CN112783165A - Control system and method for automatically driving vehicle - Google Patents
Control system and method for automatically driving vehicle Download PDFInfo
- Publication number
- CN112783165A CN112783165A CN202011608733.5A CN202011608733A CN112783165A CN 112783165 A CN112783165 A CN 112783165A CN 202011608733 A CN202011608733 A CN 202011608733A CN 112783165 A CN112783165 A CN 112783165A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- automatic driving
- current
- door
- autonomous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a control system and a method for an automatic driving vehicle, wherein the control system comprises: the reservation platform is used for acquiring a starting position and an end position reserved by a user; an autopilot system in communication with the reservation platform for controlling the autopilot vehicle to travel and stop when the autopilot vehicle travels to the starting position and the ending position, respectively; the system comprises a sensing system for acquiring surrounding environment information of the automatic driving vehicle and a speed monitoring system for monitoring vehicle speed information of the automatic driving vehicle; and the vehicle door control system is communicated with the automatic driving system, the sensing system and the speed monitoring system, acquires current surrounding environment information and vehicle speed information when the automatic driving vehicle reaches a starting position or a finishing position, and controls the vehicle door to be opened when the current surrounding environment information meets a first preset condition and the current vehicle speed information meets a second preset condition. According to the invention, the vehicle door can be automatically controlled to be opened according to the triggering condition after the target position is reached according to the reservation of the user, and the automatic driving experience is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a control system and a control method for an automatic driving vehicle.
Background
In L4 level automatic driving system, automatic driving vehicle can realize accomplishing automatic driving based on high accuracy electronic map, but how to carry out reasonable berth according to the user's demand, and how to open the door automatically becomes the problem that needs to solve urgently, and automatic driving vehicle is because the door does not have the automatic driving system relevance now, so can't realize automatic opening the door, and the opportunity and the position of opening the door are also not well confirmed, can only go to open the door through the security personnel is manual at last, causes automatic driving's continuity to experience not good.
Disclosure of Invention
The embodiment of the invention provides a control system and a control method for an automatic driving vehicle, and aims to solve the problems that the automatic driving vehicle in the prior art cannot be parked reasonably according to interaction with a user and automatic driving consistency experience is influenced by manual door opening.
In a first aspect, an embodiment of the present invention provides a control system for an autonomous vehicle, including:
the reservation platform is used for acquiring a starting position and an end position reserved by a user;
the automatic driving system is communicated with the reservation platform and is used for controlling the automatic driving vehicle to run and stop when the automatic driving vehicle runs to the starting position and the ending position respectively;
a perception system for collecting ambient environment information of the autonomous vehicle;
a speed monitoring system for monitoring speed information of the autonomous vehicle; and
and the vehicle door control system is communicated with the automatic driving system, the sensing system and the speed monitoring system and is used for acquiring the current surrounding environment information of the automatic driving vehicle sent by the sensing system and the current vehicle speed information of the automatic driving vehicle sent by the speed monitoring system when the automatic driving vehicle reaches the starting position or the end position, and controlling the vehicle door to be opened under the conditions that the current surrounding environment information meets a first preset condition and the current vehicle speed information meets a second preset condition.
Optionally, the automatic driving system controls the automatic driving vehicle to run based on a high-precision electronic map, the high-precision electronic map marks parking positions according to the starting position and the ending position obtained by the automatic driving system, and each parking position is marked with a parking symbol;
the automatic driving system controls the automatic driving vehicle to run to the parking position for parking according to the parking symbol marked in the high-precision electronic map;
wherein the high-precision electronic map cancels the stop symbol at the current stop position after the autonomous driving system controls the autonomous driving vehicle to stop at the stop position.
Optionally, the vehicle door control system obtains first notification information that the autonomous vehicle reaches the starting position or the ending position, which is sent by the autonomous system, and obtains current ambient environment information of the autonomous vehicle, which is sent by the sensing system, and current vehicle speed information of the autonomous vehicle, which is sent by the speed monitoring system, according to the first notification information.
Optionally, the vehicle door control system is configured to determine that the current ambient environment information meets the first preset condition when no obstacle exists in a preset area determined according to a position of a vehicle door of the autonomous vehicle, where the vehicle door of the autonomous vehicle is located in the preset area;
and the vehicle door control system is used for determining that the current vehicle speed information meets the second preset condition when the current vehicle speed information of the automatic driving vehicle is smaller than a preset speed threshold value.
Optionally, the control system of the autonomous vehicle further comprises: and the vehicle door controller is communicated with the vehicle door control system, the vehicle door control system sends a control instruction to the vehicle door controller under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition, and the vehicle door controller controls the vehicle door to be opened according to the control instruction.
Optionally, the automatic driving vehicle is an automatic driving micro bus, the reservation platform is an electronic stop board, and the electronic stop board includes the identifications of all stations through which the automatic driving micro bus passes;
the starting position is a first station reserved through the electronic stop board, and the end position is a second station reserved through the electronic stop board.
In a second aspect, an embodiment of the present invention provides a control method for an autonomous vehicle, applied to a vehicle door control system, including:
when an automatic driving vehicle reaches a starting position or an end position reserved by a user, acquiring current surrounding environment information of the automatic driving vehicle and current speed information of the automatic driving vehicle;
detecting whether the current surrounding environment information meets a first preset condition and whether the current vehicle speed information meets a second preset condition;
and controlling the opening of the vehicle door under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition.
Optionally, the obtaining the current surrounding environment information of the autonomous vehicle and the current speed information of the autonomous vehicle when the autonomous vehicle reaches the starting position or the ending position reserved by the user includes:
receiving first notification information sent after an automatic driving system controls the automatic driving vehicle to reach the starting position or the end position;
acquiring current ambient environment information of the automatic driving vehicle acquired by a sensing system and current speed information of the automatic driving vehicle monitored by a speed monitoring system according to the first notification information;
and the automatic driving system controls the automatic driving vehicle to stop according to the starting position and the ending position reserved by the user through the reservation platform.
Optionally, the detecting whether the current surrounding environment information meets a first preset condition and whether the current vehicle speed information meets a second preset condition includes:
detecting whether an obstacle exists in a preset area determined according to the position of a vehicle door of the automatic driving vehicle and whether the current speed information of the automatic driving vehicle is smaller than a preset speed threshold value; wherein a door of the autonomous vehicle is located within the preset zone.
