehicle cannot adjust the direction route by advancing, and the avoidance of the road space can be realized only by backing up, and at the moment, the vehicle can complete the vehicle meeting by planning a vehicle meeting avoidance path. The auxiliary vehicle controller 102 may use the vehicle on the meeting avoidance path as a vehicle meeting travel path to be traveled.
As an alternative embodiment, the auxiliary meeting controller 102 controls the vehicle to perform emergency braking when there is no meeting avoidance path in the current position of the vehicle. If the auxiliary meeting vehicle controller 102 does not draw a meeting avoidance path according to the environmental detection information and the preset safe meeting distance rules, it indicates that the current position of the vehicle cannot realize meeting avoidance through measures such as backing and the like, and the vehicle inevitably meets an obstacle target if the vehicle moves forwards, and at the moment, the vehicle can only be controlled to perform emergency braking so as to avoid safety accidents. Under the condition, the detection system still detects the surrounding environment in real time, when the moving obstacle target avoids or avoids the oncoming vehicle, the optimal meeting advancing path or meeting avoiding path is re-planned, so that the vehicles complete meeting.
S309: and controlling the vehicles to meet according to the meeting driving path.
In the embodiment of the application, after the auxiliary meeting controller 102 determines the meeting driving path of the vehicle, the auxiliary meeting controller 102 controls the driving control mechanism to drive the vehicle to move forward or backward, so that the vehicle finishes meeting. As an alternative embodiment, controlling vehicles to meet according to a meeting driving path includes: the auxiliary train controller 102 controls the detection system to acquire real-time detection information. The auxiliary meeting controller 102 controls vehicles to meet according to the meeting driving path and the real-time detection information. Specifically, after the auxiliary meeting vehicle controller 102 determines the meeting vehicle running path, the meeting vehicle running path is output to the driving control mechanism, and optionally, the meeting vehicle running path may be sent to the vehicle-mounted display screen for display. The driving control mechanism receives the meeting driving path to control the vehicles to start meeting, and meanwhile, the auxiliary meeting controller 102 controls the detection system to acquire real-time detection information. The auxiliary meeting controller 102 controls the driving control mechanism to keep the vehicle and the surrounding obstacle targets at a preset safe distance all the time, so that the vehicle can smoothly meet. In the running process of the vehicle, when the auxiliary meeting vehicle controller 102 prejudges that the vehicle is about to be smaller than the preset safe distance with the peripheral obstacle target, the driving control mechanism is controlled to actively steer and correct, so that the vehicle distance meets the safe clearance, and the vehicle can be met smoothly. When the real-time detection information acquired by the auxiliary meeting controller 102 through the detection system cannot guarantee the preset safety distance, the auxiliary meeting controller 102 sends alarm information to remind the driver to stop at the side and check the surrounding environment.
The embodiment of the present application further discloses a vehicle meeting device, fig. 4 is a schematic view of the vehicle meeting device provided in the embodiment of the present application, and as shown in fig. 4, the device includes:
the receiving module 401 is configured to receive an auxiliary meeting instruction.
And an obtaining module 403, configured to control a detection system on the vehicle to obtain image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction. The detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on a meeting path. The distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path.
And an environment detection information determining module 405, configured to determine environment detection information on the meeting route according to the image information and the position information.
And the meeting vehicle running path determining module 407 is configured to determine a meeting vehicle running path according to the environment detection information and the preset safe distance.
And the vehicle control module 409 is used for controlling the vehicles to meet according to the meeting running path.
In an alternative embodiment, the environment detection information determination module comprises:
and the information fusion unit is used for carrying out characteristic fusion on the image information and the position information to obtain characteristic fusion information.
And the environment detection information determining unit is used for determining the environment detection information on the meeting path according to the characteristic fusion information.
In an alternative embodiment, the apparatus further comprises:
and the vehicle speed control module is used for controlling the vehicle to reduce the current vehicle speed to be less than or equal to the vehicle speed threshold value if the current vehicle speed of the vehicle is greater than the threshold value.
In an alternative embodiment, the meeting vehicle traveling path determining module includes:
and a current position determination unit for determining the current position of the vehicle based on the environment detection information.
And the optimal meeting vehicle traveling path determining unit is used for determining whether the optimal meeting vehicle traveling path exists according to the current position of the vehicle and the preset safety distance.
And the vehicle crossing traveling path determining unit is used for determining that the optimal vehicle crossing traveling path is the vehicle crossing traveling path under the condition that the optimal vehicle crossing traveling path exists.
In an optional embodiment, the meeting vehicle traveling path determining module further includes:
and the meeting avoidance path determining unit is used for determining a meeting avoidance path according to the environment detection information and the preset safety distance under the condition that the optimal meeting advancing path does not exist.
