CN115482679B - Automatic driving blind area early warning method and device and message server - Google Patents
Automatic driving blind area early warning method and device and message server Download PDFInfo
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Abstract
The invention discloses an automatic driving blind area early warning method, an automatic driving blind area early warning device and a message server, wherein the method is applied to the message server and specifically comprises the following steps: establishing communication connection with the road side unit based on the connection request sent by the road side unit, and receiving blind area data sent by the road side unit; establishing communication connection with the intelligent vehicle based on a connection request sent by the intelligent vehicle, and receiving position information sent by the intelligent vehicle; judging whether the intelligent vehicle is influenced by a dead zone where the road side unit is located or not based on the position information; if the intelligent vehicle is affected by the blind area where the road side unit is located, a publish-subscribe relationship is respectively established with the road side unit and the intelligent vehicle through the message middleware so as to push the blind area data to the intelligent vehicle, and the intelligent vehicle performs speed planning based on the blind area data. The technical scheme provided by the invention improves the accuracy of blind area data pushing.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic driving blind area early warning method, an automatic driving blind area early warning device and a message server.
Background
At present, unmanned technology is gradually applied to non-public road scenes such as industrial parks, and when unmanned technology is carried out in an actual industrial park, it is found that an automatic driving vehicle is limited by distance problems perceived by a vehicle end and actual complex scenes, and blind areas which cannot be perceived can appear in certain places. For example, in the vicinity of a right-angle intersection, if other vehicles suddenly appear at the intersection, a phenomenon commonly called "ghost probe" occurs, and thus a collision occurs. While current autopilot technology, which is actually reactive to the autopilot vehicle, is still very short (collision distance is typically less than 10 meters), presents a difficult surprise and serious challenge to autopilot technology.
In view of this problem, as shown in fig. 1, in the prior art, a road side unit is generally disposed at a blind area position, and the target information in the blind area is sensed in real time by the road side unit and transmitted to a nearby intelligent vehicle in a broadcast form, so that the intelligent vehicle is braked in advance. However, broadcasting through the road side unit is not directional pushing, and there may be a situation that the vehicle which is not affected by the blind area receives the blind area data, which causes additional calculation amount to increase, and interferes with automatic driving of the vehicle which is not affected by the blind area.
Disclosure of Invention
In view of this, the embodiment of the invention provides an automatic driving blind area early warning method, an automatic driving blind area early warning device and a message server, so that the accuracy of blind area data pushing is improved.
According to a first aspect, the invention provides an automatic driving blind area early warning method, which is applied to a message server, and comprises the following steps: establishing communication connection with the road side unit based on the connection request sent by the road side unit, and receiving blind area data sent by the road side unit; establishing communication connection with the intelligent vehicle based on a connection request sent by the intelligent vehicle, and receiving position information sent by the intelligent vehicle; judging whether the intelligent vehicle is influenced by a blind area where the road side unit is located or not based on the position information; if the intelligent vehicle is affected by the blind area where the road side unit is located, a publish-subscribe relationship is respectively established with the road side unit and the intelligent vehicle through a message middleware so as to push the blind area data to the intelligent vehicle, so that the intelligent vehicle performs speed planning based on the blind area data.
Optionally, the road side unit acquires the blind area data by: calculating a transfer matrix through pre-stored blind area position data and perceived blind area picture data; when an obstacle target in a blind area is perceived, tracking the obstacle target, and acquiring tracking information of the obstacle target; and calculating world coordinates corresponding to the tracking information through the transfer matrix, and determining the blind area data through the world coordinates.
Optionally, the determining the blind area data by the world coordinates includes: determining a speed and a position of the obstacle target based on the world coordinates of each tracking moment; determining the speed sensitive direction of the blind area according to the relative position of the blind area and the installation position of the road side unit; and decomposing the speed of the obstacle target to obtain a speed component in the speed sensitive direction, and taking the speed component and the position of the obstacle target as the blind area data.
Optionally, the intelligent vehicle performs speed planning based on the blind area data, including: calculating whether the obstacle target collides with itself based on the position of the obstacle target and the velocity component; if the obstacle target collides with the obstacle target, the speed planning is carried out on the vehicle based on the electronic fence mode.
Optionally, the speed planning of the host vehicle based on the electronic fence method includes: generating a boundary area and a preset deceleration action before the blind area position, and judging whether the position of the blind area is in the boundary area or not; and if the self position is in the boundary area, executing the preset deceleration action.