Optionally, the controlling the opening of the vehicle door under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition includes:
and generating a control instruction under the conditions that no obstacle exists in a preset area determined according to the position of the door of the automatic driving vehicle, and the current speed information of the automatic driving vehicle is smaller than the preset speed threshold value, sending the control instruction to a door controller, and controlling the door to open by the door controller.
In the embodiment of the invention, the starting position and the end position reserved by the user are obtained, after the automatic driving vehicle is controlled to run to the starting position or the end position, whether the vehicle door opening condition is met is determined according to the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle, the vehicle door is automatically opened when the vehicle door opening condition is met, the automatic driving vehicle can be controlled to run to the target position according to interaction with the user, the vehicle door can be automatically opened according to the condition that the vehicle door is opened after the target position is reached, and the consistency experience of automatic driving is improved.
Drawings
FIG. 1 illustrates a schematic diagram of a control system for an autonomous vehicle provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of an autonomous vehicle parking at a target location provided by an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating a method of controlling an autonomous vehicle according to an embodiment of the invention;
fig. 4 is a flowchart illustrating a specific implementation of the control method for an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention provides a control system for an autonomous vehicle, as shown in fig. 1, including:
the reservation platform 11 is used for acquiring a starting position and an end position reserved by a user;
an automatic driving system 12 in communication with the reservation platform 11 for controlling the automatic driving vehicle to travel and stop when the automatic driving vehicle travels to the starting position and the ending position, respectively;
a perception system 13 for collecting ambient environment information of the autonomous vehicle;
a speed monitoring system 14 for monitoring speed information of the autonomous vehicle; and
and a vehicle door control system 15 in communication with the automatic driving system 12, the sensing system 13, and the speed monitoring system 14, and configured to acquire current ambient environment information of the automatic driving vehicle sent by the sensing system 13 and current vehicle speed information of the automatic driving vehicle sent by the speed monitoring system 14 when the automatic driving vehicle reaches the starting point position or the ending point position, and control a vehicle door to open when the current ambient environment information meets a first preset condition and the current vehicle speed information meets a second preset condition.
The control system of the automatic driving vehicle provided by the embodiment of the invention comprises an appointment platform 11, an automatic driving system 12, a sensing system 13, a speed monitoring system 14 and a vehicle door control system 15, wherein the automatic driving system 12, the sensing system 13, the speed monitoring system 14 and the vehicle door control system 15 are all integrated on the automatic driving vehicle, and the automatic driving system 12, the sensing system 13 and the speed monitoring system 14 are respectively communicated with the vehicle door control system 15 and used for transmitting relevant information to the vehicle door control system 15. The reservation platform 11 is configured to interact with a user to obtain a starting position and an ending position reserved by the user, and the reservation platform 11 communicates with the automatic driving system 12 and reports the starting position and the ending position reserved by the user to the automatic driving system 12, so that the automatic driving system 12 can control the automatic driving vehicle to respectively drive to the starting position and the ending position and stop.
The perception system 13 is used for collecting surrounding environment information of the autonomous vehicle, wherein the perception system 13 at least comprises a vision sensor and a radar. The vision sensor mainly comprises a high-definition camera, and is used for recognizing and sensing the existence of the obstacle through images and acquiring the size, the shape and the like of the obstacle. The radar can comprise a laser radar and a millimeter wave radar, the laser radar judges the distance, the speed and the size of the obstacle by emitting laser beams and receiving the reflected light beams, and the type of the obstacle can be further distinguished; the millimeter wave radar can distinguish and identify smaller targets and can identify a plurality of targets simultaneously, and has the characteristics of strong imaging capability, small size, good maneuverability, good concealment and the like.
The speed monitoring system 14 is configured to monitor vehicle speed information of the autonomous vehicle, where the speed monitoring system 14 may include a speed sensor configured to monitor vehicle speed information of the autonomous vehicle, and the speed sensor may be disposed on the chassis and transmit the vehicle speed information corresponding to the chassis to the vehicle door control system 15 through a CAN (Controller Area Network) bus.
Because the automatic driving system 12, the sensing system 13 and the speed monitoring system 14 are respectively communicated with the vehicle door control system 15, when the automatic driving system 12 controls the automatic driving vehicle to reach a starting position or a destination position reserved by a user, the automatic driving system 12 can inform the vehicle door control system 15, at this moment, the vehicle door control system 15 can acquire the current surrounding environment information of the automatic driving vehicle acquired by the sensing system 13 according to the communication with the sensing system 13, and acquire the current speed information of the automatic driving vehicle monitored by the speed monitoring system 14 according to the communication with the speed monitoring system 14.
After the door control system 15 acquires the current ambient environment information and the current vehicle speed information of the autonomous vehicle, it may be detected whether the current ambient environment information satisfies a first preset condition and the current vehicle speed information satisfies a second preset condition, and under the condition that the current ambient environment information satisfies the first preset condition and the current vehicle speed information satisfies the second preset condition, it may be determined that a door opening trigger condition is satisfied, and at this time, the door opening may be controlled.
The method comprises the steps of playing a voice prompt under the condition that current ambient environment information does not meet a first preset condition and/or current vehicle speed information does not meet a second preset condition, if the current condition does not meet a door opening condition and cannot open a door, waiting or controlling the automatic driving vehicle to move in a small range, and automatically opening a vehicle door when the current ambient environment information meets the first preset condition and the current vehicle speed information meets the second preset condition.
In the embodiment of the invention, the starting position and the end position reserved by the user are obtained, after the automatic driving vehicle is controlled to run to the starting position or the end position, whether the vehicle door opening condition is met is determined according to the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle, the vehicle door is automatically opened when the vehicle door opening condition is met, the automatic driving vehicle can be controlled to run to the target position according to interaction with the user, the vehicle door can be automatically opened according to the condition that the vehicle door is opened after the target position is reached, and the consistency experience of automatic driving is improved.
In an optional embodiment of the present invention, the automatic driving system controls the automatic driving vehicle to run based on a high-precision electronic map, the high-precision electronic map performs stop position marking according to the starting position and the ending position obtained by the automatic driving system, and each stop position is marked with a stop symbol; the automatic driving system controls the automatic driving vehicle to run to the parking position for parking according to the parking symbol marked in the high-precision electronic map; wherein the high-precision electronic map cancels the stop symbol at the current stop position after the autonomous driving system controls the autonomous driving vehicle to stop at the stop position.