And the meeting vehicle running path determining unit is also used for determining that the meeting vehicle avoiding path is a meeting vehicle running path.
In an alternative embodiment, the apparatus further comprises:
and the emergency braking module is used for controlling the vehicle to perform emergency braking under the condition that the meeting avoiding path does not exist in the current position of the vehicle.
In one optional embodiment, the vehicle control module comprises:
and the real-time detection information acquisition unit is used for controlling the detection system to acquire the real-time detection information.
And the vehicle meeting control unit is used for controlling the vehicles to meet according to the vehicle meeting running path and the real-time detection information.
The embodiment of the application discloses equipment, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executes the vehicle meeting method.
In the embodiment of the present application, the memory may be used to store software programs and modules, and the processor executes various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory. As an example, the device is an in-vehicle computer, such as an ECU.
The embodiment of the application discloses a computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to realize the vehicle meeting method.
In an embodiment of the present application, the storage medium may be located in at least one network client of a plurality of network clients of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, a Read-Only Memory ROM, a Read-Only Memory, a Random Access Memory RAM, a Random Access Memory, a removable hard disk, a magnetic disk or an optical disk.
The embodiment of the application provides a vehicle meeting method, a device, equipment and a storage medium, which can realize that an auxiliary meeting system is started in a meeting scene in a narrow road section by a driver, the vehicle can automatically solve an optimal path to smoothly complete meeting, and the occurrence of accidents caused by scraping of part of drivers due to limited skills or vehicle blind areas during meeting is avoided.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A vehicle meeting method, comprising:
receiving an auxiliary meeting instruction;
controlling a detection system on the vehicle to acquire image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction; the detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on the meeting path; the distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path;
determining environment detection information on the meeting path according to the image information and the position information;
determining a meeting driving path according to the environment detection information and a preset safety distance;
and controlling the vehicles to meet according to the meeting driving path.
2. The vehicle crossing method according to claim 1, wherein the determining of the environment detection information on the crossing path according to the image information and the position information comprises:
performing feature fusion on the image information and the position information to obtain feature fusion information;
and determining environment detection information on the meeting path according to the feature fusion information.
3. The vehicle crossing method according to claim 2, wherein before determining the environment detection information on the crossing path based on the image information and the position information, the method further comprises:
and if the current vehicle speed of the vehicle is greater than the threshold value, controlling the vehicle to reduce the current vehicle speed to be less than or equal to the vehicle speed threshold value.
4. The vehicle meeting method according to claim 1, wherein the determining of the meeting driving path according to the environment detection information and the preset safe distance comprises:
determining the current position of the vehicle according to the environment detection information;
determining whether an optimal vehicle meeting advancing path exists according to the current position of the vehicle and a preset safety distance;
and under the condition that the optimal meeting vehicle traveling path exists, determining the optimal meeting vehicle traveling path as a meeting vehicle traveling path.
5. The vehicle meeting method according to claim 4, wherein said determining a meeting driving path according to said environment detection information and a preset safe distance further comprises:
under the condition that the optimal meeting advancing path does not exist, determining a meeting avoiding path according to the environment detection information and the preset safety distance;
and determining the meeting avoiding path as the meeting driving path.
6. A vehicle meeting method according to claim 5, further comprising:
and under the condition that the meeting avoidance path does not exist in the current position of the vehicle, controlling the vehicle to carry out emergency braking.
7. The vehicle meeting method according to claim 1, wherein said controlling the vehicles to meet according to the meeting travel path comprises:
controlling the detection system to acquire real-time detection information;
and controlling the vehicles to meet according to the meeting driving path and the real-time detection information.
8. A vehicle crossing apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving an auxiliary meeting instruction;
the acquisition module is used for controlling a detection system on the vehicle to acquire image information and position information of an obstacle target on a meeting path according to the auxiliary meeting instruction; the detection system comprises an image detection subsystem and a distance detection subsystem, wherein the image detection subsystem is used for acquiring image information of an obstacle target on the meeting path; the distance detection subsystem is used for acquiring the position information of the obstacle target on the meeting path;
the environment detection information determining module is used for determining environment detection information on the meeting path according to the image information and the position information;
the meeting vehicle running path determining module is used for determining a meeting vehicle running path according to the environment detection information and a preset safe distance;
and the vehicle control module is used for controlling the vehicles to meet according to the meeting running path.
9. An apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded by the processor and executes the vehicle crossing method according to any one of claims 1-7.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the vehicle crossing method according to any one of claims 1 to 7.
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