Optionally, the speed planning is performed on the vehicle based on the electronic fence mode, and the method further includes: calculating whether the obstacle target collides with itself based on the position of the obstacle target and the velocity component at a preset time interval while the preset deceleration action is performed; and if the calculation result indicates that collision does not occur, the boundary area is relieved, and the action of recovering the original speed of the vehicle is executed.
Optionally, the method further comprises: and uploading the generated boundary area and the preset deceleration action to the message server by the current intelligent vehicle so that the message server can issue the generated boundary area and the preset deceleration action to other intelligent vehicles around the current intelligent vehicle.
According to a second aspect, an embodiment of the present invention provides an autopilot blind area early warning apparatus, applied to a message server, the apparatus including: the road side unit communication module is used for establishing communication connection with the road side unit based on the connection request sent by the road side unit and receiving the blind area data sent by the road side unit; the intelligent vehicle communication module is used for establishing communication connection with the intelligent vehicle based on a connection request sent by the intelligent vehicle and receiving position information sent by the intelligent vehicle; the position analysis module is used for judging whether the intelligent vehicle is influenced by the dead zone where the road side unit is located or not based on the position information; and the matching module is used for respectively establishing a release-subscription relation with the road side unit and the intelligent vehicle through the message middleware if the intelligent vehicle is affected by the blind area where the road side unit is located so as to push the blind area data to the intelligent vehicle, so that the intelligent vehicle performs speed planning based on the blind area data.
According to a third aspect, an embodiment of the present invention provides a message server, including: the system comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the method in the first aspect or any optional implementation manner of the first aspect.
According to a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing computer instructions for causing the computer to perform the method of the first aspect, or any one of the alternative embodiments of the first aspect.
The technical scheme provided by the application has the following advantages:
According to the technical scheme, communication connection is established between the message middleware and the road side unit at the blind area side and the intelligent vehicle nearby, whether the travelling route of the intelligent vehicle is affected by the blind area is judged according to the position information sent by the intelligent vehicle, if the travelling of the intelligent vehicle is affected by the blind area, the relationship between the message middleware and the road side unit and the intelligent vehicle for publishing messages and subscribing the messages is established based on the message middleware, the road side unit publishes the blind area data to the message middleware in the form of messages, and then the corresponding intelligent vehicle acquires the blind area data from the message middleware point to point. And then the obtained blind area data is utilized to carry out speed planning, so that collision is avoided. Through the steps, the directional pushing of the blind area data is realized, the incoherent vehicle is prevented from receiving the redundant information, and meanwhile, the automatic driving stability of the intelligent vehicle is improved.
In addition, in an embodiment, the road side unit further performs speed decomposition on the obstacle target speed acquired from the blind area to obtain a speed component in the speed sensitive direction of the blind area, and then pushes the speed component to the corresponding intelligent vehicle as blind area data. Whereas the prior art does not decompose according to configured speeds, the broadcast speed is a set of speed components associated with a map coordinate system. In this mode, the intelligent vehicle needs to perform speed conversion by combining the speed direction of the own vehicle passing through the road section, thus consuming calculation power and time. According to the method, the speed decomposition is carried out on the speed sensitive direction by the road side unit, so that the intelligent vehicle can directly use the received data without further calculation, and the stability and the safety of automatic driving are further improved.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 shows a schematic diagram of the location of a prior art blind zone and a travel route;
FIG. 2 is a schematic diagram showing steps of an automatic blind zone warning method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of an automatic blind zone warning method according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of an autopilot blind zone early warning device according to an embodiment of the present invention;
fig. 5 shows a schematic diagram of a message server according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which a person skilled in the art would obtain without making any inventive effort, are within the scope of the invention.
Referring to fig. 2 and 3, in one embodiment, an automatic driving blind zone early warning method is applied to a message server, and specifically includes the following steps:
step S101: and establishing communication connection with the road side unit based on the connection request sent by the road side unit, and receiving the blind area data sent by the road side unit.
Step S102: and establishing communication connection with the intelligent vehicle based on the connection request sent by the intelligent vehicle, and receiving the position information sent by the intelligent vehicle.
Step S103: and judging whether the intelligent vehicle is influenced by the dead zone where the road side unit is located or not based on the position information.