The automatic driving system can control the running of the automatic driving vehicle through a high-precision electronic map. The high-precision electronic map is specially designed for unmanned driving and comprises road definitions, intersections, traffic signals, lane rules and other elements for navigation, and not only can reduce the calculation requirement, but also can ensure the safety of unmanned driving by providing detailed information about the driving environment. The high-precision electronic map can also provide information for visual positioning and point cloud positioning; auxiliary information such as the position of a red street lamp, intersection information and the like can be provided for the sensing system; a more realistic simulation environment may also be provided. The automatic driving system controls the automatic driving vehicle to run through the high-precision electronic map, and specifically can be as follows: the automatic driving vehicle can know accurate position information through positioning on the high-precision electronic map, and then accurately projects barrier information on the high-precision electronic map through the sensing system, so that a proper route can be automatically planned, barriers can be avoided, and automatic driving is achieved.
The automatic driving system in this embodiment can acquire the starting position and the ending position reserved by the user through interaction with the reservation platform, and then the high-precision electronic map marks the stopping position according to the starting position and the ending position acquired by the automatic driving system, so as to mark the position reserved by the user on the high-precision electronic map. For example, a stop symbol 1 is marked on a high-precision electronic map for a start point position and an end point position reserved by the user. After the marking of the parking position is finished on the high-precision electronic map, the automatic driving system can control the automatic driving vehicle to drive to the parking position for parking according to the parking symbol marked in the high-precision electronic map. For example, after a user reserves an getting-on position (a starting position) and a getting-off position (a terminal position), the reservation platform sends the acquired getting-on position and getting-off position to an automatic driving system corresponding to an automatic driving vehicle closest to the getting-on position, and a stop symbol is marked at the getting-on position and the getting-off position by a high-precision electronic map corresponding to the automatic driving system, so that the automatic driving system controls the automatic driving vehicle to travel to a position corresponding to the stop symbol for stopping when controlling the automatic driving vehicle to run according to the high-precision electronic map.
In the embodiment of the invention, the starting position and the ending position reserved by the user are marked on the high-precision electronic map, so that when the automatic driving system controls the automatic driving vehicle to run based on the high-precision electronic map, the automatic driving vehicle can be controlled to run to the set parking position for parking based on the marked parking symbol, and the parking meeting the requirements of the user is realized.
In an optional embodiment of the present invention, the vehicle door control system obtains first notification information that the autonomous vehicle reaches the starting position or the ending position, which is sent by the autonomous system, and obtains current ambient information of the autonomous vehicle, which is sent by the sensing system, and current vehicle speed information of the autonomous vehicle, which is sent by the speed monitoring system, according to the first notification information.
The vehicle door control system and the automatic driving system form communication, when the automatic driving system controls the automatic driving vehicle to reach a starting point position or an end point position, first notification information can be sent to the vehicle door control system, after the vehicle door control system receives the first notification information, the automatic driving vehicle can be determined to reach the starting point position or the end point position according to the first notification information, at the moment, current surrounding environment information of the automatic driving vehicle collected by the sensing system can be obtained according to the communication with the sensing system, and current vehicle speed information of the automatic driving vehicle monitored by the speed monitoring system can be obtained according to the communication with the speed monitoring system. After obtaining the current ambient information and the current vehicle speed information of the autonomous vehicle, a detection process may be performed, where the detection is to detect whether the current ambient information satisfies a first preset condition and whether the current vehicle speed information satisfies a second preset condition.
The vehicle door control system can determine that the detection time is reached according to the first notification information by acquiring the first notification information sent by the automatic driving system, and can immediately acquire the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle under the condition of determining the detection time so as to execute detection according to the current surrounding environment information and the current vehicle speed information under the detection time.
In the embodiment of the invention, when the automatic driving system controls the automatic driving vehicle to reach the starting position or the end position, the first notification information is sent to the vehicle door control system, the vehicle door control system determines that the detection time arrives according to the first notification information, and acquires the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle for detection, so that the detection based on the first notification information can be realized, and the detection timeliness is ensured.
In an optional embodiment of the present invention, the vehicle door control system is configured to determine that the current ambient environment information satisfies the first preset condition when no obstacle exists in a preset area determined according to a position where a vehicle door of the autonomous vehicle is located, where the vehicle door of the autonomous vehicle is located in the preset area; and the vehicle door control system is used for determining that the current vehicle speed information meets the second preset condition when the current vehicle speed information of the automatic driving vehicle is smaller than a preset speed threshold value.
After acquiring the current ambient environment information and the current speed information of the autonomous vehicle, the vehicle door control system can detect whether the current ambient environment information meets a first preset condition and whether the current speed information meets a second preset condition, determine that the current ambient environment information meets the first preset condition when no obstacle exists in a preset area determined according to the position of a vehicle door of the autonomous vehicle, and determine that the current speed information meets the second preset condition when the current speed information of the autonomous vehicle is smaller than a preset speed threshold.
The preset area is an area including the position of the door of the automatic driving vehicle, for example, the preset area can be an area defined by taking the position of the door of the automatic driving vehicle as a center and taking a preset distance as a radius; or the area is determined according to the boundary line, wherein the boundary line forms a distance with the position of the vehicle door, the preset area is determined according to the boundary line and the distance between the boundary line and the vehicle door, and the position of the vehicle door can not be on the boundary line; or the area comprises the position of the door of the automatic driving vehicle, corresponds to the preset area and is not positioned at the boundary position. Of course, other types of regions are also possible and are not listed here. The value of the preset speed threshold is small and preferably may be close to zero, i.e. when the current speed of the autonomous vehicle is close to zero or equal to zero, it is determined that the current vehicle speed information satisfies the second preset condition.
And when the obstacles exist in the preset area and/or the current speed information of the automatic driving vehicle is not less than the preset speed threshold, determining that the vehicle door opening condition is not met, and waiting.
In the following, a case where the door is controlled to be opened when no obstacle exists in the preset area and the current vehicle speed of the autonomous vehicle is zero will be described as an example, where the door opening condition is not satisfied and a waiting state is not satisfied. When no obstacle exists in the preset area but the current speed of the automatic driving vehicle is not zero, determining that the vehicle door opening condition is not met, waiting for the automatic driving system to control the automatic driving vehicle to stop at the moment, re-detecting whether the obstacle exists in the preset area when the speed of the automatic driving vehicle is zero, and determining that the vehicle door opening condition is met if the obstacle does not exist, and controlling the vehicle door to open. If the obstacle exists and can move, the vehicle door can be opened after the obstacle disappears, and the automatic driving system can control the automatic driving vehicle to move in a small range to find the position where the vehicle door can be opened. If the barrier is immovable, but the opening of the vehicle door is not influenced, the vehicle door can be opened, and if the opening of the vehicle door is influenced, the automatic driving system controls the automatic driving vehicle to move in a small range to search for the position where the vehicle door can be opened.
When the obstacle exists in the preset area and the current speed of the automatic driving vehicle is not zero, determining that the vehicle door opening condition is not met, waiting for the automatic driving system to control the automatic driving vehicle to stop at the moment, re-detecting whether the obstacle exists in the preset area when the speed of the automatic driving vehicle is zero, and determining that the vehicle door opening condition is met if the obstacle does not exist, and controlling the vehicle door to open. If an obstacle is present, the treatment can be performed in accordance with the above-described measures.
When an obstacle exists in a preset area and the current speed of the automatic driving vehicle is zero, the obstacle (movable) can be waited for disappearing, if the obstacle cannot move but the opening of the vehicle door is not influenced, the vehicle door can be opened, and if the obstacle cannot move but the opening of the vehicle door is influenced, the automatic driving system can be used for controlling the automatic driving vehicle to move in a small range and then judging whether the vehicle door opening condition is met again.
In the embodiment of the invention, when no barrier exists in the preset area and the current speed of the automatic driving vehicle is less than the preset speed threshold value, the condition of opening the vehicle door is determined to be met, and the safety of automatic opening of the vehicle door can be ensured.
In an alternative embodiment of the present invention, as shown in fig. 1, the control system of an autonomous vehicle further includes: and the vehicle door controller 16 is in communication with the vehicle door control system 15, the vehicle door control system 15 sends a control instruction to the vehicle door controller 16 when the current ambient environment information meets the first preset condition and the current vehicle speed information meets the second preset condition, and the vehicle door controller 16 controls the vehicle door to be opened according to the control instruction.
The control system of the automatic driving vehicle further comprises a vehicle door controller 16, wherein the vehicle door controller 16 is used for controlling opening and closing of a vehicle door, the vehicle door controller 16 is communicated with the vehicle door control system 15, under the condition that the vehicle door control system 15 determines that the current surrounding environment information meets a first preset condition and the current vehicle speed information meets a second preset condition, a control instruction for opening the vehicle door can be generated and sent to the vehicle door controller 16, and the vehicle door controller 16 controls the vehicle door to be opened according to the received control instruction. Through logical judgment performed by the vehicle door control system 15, when it is determined that the vehicle door opening condition is met, a control instruction is sent to the vehicle door controller 16, and the vehicle door is automatically opened by the vehicle door controller 16, so that the vehicle door controller 16 and the vehicle door control system 15 can respectively realize corresponding functions.
The door controller 16 may control the closing of the door, and the door control system 15 may send a door closing command to the door controller 16 when it is determined that the door closing condition is satisfied, and the door controller 16 may control the closing of the door. The door control system 15 can determine whether the door closing condition is satisfied through the sensing system 13, and the detailed process is not described here.
In the embodiment of the invention, the logic judgment is carried out by the vehicle door control system, when the condition that the vehicle door opening is met is determined, the control instruction is sent to the vehicle door controller according to the communication between the vehicle door controller and the vehicle door controller, and the vehicle door controller automatically opens the vehicle door, so that the vehicle door controller and the vehicle door control system can respectively realize corresponding functions.
In an optional embodiment of the present invention, the autonomous vehicle is an autonomous micro bus, the reservation platform is an electronic stop board, and the electronic stop board includes identifiers of all stations through which the autonomous micro bus passes; the starting position is a first station reserved through the electronic stop board, and the end position is a second station reserved through the electronic stop board.
In this embodiment, the automatically driven vehicle is an automatically driven micro bus, and correspondingly, the reservation platform is an electronic stop board, wherein one electronic stop board may be set at each bus stop, and the electronic stop board includes identifications of all stops through which the automatically driven micro bus passes, such as names of all stops. Whether passengers need to get on or off the bus is judged through interaction of a high-precision electronic map corresponding to the electronic stop board and the automatic driving system, and the bus door is associated with the bus door control system, the automatic driving system (the automatic driving vehicle is controlled to run based on the high-precision electronic map) and the electronic stop board, so that the effect of automatically judging the entering of the bus and opening the door is achieved.
The starting position reserved by the user is the first station of the electronic stop board, the destination position is the second station of the electronic stop board, the automatic driving micro bus can stop at the first station, the user is waited to get on the bus, and the user is waited to get off the bus when the second station stops.
First, an electronic stop board is arranged at each bus stop, the electronic stop board is different from a traditional stop board, the electronic stop board can display the names of all stops where the automatic micro bus passes, and passengers can select a desired stop, namely a position where the passengers need to get off, by clicking a touch screen. And then pressing a determination key, automatically sending the starting position and the end position of the passenger to an automatic driving system which is closest to the station position and is used for automatically driving the micro bus by the electronic station board, and marking the starting position and the end position by a high-precision electronic map corresponding to the automatic driving system, for example, marking a stop symbol 1 on the high-precision electronic map for a first station corresponding to the starting position and a second station corresponding to the end position. And then when the automatic driving micro bus passes through the vicinity of the bus station (for example, 50m) each time, determining whether the automatic driving micro bus enters the station or not by the automatic driving system based on the high-precision electronic map, if the marking information of the current station on the high-precision electronic map is a stop symbol 1, controlling the automatic driving micro bus to enter the station, and if the marking information of the current station on the high-precision electronic map is 0 (corresponding to continuous driving), controlling the automatic driving micro bus to continuously drive forwards without entering the station, which can be seen in fig. 2. And repeating the previous operation at the station, namely automatically driving the micro bus to enter the station if the station meets the condition that the marking information is the stop sign 1.