Step S104: if the intelligent vehicle is affected by the blind area where the road side unit is located, a publish-subscribe relationship is respectively established with the road side unit and the intelligent vehicle through the message middleware so as to push the blind area data to the intelligent vehicle, and the intelligent vehicle performs speed planning based on the blind area data.
Specifically, the message server is a server for deploying message middleware and receiving, delivering and forwarding messages through the message middleware. In the embodiment, based on the message middleware deployed in the server, the accuracy of blind area data pushing in the blind area early warning process is improved. A roadside unit is deployed on the opposite side of the blind area, and a sensing unit for sensing obstacle targets is arranged in the roadside unit, wherein the sensing unit comprises, but is not limited to, a camera and an infrared radar. The classification of the obstacle target and the position of the obstacle target in the image can be identified through the sensing unit, so that blind area data are generated based on the classification of the obstacle target and the position of the obstacle target in the image, the road side unit establishes communication connection with the message server and maintains the communication connection, and the blind area data are sent to the message middleware in the server in the form of messages. The intelligent vehicle establishes communication connection with the message server through the communication unit on the vehicle, maintains the communication connection, and sends the position information of the intelligent vehicle to the message server. If a plurality of blind areas exist in a certain park, and each blind area is provided with a road side unit, each road side unit corresponds to one message middleware in the message server, and the position information of each road side unit is prestored in the server. After receiving the position information sent by the intelligent vehicle, the server matches each road side unit according to the position information of the intelligent vehicle, wherein the matching mode includes, but is not limited to, searching for which of the intelligent vehicle and the road side unit closest to the intelligent vehicle, and determining whether the road where the road side unit is located is the road where the intelligent vehicle is running in the road side unit closest to the intelligent vehicle. Therefore, based on a plurality of matching conditions, the intelligent vehicle meeting each matching condition is found out, whether the intelligent vehicle has possibility of passing through certain blind areas or not is determined, and the intelligent vehicle is influenced by the certain blind areas. Assuming that the current intelligent vehicle is affected by a certain blind area, the message server respectively establishes a publish-subscribe relationship with the road side unit and the intelligent vehicle through the message middleware corresponding to the blind area, so that the road side unit publishes the message to the associated message middleware, and the intelligent vehicle pulls the message from the subscribed message middleware, thereby realizing the directional push of the blind area data point to point and avoiding the irrelevant vehicle from receiving redundant messages. The intelligent vehicle which receives the blind area data carries out speed planning in time according to the information, avoids the obstacle targets in the blind area, and other vehicles nearby do not receive the blind area data, so that the intelligent vehicle has no influence on the established driving decision of the intelligent vehicle, continues to stably drive, and improves the automatic driving stability of the intelligent vehicle.
Specifically, in an embodiment, the step of obtaining the blind area data by the roadside unit includes:
Step one: and calculating a transfer matrix through pre-stored blind area position data and perceived blind area picture data.
Step two: when the obstacle target in the blind area is sensed, tracking the obstacle target, and acquiring tracking information of the obstacle target.
Step three: and calculating world coordinates corresponding to the tracking information through the transfer matrix, and determining blind area data through the world coordinates.
Specifically, in this embodiment, in order to further improve the speed planning calculation speed of the intelligent vehicle, further improve the efficiency of the response brake control of the intelligent vehicle, and improve the safety of automatic driving. Blind area position data of blind areas, namely world coordinates of all positions, are prestored in the road side unit. The road side unit acquires blind area picture data without obstacle targets in advance through the sensing unit, and establishes a mapping relation between the blind area position data and the blind area picture data through a camera calibration method, so that a transfer matrix is calculated according to the mapping relation, and the transfer matrix is stored. When the sensing unit shoots an obstacle target in the blind area, the obstacle target is moving, so that the transmitted blind area data must accurately contain information of the obstacle target in order to avoid collision of the intelligent vehicle with the obstacle target, and therefore the sensing unit locks the obstacle target and tracks the obstacle target to obtain tracking information. The road side unit calculates world coordinates of the tracking information at each tracking moment in real time through the transfer matrix, then the road side unit can take the obtained world coordinates as blind area data or further process the world coordinates to determine the blind area data, and the world coordinates can be matched at a vehicle end according to the scene and the position gesture of the vehicle for fusion use at the vehicle end. Through the steps of the embodiment, the problems of large calculation amount and low response speed of the intelligent vehicle caused by directly sending the obstacle target image to the intelligent vehicle are avoided. In addition, in this embodiment, the road side unit recalibrates the blind area picture according to the preset period, adaptively updates the transfer matrix, and ensures that an accurate matrix is still available when the sensor position is shifted. Aiming at the condition that the sensor is deviated, if the image data of the obstacle target is directly sent to the intelligent vehicle, the intelligent vehicle finds the image deviation and recalibrates, and then performs coordinate conversion, so that the intelligent vehicle is likely to collide with the obstacle target because the intelligent vehicle is not braked too much for too long. Therefore, the method for determining the blind area data based on the world coordinates by converting the coordinates through the road side unit further improves the safety and stability of automatic driving of the intelligent vehicle.