After the automatic driving micro bus enters the station, the vehicle door control system acquires current surrounding environment information acquired by a sensing system around the vehicle and current vehicle speed information monitored by a speed monitoring system, and if no barrier exists in a certain range (such as 30cm) around the vehicle door, the current vehicle speed is zero, and the vehicle door can be automatically opened. If the obstacle exists in the range of 30cm around the vehicle door, the vehicle door control system does not open the door, the automatic driving system controls the automatic driving micro bus to continue to advance in the range of the station, and meanwhile, the surrounding environment information acquired in real time by the sensing system is continuously acquired until the obstacle does not exist in the range of 30cm around the vehicle door and the vehicle speed is zero, so that the vehicle door is controlled to be opened. It should be noted that after the automatically driven micro bus stops at the corresponding station, the corresponding stop symbol at the station can be cancelled, which is helpful for avoiding unnecessary arrival on the next trip.
In the embodiment of the invention, the interaction between passengers and the automatic driving micro bus can be realized based on the electronic stop board, and the marking is carried out on the high-precision electronic map based on the starting position and the ending position reserved by the user, so that the automatic driving micro bus can be stopped reasonably, and unnecessary arrival is avoided.
The above is an implementation process corresponding to the control system of the automatic driving vehicle in the embodiment of the present invention, by obtaining the starting point position and the ending point position reserved by the user, after the automatic driving vehicle is controlled to travel to the starting point position or the ending point position, whether the vehicle door opening condition is met is determined according to the current surrounding environment information of the automatic driving vehicle and the current vehicle speed information, and the vehicle door is automatically opened when the vehicle door opening condition is met, so that the automatic driving vehicle can be controlled to travel to the target position according to the interaction with the user, and the vehicle door can be automatically opened according to the triggering condition of meeting the vehicle door opening after reaching the target position, thereby improving the consistency experience of automatic driving. Furthermore, by marking on the high-precision electronic map, parking meeting the requirements of users can be achieved, the parking reasonability is guaranteed, meanwhile, the current surrounding environment information and the current vehicle speed information are acquired through the first notification information, and the timeliness of whether the vehicle door opening condition is met or not can be guaranteed.
An embodiment of the present invention further provides a control method for an autonomous vehicle, which is applied to a vehicle door control system, and as shown in fig. 3, the method includes:
The control method of the autonomous vehicle provided in the embodiment is applied to a door control system, wherein when the autonomous vehicle reaches a start position or an end position reserved by a user, the door control system may acquire current surrounding environment information of the autonomous vehicle and current vehicle speed information of the autonomous vehicle. The user can reserve the starting position and the terminal position through the reservation platform, and the automatic driving vehicle can stop at the starting position and the terminal position respectively, so that the user can be ensured to take the vehicle at the starting position and get off the vehicle at the terminal position according to the reservation.
After obtaining the current ambient environment information of the autonomous vehicle and the current vehicle speed information of the autonomous vehicle, the vehicle door control system may detect whether the current ambient environment information satisfies a first preset condition and whether the current vehicle speed information satisfies a second preset condition.
And 303, controlling the vehicle door to be opened under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition.
Under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition, the condition that the vehicle door opening triggering condition is met can be determined, and the vehicle door can be controlled to be opened at the moment. The method comprises the steps that when the current surrounding environment information does not meet a first preset condition and/or the current vehicle speed information does not meet a second preset condition, a voice prompt can be played, the automatic driving vehicle can be controlled to move in a waiting or small range, and when the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition, the vehicle door is automatically opened.
In the embodiment of the invention, the starting position and the end position reserved by the user are obtained, after the automatic driving vehicle runs to the starting position or the end position, whether the vehicle door opening condition is met is determined according to the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle, the vehicle door is automatically opened when the vehicle door opening condition is met, the automatic driving vehicle can be controlled to run to the target position according to interaction with the user, the vehicle door can be automatically opened according to the condition that the vehicle door is opened after the target position is reached, and the consistency experience of automatic driving is improved.
In an optional embodiment of the present invention, the acquiring current surrounding environment information of the autonomous vehicle and current vehicle speed information of the autonomous vehicle when the autonomous vehicle reaches a start position or an end position reserved by a user includes:
receiving first notification information sent after an automatic driving system controls the automatic driving vehicle to reach the starting position or the end position;
acquiring current ambient environment information of the automatic driving vehicle acquired by a sensing system and current speed information of the automatic driving vehicle monitored by a speed monitoring system according to the first notification information;
and the automatic driving system controls the automatic driving vehicle to stop according to the starting position and the ending position reserved by the user through the reservation platform.
The automatic driving vehicle in the embodiment of the invention can also comprise an automatic driving system, a sensing system and a speed monitoring system besides a vehicle door control system, wherein the automatic driving system, the sensing system and the speed monitoring system are respectively communicated with the vehicle door control system. The reservation platform is used for interacting with a user to obtain a starting position and a terminal position reserved by the user, communicating with the automatic driving system and reporting the starting position and the terminal position reserved by the user to the automatic driving system, so that the automatic driving system can control the automatic driving vehicle to respectively drive to the starting position and the terminal position and stop.
When the automatic driving system controls the automatic driving vehicle to reach the starting point position or the end point position, first notification information can be sent to the vehicle door control system, after the vehicle door control system receives the first notification information, the automatic driving vehicle can be determined to reach the starting point position or the end point position according to the first notification information, at the moment, current surrounding environment information of the automatic driving vehicle collected by the sensing system can be obtained according to communication with the sensing system, and current vehicle speed information of the automatic driving vehicle monitored by the speed monitoring system is obtained according to communication with the speed monitoring system. After obtaining the current ambient information and the current vehicle speed information of the autonomous vehicle, a detection process may be performed, where the detection is to detect whether the current ambient information satisfies a first preset condition and whether the current vehicle speed information satisfies a second preset condition.
The vehicle door control system can determine that the detection time is reached according to the first notification information by acquiring the first notification information sent by the automatic driving system, and can immediately acquire the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle under the condition of determining the detection time, so as to execute detection according to the current surrounding environment information and the current vehicle speed information under the detection time.
The automatic driving system can realize the control of the operation of the automatic driving vehicle through a high-precision electronic map, and specifically comprises the following steps: the automatic driving system acquires a starting position and an end position reserved by a user, and then the high-precision electronic map marks the stop position according to the starting position and the end position acquired by the automatic driving system, so that the position reserved by the user is marked on the high-precision electronic map. After the marking of the stop position is finished on the high-precision electronic map, the automatic driving system can control the automatic driving vehicle to drive to the corresponding stop position for stopping according to the stop symbol marked in the high-precision electronic map.
In the embodiment of the invention, when the automatic driving system controls the automatic driving vehicle to reach the starting position or the end position, the first notification information sent by the automatic driving system is obtained, the arrival of the detection opportunity is determined according to the first notification information, and the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle are obtained for detection, so that the detection based on the first notification information can be realized, and the timeliness of the detection is ensured.
In an optional embodiment of the present invention, the detecting whether the current ambient information satisfies a first preset condition and the current vehicle speed information satisfies a second preset condition includes:
detecting whether an obstacle exists in a preset area determined according to the position of a vehicle door of the automatic driving vehicle and whether the current speed information of the automatic driving vehicle is smaller than a preset speed threshold value; wherein a door of the autonomous vehicle is located within the preset zone.
After acquiring the current ambient environment information and the current vehicle speed information of the automatic driving vehicle, the vehicle door control system can detect whether the current ambient environment information meets a first preset condition or not and whether the current vehicle speed information meets a second preset condition or not, and specifically comprises the following steps: whether an obstacle exists in a preset area determined according to the position of a vehicle door of the automatic driving vehicle and whether the current speed information of the automatic driving vehicle is smaller than a preset speed threshold value or not are detected. The preset area is an area including a position where a door of the autonomous vehicle is located.
Correspondingly, under the circumstances that current surrounding environment information satisfies first preset condition and current speed of a motor vehicle information satisfies second preset condition, control the door and open, include:
and generating a control instruction under the conditions that no obstacle exists in a preset area determined according to the position of the door of the automatic driving vehicle, and the current speed information of the automatic driving vehicle is smaller than the preset speed threshold value, sending the control instruction to a door controller, and controlling the door to open by the door controller.
A door controller may also be integrated with the autonomous vehicle, wherein the door controller is configured to control opening and closing of a door and the door controller is in communication with a door control system. When no obstacle exists in the preset area and the current speed information of the automatic driving vehicle is smaller than the preset speed threshold value, the vehicle door control system determines that the vehicle door opening condition is met, can generate a control instruction for opening the vehicle door, and sends the control instruction to the vehicle door controller, and the vehicle door controller controls the vehicle door to be opened according to the received control instruction. Through logic judgment performed by the vehicle door control system, when the vehicle door opening condition is determined to be met, a control instruction is sent to the vehicle door controller, and the vehicle door is automatically opened by the vehicle door controller, so that the vehicle door controller and the vehicle door control system can respectively realize corresponding functions.
In the embodiment of the invention, when no barrier exists in the preset area and the current speed of the automatic driving vehicle is less than the preset speed threshold value, the condition of opening the vehicle door is determined to be met, the safety of automatic opening of the vehicle door can be ensured, the vehicle door control system sends a control instruction to the vehicle door controller, the vehicle door controller automatically opens the vehicle door, and the vehicle door controller and the vehicle door control system can respectively realize corresponding functions.
The automatic driving vehicle in the embodiment of the invention can be an automatic driving micro bus, and the reservation platform can be an electronic stop board which comprises the identifications of all stations through which the automatic driving micro bus passes; the starting position can be a first station reserved by the electronic stop board, and the ending position can be a second station reserved by the electronic stop board.
For the case that the autonomous vehicle is an autonomous micro bus, a specific implementation process is described by a specific example, as shown in fig. 4, including:
And step 403, marking a stop sign 1 on the starting point position and the end point position by the high-precision electronic map corresponding to the automatic driving system.
And step 404, controlling the automatic driving micro bus to run by the automatic driving system according to the high-precision electronic map, determining whether the marking information of the current station is a stop sign 1 when the automatic driving system passes through the vicinity of the bus station every time, if so, executing step 405, and otherwise, executing step 408.
And 405, controlling the automatic driving micro bus to enter a first station by the automatic driving system, and detecting the surrounding environment of the vehicle door and the current vehicle speed.
And step 406, no barrier exists in a certain range around the vehicle door, the current vehicle speed is zero, the vehicle door is automatically opened, passengers get on the vehicle, and step 407 is executed after the vehicle door is closed.
And step 407, controlling the automatic driving micro bus to continue running by the automatic driving system according to the high-precision electronic map, stopping when the automatic driving system reaches a second station, automatically opening the vehicle door according to the triggering condition meeting the vehicle door opening, and getting off the vehicle by passengers.
And 408, controlling the automatic driving micro bus to continue driving by the automatic driving system according to the high-precision electronic map, detecting whether the marking information of the current station is a stop symbol 1 or not when the automatic driving system passes through the vicinity of the bus station each time so as to determine a first station, and executing the step 405 after the first station is determined.
The process can realize interaction between passengers and the automatic driving micro bus based on the electronic stop board, mark the starting position and the end position reserved by the user on the high-precision electronic map, realize reasonable stop of the automatic driving micro bus, avoid unnecessary stop, and automatically open the bus door when the triggering condition of the bus door opening is monitored.
The control method for the automatic driving vehicle provided by the embodiment of the invention comprises the steps of obtaining the starting position and the end position reserved by the user, determining whether the vehicle door opening condition is met or not according to the current surrounding environment information and the current vehicle speed information of the automatic driving vehicle after the automatic driving vehicle runs to the starting position or the end position, and automatically opening the vehicle door when the vehicle door opening condition is met, so that the automatic driving vehicle can be controlled to run to the target position according to interaction with the user, the vehicle door can be automatically opened according to the condition that the vehicle door is opened after the target position is reached, and the consistency experience of automatic driving is improved. Furthermore, by marking on the high-precision electronic map, parking meeting the requirements of users can be achieved, the parking reasonability is guaranteed, meanwhile, the current surrounding environment information and the current vehicle speed information are acquired through the first notification information, and the timeliness of whether the vehicle door opening condition is met or not can be guaranteed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A control system for an autonomous vehicle, comprising:
the reservation platform is used for acquiring a starting position and an end position reserved by a user;
the automatic driving system is communicated with the reservation platform and is used for controlling the automatic driving vehicle to run and stop when the automatic driving vehicle runs to the starting position and the ending position respectively;
a perception system for collecting ambient environment information of the autonomous vehicle;
a speed monitoring system for monitoring speed information of the autonomous vehicle; and
and the vehicle door control system is communicated with the automatic driving system, the sensing system and the speed monitoring system and is used for acquiring the current surrounding environment information of the automatic driving vehicle sent by the sensing system and the current vehicle speed information of the automatic driving vehicle sent by the speed monitoring system when the automatic driving vehicle reaches the starting position or the end position, and controlling the vehicle door to be opened under the conditions that the current surrounding environment information meets a first preset condition and the current vehicle speed information meets a second preset condition.