Specifically, in an embodiment, the third step specifically includes the following steps:
Step four: the speed and position of the obstacle target are determined based on the world coordinates of the respective tracking moments.
Step five: and determining the speed sensitive direction of the blind area according to the relative position of the blind area and the installation position of the road side unit.
Step six: and decomposing the speed of the obstacle target to obtain a speed component in the speed sensitive direction, and taking the speed component and the position of the obstacle target as blind area data.
Specifically, in this embodiment, the road side unit may determine the position of the obstacle target at each tracking time according to the world coordinates of each tracking time, and then calculate the speed of the obstacle target using the relationship of the position change with time. And then the road side unit finds out the speed sensitive direction of the blind area according to the relative position of the road side unit and the blind area, wherein the speed sensitive direction is the speed direction of the unmanned vehicle concerned by the influence of the blind area. And finally, after the road side unit carries out speed decomposition on the speed of the obstacle target in the speed sensitive direction, sending the speed component serving as a part of the blind area data to the intelligent vehicle, and further improving the response speed of the intelligent vehicle. For example: according to the relative position condition of the dead zone and the installation position of the road side unit, determining the speed sensitivity of the dead zone to what direction during construction and installation. Assuming that the influence of the speed of the vertical driving-out of the blind area at an included angle of 90 degrees with the vehicle driving road is the largest on the vehicle driving along the lane, and the influence of the speed of the blind area parallel with the road is the smallest, the speed of the obstacle target is decomposed based on the speed sensitive direction no matter what direction the obstacle target moves at, so that the speed component of the vertical driving-out of the obstacle target at an included angle of 90 degrees with the vehicle driving road is obtained, and the speed component is focused again. In the existing blind area early warning method, no customized speed decomposition is performed, and the given speeds are generally a group of speed components related to a map, namely, the x-direction speed of the map and the y-direction speed or the longitudinal speed and the latitudinal speed. In the prior art mode, the intelligent vehicle needs to perform speed conversion on the intelligent vehicle by combining the speed direction of the intelligent vehicle passing through the road section, so that the intelligent vehicle consumes calculation power and time. The road side equipment knows the speed direction of the vehicle passing through each area, so that the speed decomposition of the obstacle can enable the vehicle to directly use the received data without further calculation, the response time of the intelligent vehicle is reduced, and the running safety and stability of the intelligent vehicle are further improved.
Specifically, in an embodiment, the step of performing speed planning by the intelligent vehicle based on the blind area data includes:
Step seven: whether the obstacle target collides with itself is calculated based on the position and velocity components of the obstacle target.
Step eight: if the obstacle target collides with the obstacle target, the speed planning is carried out on the vehicle based on the electronic fence mode.
Specifically, after the intelligent vehicle receives the data pushed by the message server, if necessary, the intelligent vehicle converts the data about the world coordinate system into the data under the coordinate system used by the vehicle-end planning control module. The intelligent vehicle predicts the position through the position information, the speed component information, the distance between the vehicle and the blind area and the current speed of the vehicle, and predicts whether the vehicle and the obstacle object are in contact at a certain moment in the future. The specific calculation process of calculating whether the vehicle collides with the obstacle target by the intelligent vehicle is the prior art, and is not repeated here. If the intelligent vehicle predicts that the vehicle collides with an obstacle target, before the collision position, an electronic fence is generated, the processor unit of the intelligent vehicle is forced to consider the electronic fence position to be a high-risk area, braking is started, the vehicle is ensured to stop at the electronic fence position, the intelligent vehicle is enabled to be not decelerated too fast or too slow, the speed planning accuracy is improved, and the vehicle running efficiency is maximized.
Specifically, in the present embodiment, the step eight specifically includes the steps of:
Step nine: generating a boundary area and a preset deceleration action before the dead zone position, and judging whether the position of the dead zone is in the boundary area or not.
Step ten: and if the self position is in the boundary area, executing a preset deceleration action.
Specifically, the intelligent vehicle generates a boundary region containing coordinate point information of the boundary line, and the intelligent vehicle judges whether the position of the intelligent vehicle is within the boundary region, and if so, performs a preset deceleration action within the region. The preset deceleration action is a preset braking strategy, so that the intelligent vehicle can directly read and run, and the intelligent vehicle is ensured to stop at the boundary area position. In this embodiment, the intelligent vehicle only needs to perform simple position judgment according to the boundary area and execute preset actions, so that risk avoidance can be completed, further the intelligent vehicle avoids reformulating a speed change scheme aiming at the dead zone data of early warning each time, a large amount of calculation time is reduced, the vehicle response speed is improved, and the safety and stability of vehicle running are improved.
Specifically, in one embodiment, the intelligent vehicle further continuously determines whether the obstacle target collides with itself based on the position and the velocity component of the obstacle target at preset time intervals while performing the preset deceleration action. Once the calculation result shows that the intelligent vehicle and the obstacle target cannot collide, the boundary area is relieved, the action of recovering the original speed of the vehicle is executed, and the maximization of the vehicle running efficiency is further ensured on the premise of safety.
Specifically, in one embodiment, the current smart vehicle uploads the generated bounding region and the preset deceleration action to the message server, such that the message server issues the generated bounding region and the preset deceleration action to other smart vehicles surrounding the current smart vehicle. In another embodiment, the current smart vehicle may also forward the generated bounding region and the preset deceleration action directly to other smart vehicles surrounding the current smart vehicle. When other intelligent vehicles also run the current intelligent vehicle path, once collision risk occurs, the electronic fence established by the front vehicle can be utilized for speed planning, so that the calculation work of the intelligent vehicle is further reduced, the response time of the intelligent vehicle is reduced, and the running safety and stability of the vehicle are improved.
Through the steps, the technical scheme provided by the application is that the communication connection is respectively established between the message middleware and the road side unit at the blind area side and the nearby intelligent vehicles, whether the travelling route of the intelligent vehicles is influenced by the blind area is judged according to the position information sent by the intelligent vehicles, if the travelling of the intelligent vehicles is influenced by the blind area, the relationship between the message publishing and subscribing is established between the road side unit and the intelligent vehicles based on the message middleware, so that the road side unit publishes the blind area data to the message middleware in the form of the message, and then the corresponding intelligent vehicles acquire the blind area data from the message middleware point to point. And then the obtained blind area data is utilized to carry out speed planning, so that collision is avoided. Through the steps, the directional pushing of the blind area data is realized, the incoherent vehicle is prevented from receiving the redundant information, and meanwhile, the automatic driving stability of the intelligent vehicle is improved.
In addition, in an embodiment, the road side unit further performs speed decomposition on the obstacle target speed acquired from the blind area to obtain a speed component in the speed sensitive direction of the blind area, and then pushes the speed component to the corresponding intelligent vehicle as blind area data. Whereas the prior art does not decompose according to configured speeds, the broadcast speed is a set of speed components associated with a map coordinate system. In this mode, the intelligent vehicle needs to perform speed conversion by combining the speed direction of the own vehicle passing through the road section, thus consuming calculation power and time. According to the method, the speed decomposition is carried out on the speed sensitive direction by the road side unit, so that the intelligent vehicle can directly use the received data without further calculation, and the stability and the safety of automatic driving are further improved.
As shown in fig. 4, this embodiment further provides an autopilot blind area early warning device, which is applied to a message server, and the device includes:
The roadside unit communication module 101 is configured to establish communication connection with a roadside unit based on a connection request sent by the roadside unit, and receive blind area data sent by the roadside unit. For details, refer to the related description of step S101 in the above method embodiment, and no further description is given here.
The intelligent vehicle communication module 102 is configured to establish a communication connection with an intelligent vehicle based on a connection request sent by the intelligent vehicle, and receive location information sent by the intelligent vehicle. For details, refer to the related description of step S102 in the above method embodiment, and no further description is given here.