2. The control system of an autonomous vehicle according to claim 1, wherein the autonomous system controls the autonomous vehicle to travel based on a high-precision electronic map that marks parking positions according to the start position and the end position acquired by the autonomous system, each of the parking positions being marked with a parking symbol;
the automatic driving system controls the automatic driving vehicle to run to the parking position for parking according to the parking symbol marked in the high-precision electronic map;
wherein the high-precision electronic map cancels the stop symbol at the current stop position after the autonomous driving system controls the autonomous driving vehicle to stop at the stop position.
3. The control system of an autonomous vehicle according to claim 1, wherein the door control system acquires first notification information that the autonomous vehicle reaches the start position or the end position, which is transmitted from the autonomous system, and acquires current surrounding environment information of the autonomous vehicle, which is transmitted from the sensing system, and current vehicle speed information of the autonomous vehicle, which is transmitted from the speed monitoring system, from the first notification information.
4. The control system of an autonomous vehicle as claimed in claim 1, wherein the door control system is configured to determine that the current ambient information satisfies the first preset condition when there is no obstacle in a preset area determined according to a position where a door of the autonomous vehicle is located, the preset area being where the door of the autonomous vehicle is located;
and the vehicle door control system is used for determining that the current vehicle speed information meets the second preset condition when the current vehicle speed information of the automatic driving vehicle is smaller than a preset speed threshold value.
5. The control system of an autonomous vehicle as recited in claim 1, further comprising: and the vehicle door controller is communicated with the vehicle door control system, the vehicle door control system sends a control instruction to the vehicle door controller under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition, and the vehicle door controller controls the vehicle door to be opened according to the control instruction.
6. The control system of an autonomous vehicle as claimed in any one of claims 1 to 5, wherein the autonomous vehicle is an autonomous micro bus, the reservation platform is an electronic stop board comprising identifications of all stations through which the autonomous micro bus passes;
the starting position is a first station reserved through the electronic stop board, and the end position is a second station reserved through the electronic stop board.
7. A control method of an automatic driving vehicle is applied to a vehicle door control system and is characterized by comprising the following steps:
when an automatic driving vehicle reaches a starting position or an end position reserved by a user, acquiring current surrounding environment information of the automatic driving vehicle and current speed information of the automatic driving vehicle;
detecting whether the current surrounding environment information meets a first preset condition and whether the current vehicle speed information meets a second preset condition;
and controlling the opening of the vehicle door under the condition that the current surrounding environment information meets the first preset condition and the current vehicle speed information meets the second preset condition.
8. The method of controlling an autonomous vehicle according to claim 7, wherein the acquiring current surrounding environment information of the autonomous vehicle and current vehicle speed information of the autonomous vehicle when the autonomous vehicle reaches a start position or an end position reserved by a user, comprises:
receiving first notification information sent after an automatic driving system controls the automatic driving vehicle to reach the starting position or the end position;
acquiring current ambient environment information of the automatic driving vehicle acquired by a sensing system and current speed information of the automatic driving vehicle monitored by a speed monitoring system according to the first notification information;
and the automatic driving system controls the automatic driving vehicle to stop according to the starting position and the ending position reserved by the user through the reservation platform.
9. The control method of an autonomous vehicle according to claim 7, wherein said detecting whether the current surrounding environment information satisfies a first preset condition and the current vehicle speed information satisfies a second preset condition includes:
detecting whether an obstacle exists in a preset area determined according to the position of a vehicle door of the automatic driving vehicle and whether the current speed information of the automatic driving vehicle is smaller than a preset speed threshold value; wherein a door of the autonomous vehicle is located within the preset zone.
10. The control method of an autonomous vehicle according to claim 9, wherein said controlling the door to open in the case where the current surrounding environment information satisfies the first preset condition and the current vehicle speed information satisfies the second preset condition includes:
and generating a control instruction under the conditions that no obstacle exists in a preset area determined according to the position of the door of the automatic driving vehicle, and the current speed information of the automatic driving vehicle is smaller than the preset speed threshold value, sending the control instruction to a door controller, and controlling the door to open by the door controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011608733.5A CN112783165A (en) | 2020-12-29 | 2020-12-29 | Control system and method for automatically driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011608733.5A CN112783165A (en) | 2020-12-29 | 2020-12-29 | Control system and method for automatically driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112783165A true CN112783165A (en) | 2021-05-11 |
Family
ID=75753580
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011608733.5A Pending CN112783165A (en) | 2020-12-29 | 2020-12-29 | Control system and method for automatically driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112783165A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114639259A (en) * | 2022-03-04 | 2022-06-17 | 安徽安凯汽车股份有限公司 | Intelligent control system for starting and stopping unmanned bus |
| CN115050201A (en) * | 2022-05-11 | 2022-09-13 | 小马易行科技(上海)有限公司 | Autonomous vehicle service method, system, computer device, and storage medium |
| WO2023166727A1 (en) * | 2022-03-04 | 2023-09-07 | 本田技研工業株式会社 | Control device, control method, and control program |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105909116A (en) * | 2016-04-28 | 2016-08-31 | 百度在线网络技术（北京）有限公司 | Vehicle door control method, device and system |
| CN105955253A (en) * | 2016-04-20 | 2016-09-21 | 郑州宇通客车股份有限公司 | Method and system for controlling turn lights and vehicle doors of autonomous driving vehicle |
| CN107139868A (en) * | 2017-05-15 | 2017-09-08 | 成都中技智慧企业管理咨询有限公司 | The system that a kind of autonomous driving vehicle judges passenger identity |
| US20170334441A1 (en) * | 2016-05-19 | 2017-11-23 | Honda Motor Co., Ltd. | Vehicle control system, traffic information sharing system, vehicle control method, and vehicle control program |
| CN108508778A (en) * | 2018-05-24 | 2018-09-07 | 赵山山 | The unmanned transport passenger's formula parking system of one kind and method |
| CN108646764A (en) * | 2018-07-25 | 2018-10-12 | 吉林大学 | Automatic driving vehicle and control method based on fixed course, device and system |
| CN108921311A (en) * | 2018-06-13 | 2018-11-30 | 上海掌门科技有限公司 | A kind of about vehicle traveling method, equipment and storage medium |
| CN110685536A (en) * | 2018-07-04 | 2020-01-14 | 郑州宇通客车股份有限公司 | Automatic driving vehicle safety control method and device |
| CN110941269A (en) * | 2019-11-22 | 2020-03-31 | 深圳一清创新科技有限公司 | Unmanned vehicle control method, unmanned vehicle control device, computer equipment and medium |
| CN111216711A (en) * | 2018-11-23 | 2020-06-02 | 湖南中车时代电动汽车股份有限公司 | Control method and system for intelligent driving automobile to automatically enter and exit station |
| CN111598276A (en) * | 2020-04-13 | 2020-08-28 | 浙江吉利汽车研究院有限公司 | Driving scheme for avoiding trip delay of shared automatic driving vehicle |
| CN111605500A (en) * | 2019-02-25 | 2020-09-01 | 郑州宇通客车股份有限公司 | Vehicle reservation system and method for unmanned vehicle |
-
2020
- 2020-12-29 CN CN202011608733.5A patent/CN112783165A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955253A (en) * | 2016-04-20 | 2016-09-21 | 郑州宇通客车股份有限公司 | Method and system for controlling turn lights and vehicle doors of autonomous driving vehicle |
| CN105909116A (en) * | 2016-04-28 | 2016-08-31 | 百度在线网络技术（北京）有限公司 | Vehicle door control method, device and system |
| US20170334441A1 (en) * | 2016-05-19 | 2017-11-23 | Honda Motor Co., Ltd. | Vehicle control system, traffic information sharing system, vehicle control method, and vehicle control program |
| CN107139868A (en) * | 2017-05-15 | 2017-09-08 | 成都中技智慧企业管理咨询有限公司 | The system that a kind of autonomous driving vehicle judges passenger identity |
| CN108508778A (en) * | 2018-05-24 | 2018-09-07 | 赵山山 | The unmanned transport passenger's formula parking system of one kind and method |
| CN108921311A (en) * | 2018-06-13 | 2018-11-30 | 上海掌门科技有限公司 | A kind of about vehicle traveling method, equipment and storage medium |
| CN110685536A (en) * | 2018-07-04 | 2020-01-14 | 郑州宇通客车股份有限公司 | Automatic driving vehicle safety control method and device |
| CN108646764A (en) * | 2018-07-25 | 2018-10-12 | 吉林大学 | Automatic driving vehicle and control method based on fixed course, device and system |
| CN111216711A (en) * | 2018-11-23 | 2020-06-02 | 湖南中车时代电动汽车股份有限公司 | Control method and system for intelligent driving automobile to automatically enter and exit station |
| CN111605500A (en) * | 2019-02-25 | 2020-09-01 | 郑州宇通客车股份有限公司 | Vehicle reservation system and method for unmanned vehicle |
| CN110941269A (en) * | 2019-11-22 | 2020-03-31 | 深圳一清创新科技有限公司 | Unmanned vehicle control method, unmanned vehicle control device, computer equipment and medium |
| CN111598276A (en) * | 2020-04-13 | 2020-08-28 | 浙江吉利汽车研究院有限公司 | Driving scheme for avoiding trip delay of shared automatic driving vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114639259A (en) * | 2022-03-04 | 2022-06-17 | 安徽安凯汽车股份有限公司 | Intelligent control system for starting and stopping unmanned bus |
| WO2023166727A1 (en) * | 2022-03-04 | 2023-09-07 | 本田技研工業株式会社 | Control device, control method, and control program |
| CN115050201A (en) * | 2022-05-11 | 2022-09-13 | 小马易行科技(上海)有限公司 | Autonomous vehicle service method, system, computer device, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112783165A (en) | Control system and method for automatically driving vehicle | |
| CN107430817B (en) | Path search device, control method, and non-transitory computer-readable medium | |
| CN101652802B (en) | Safe driving assisting device | |
| US20170176993A1 (en) | Autonomous driving control device | |
| CN106297342A (en) | A kind of in advance, the alarm set of real-time prompting traffic light information and method | |
| US20190265736A1 (en) | Information provision system, vehicular device, and non-transitory computer-readable storage medium | |
| WO2016139747A1 (en) | Vehicle control device, control method, program, and storage medium | |
| JP7039940B2 (en) | Vehicle control unit | |
| CN105620489A (en) | Driving assistance system and real-time warning and prompting method for vehicle | |
| JP2017019397A (en) | Traveling controlling apparatus | |
| CN111731295B (en) | Travel control device, travel control method, and storage medium storing program | |
| CN109491380A (en) | A kind of intelligent automobile Unmanned Systems and application method | |
| US20200285235A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN109949610A (en) | Intersect traffic auxiliary and control | |
| CN109791735A (en) | Controller of vehicle | |
| JP2019039930A (en) | Route searching device, control method, program and storage medium | |
| CN109690643B (en) | Probe data management device | |
| CN109661338A (en) | Determination method, parking assistance method, outbound householder method and the obstacle judgment device of barrier | |
| RU2764016C1 (en) | Vehicle traffic control device and vehicle traffic control method for parking | |
| JP4622733B2 (en) | Driving support device and driving support method | |
| KR102382116B1 (en) | Grouping system for self driving vehicles | |
| KR20220166193A (en) | Remote control request system, remote control request method, and non-transitory storage medium | |
| US11541887B2 (en) | Enabling reverse motion of a preceding vehicle at bunched traffic sites | |
| CN114604269A (en) | Method and apparatus for controlling turning operation of vehicle | |
| JP2021177283A (en) | Automatic operation vehicle control device, vehicle allocation system, and vehicle allocation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210511 |