And the position analysis module 103 is used for judging whether the intelligent vehicle is influenced by the blind area where the road side unit is located or not based on the position information. For details, see the description of step S103 in the above method embodiment, and the details are not repeated here.
And the matching module 104 is configured to, if the intelligent vehicle is affected by the blind area where the road side unit is located, establish a publish-subscribe relationship with the road side unit and the intelligent vehicle through the message middleware, so as to push the blind area data to the intelligent vehicle, so that the intelligent vehicle performs speed planning based on the blind area data. For details, refer to the related description of step S104 in the above method embodiment, and no further description is given here.
The automatic driving blind area early warning device provided by the embodiment of the invention is used for executing the automatic driving blind area early warning method provided by the embodiment, the implementation mode and the principle are the same, and details refer to the related description of the embodiment of the method and are not repeated.
Through the cooperative cooperation of the components, the technical scheme provided by the application is that the communication connection is respectively established between the message middleware and the road side unit at the blind area side and the intelligent vehicle nearby, whether the travelling route of the intelligent vehicle is influenced by the blind area is judged according to the position information sent by the intelligent vehicle, if the travelling of the intelligent vehicle is influenced by the blind area, the relationship between the message publishing and the message subscribing is established between the road side unit and the intelligent vehicle based on the message middleware, so that the road side unit publishes the blind area data to the message middleware in the form of the message, and then the corresponding intelligent vehicle acquires the blind area data from the message middleware point to point. And then the obtained blind area data is utilized to carry out speed planning, so that collision is avoided. Through the steps, the directional pushing of the blind area data is realized, the incoherent vehicle is prevented from receiving the redundant information, and meanwhile, the automatic driving stability of the intelligent vehicle is improved.
In addition, in an embodiment, the road side unit further performs speed decomposition on the obstacle target speed acquired from the blind area to obtain a speed component in the speed sensitive direction of the blind area, and then pushes the speed component to the corresponding intelligent vehicle as blind area data. Whereas the prior art does not decompose according to configured speeds, the broadcast speed is a set of speed components associated with a map coordinate system. In this mode, the intelligent vehicle needs to perform speed conversion by combining the speed direction of the own vehicle passing through the road section, thus consuming calculation power and time. According to the method, the speed decomposition is carried out on the speed sensitive direction by the road side unit, so that the intelligent vehicle can directly use the received data without further calculation, and the stability and the safety of automatic driving are further improved.
Fig. 5 illustrates a message server according to an embodiment of the present invention, where the message server is a server for deploying a message queue, and is a broker (broker), and in an embodiment of the present invention, the scope of selection of the message server includes, but is not limited to, a central cloud server and an edge cloud server, and the types of programs deployed in the servers include, but are not limited to Mosquitto, webspare, activeMQ, rabbitMQ. The message server comprises a processor 901 and a memory 902, which may be connected by a bus or otherwise, for example in fig. 5.
The processor 901 may be a central processing unit (Central Processing Unit, CPU). The Processor 901 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSPs), application SPECIFIC INTEGRATED Circuits (ASICs), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 902 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods in the method embodiments described above. The processor 901 executes various functional applications of the processor and data processing, i.e., implements the methods in the above-described method embodiments, by running non-transitory software programs, instructions, and modules stored in the memory 902.
The memory 902 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor 901, and the like. In addition, the memory 902 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 902 optionally includes memory remotely located relative to processor 901, which may be connected to processor 901 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more modules are stored in the memory 902 that, when executed by the processor 901, perform the methods of the method embodiments described above.
The details of the message server may be correspondingly understood by referring to the corresponding related descriptions and effects in the above method embodiments, which are not repeated herein.
It will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer program for instructing relevant hardware, and the implemented program may be stored in a computer readable storage medium, and the program may include the steps of the embodiments of the above-described methods when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a hard disk (HARD DISK DRIVE, abbreviated as HDD), a Solid state disk (Solid-STATE DRIVE, SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (7)
1. An automatic driving blind area early warning method, which is characterized by being applied to a message server, comprising the following steps:
Establishing communication connection with the road side unit based on the connection request sent by the road side unit, and receiving blind area data sent by the road side unit; the blind area data is obtained according to the world coordinates of the obstacle targets in the blind area, and the blind area data is determined through the world coordinates, and the method comprises the following steps: determining a speed and a position of the obstacle target based on the world coordinates of each tracking moment; determining the speed sensitive direction of the blind area according to the relative position of the blind area and the installation position of the road side unit; decomposing the speed of the obstacle target to obtain a speed component in the speed sensitive direction, and taking the speed component and the position of the obstacle target as the blind area data;
establishing communication connection with the intelligent vehicle based on a connection request sent by the intelligent vehicle, and receiving position information sent by the intelligent vehicle;
Judging whether the intelligent vehicle is influenced by a blind area where the road side unit is located or not based on the position information; if the intelligent vehicle is affected by the blind area where the road side unit is located, a publish-subscribe relationship is respectively established with the road side unit and the intelligent vehicle through a message middleware so as to push the blind area data to the intelligent vehicle, so that the intelligent vehicle performs speed planning based on the blind area data; the intelligent vehicle performs speed planning based on the blind area data, and comprises: calculating whether the obstacle target collides with itself based on the position of the obstacle target and the velocity component; if the obstacle target collides with the obstacle target, planning the speed of the vehicle based on an electronic fence mode; the mode carries out speed planning to the host vehicle based on the electronic fence, includes: generating a boundary area and a preset deceleration action before the dead zone position, and judging whether the position of the dead zone is in the boundary area or not; and if the self position is in the boundary area, executing the preset deceleration action.
2. The method of claim 1, wherein the roadside unit obtains the blind zone data by:
calculating a transfer matrix through pre-stored blind area position data and perceived blind area picture data;
When an obstacle target in a blind area is perceived, tracking the obstacle target, and acquiring tracking information of the obstacle target;
and calculating world coordinates corresponding to the tracking information through the transfer matrix, and determining the blind area data through the world coordinates.
3. The method of claim 1, wherein the speed planning of the host vehicle based on the electronic fence further comprises:
Calculating whether the obstacle target collides with itself based on the position of the obstacle target and the velocity component at a preset time interval while the preset deceleration action is performed;
and if the calculation result indicates that collision does not occur, the boundary area is relieved, and the action of recovering the original speed of the vehicle is executed.
4. The method according to claim 1, wherein the method further comprises:
And uploading the generated boundary area and the preset deceleration action to the message server by the current intelligent vehicle so that the message server can issue the generated boundary area and the preset deceleration action to other intelligent vehicles around the current intelligent vehicle.
5. An autopilot blind zone early warning device, characterized by being applied to a message server, the device comprising:
the road side unit communication module is used for establishing communication connection with the road side unit based on the connection request sent by the road side unit and receiving the blind area data sent by the road side unit; the blind area data is obtained according to the world coordinates of the obstacle targets in the blind area, and the blind area data is determined through the world coordinates, and the method comprises the following steps: determining a speed and a position of the obstacle target based on the world coordinates of each tracking moment; determining the speed sensitive direction of the blind area according to the relative position of the blind area and the installation position of the road side unit; decomposing the speed of the obstacle target to obtain a speed component in the speed sensitive direction, and taking the speed component and the position of the obstacle target as the blind area data;
The intelligent vehicle communication module is used for establishing communication connection with the intelligent vehicle based on a connection request sent by the intelligent vehicle and receiving position information sent by the intelligent vehicle;
The position analysis module is used for judging whether the intelligent vehicle is influenced by the dead zone where the road side unit is located or not based on the position information;
The matching module is used for respectively establishing a publish-subscribe relationship with the road side unit and the intelligent vehicle through a message middleware if the intelligent vehicle is affected by a blind area where the road side unit is located so as to push the blind area data to the intelligent vehicle, so that the intelligent vehicle performs speed planning based on the blind area data; the intelligent vehicle performs speed planning based on the blind area data, and comprises: calculating whether the obstacle target collides with itself based on the position of the obstacle target and the velocity component; if the obstacle target collides with the obstacle target, planning the speed of the vehicle based on an electronic fence mode; the mode carries out speed planning to the host vehicle based on the electronic fence, includes: generating a boundary area and a preset deceleration action before the dead zone position, and judging whether the position of the dead zone is in the boundary area or not; and if the self position is in the boundary area, executing the preset deceleration action.
6. A message server, comprising:
A memory and a processor in communication with each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any of claims 1-4.
7. A computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-4.
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