CN105261224B

CN105261224B - Intelligent vehicle control method and apparatus

Info

Publication number: CN105261224B
Application number: CN201510556451.8A
Authority: CN
Inventors: 谷明琴; 张绍勇; 王继贞; 杜金枝
Original assignee: Chery Automobile Co Ltd
Current assignee: Wuhu Lion Automotive Technologies Co Ltd
Priority date: 2015-09-02
Filing date: 2015-09-02
Publication date: 2017-09-12
Anticipated expiration: 2035-09-02
Also published as: CN105261224A

Abstract

The invention discloses a kind of intelligent vehicle control method and apparatus, belong to technical field of intelligent traffic.Methods described includes：After traffic information, barrier is shown on the first display interface on the current driving road for receiving intelligent vehicle transmission for terminal；And the lane line information and road signs information included according to traffic information, the lane line and traffic sign on current driving road are shown on the first display interface；Meanwhile, the context information included according to lane line information and traffic information plans the planning driving path of intelligent vehicle；And sending the planning driving path to intelligent vehicle so that intelligent vehicle is travelled according to the planning driving path.The present invention is realized to be controlled by the terminal-pair intelligent vehicle independently of intelligent vehicle, and can plan and show planning driving path so that intelligent vehicle can be travelled according to planning driving path, and control range is big, control mode intelligence.

Description

Intelligent vehicle control method and apparatus

Technical field

The present invention relates to intelligent transportation field, more particularly to a kind of intelligent vehicle control method and apparatus.

Background technology

With continuing to develop and progressive for science and technology, computer technology, Modern Transducer Technology and artificial intelligence technology etc. are high-new Technology has gradually been applied in automotive field, and the functions such as environment sensing, programmed decision-making, the auxiliary driving of many grades are integrated for this Intelligent vehicle arise at the historic moment.By being controlled to intelligent vehicle, intelligent vehicle can be made to complete advance, reversing, turn to etc. Basic operation.

In the prior art, generally control device is arranged on inside intelligent vehicle, i.e., control device is combined into intelligent vehicle One, to realize the control to intelligent vehicle.User can be manipulated by the control button with difference in functionality on device, To control intelligent vehicle to perform the different operation such as steering or acceleration.

During the present invention is realized, inventor has found that prior art at least has problems with：

For above-mentioned control mode, directly control device is arranged on inside intelligent vehicle, and is only capable of in intelligent vehicle Inside is controlled, and control range is narrow, and control mode is simple, and limitation is strong.

The content of the invention

In order to solve problem of the prior art, the embodiments of the invention provide a kind of intelligent vehicle control method and apparatus. The technical scheme is as follows：

First aspect includes there is provided a kind of intelligent vehicle control method, methods described：

The traffic information on the current driving road that intelligent vehicle is sent is received, the traffic information at least includes described work as The context information of barrier, lane line information and road signs information on preceding travel；

According to the context information of the barrier, the barrier is shown on the first display interface；

According to the lane line information and the road signs information, show described current on first display interface Lane line and traffic sign on travel；

According to the lane line information and the context information, the planning driving path of the intelligent vehicle is planned；

The planning driving path is sent to the intelligent vehicle so that the intelligent vehicle is travelled according to the planning driving path.

Alternatively, methods described also includes：

If detecting the trigger action of automatic driving mode on the second display interface, on second display interface At least show multiple moving direction remote keyings, running condition information setting options, running condition information display instrument panel and tight Jerk car button；

Obtain the control information to the intelligent vehicle inputted by second display interface；

The control information is sent to the intelligent vehicle so that the intelligent vehicle is receiving the control information Afterwards, corresponding operating is performed according to the control information.

Alternatively, it is described that multiple moving direction remote keyings, transport condition are at least shown on second display interface After information setting options, running condition information display instrument panel and the button that stops in emergency, methods described also includes：

Receive the running condition information that the intelligent vehicle is sent；

In the running condition information display instrument panel, the running condition information of the intelligent vehicle is shown.

Alternatively, it is described to obtain the control information to the intelligent vehicle inputted by second display interface, bag Include：

Obtain what the moving direction to the intelligent vehicle inputted by multiple moving direction remote keyings was remotely controlled Control information；Or,

Detect in the transport condition setting options whether there is running condition information input；If the transport condition sets choosing There is running condition information input in, then obtain the control information being adjusted to the transport condition of the intelligent vehicle；Or,

Detect the pressing operation with the presence or absence of the button that stops in emergency on second display interface；If detecting described Stop in emergency the pressing operation of button, then obtain the control information for the processing that to the intelligent vehicle stop in emergency.

Alternatively, it is described according to the lane line information and institute when the intelligent vehicle is under automatic driving mode Context information is stated, the planning driving path of the intelligent vehicle is planned, including：

According to the context information, judge that easy collision area whether there is barrier, the easy collision area is referred to Region within the pre-determined distance of intelligent vehicle first；

If the easy collision area has barrier, judged according to the lane line information and the context information Whether the intelligent vehicle can detour traveling；

The traveling if intelligent vehicle can detour, cooks up a path of detouring；

The traveling if intelligent vehicle can not detour, judges that the front obstacle being located on the current driving road is No is low speed dynamic barrier；If the front obstacle is low speed dynamic barrier, sends and slow down to the intelligent vehicle With car driving instruction so that the intelligent vehicle is slowed down with car traveling according to described slow down with car instruction；If the obstacle Thing is not dynamic barrier, then sends cutoff command to the intelligent vehicle so that the intelligent vehicle refers to according to the parking Order performs shut-down operation.

Alternatively, when the intelligent vehicle is under driver's driving model, it is described according to the lane line information and The context information, plans the planning driving path of the intelligent vehicle, including：

According to the context information, judge that easy collision area whether there is barrier, the easy collision area is referred to Away from the region within the pre-determined distance of intelligent vehicle first；

The traveling if intelligent vehicle can not detour, driving prompt message, the driving are sent to the intelligent vehicle Prompt message is used to point out driver to slow down or stop.

Alternatively, methods described also includes：

If there is barrier between the easy collision area and safety zone, send driving to the intelligent vehicle and carry Show information, the safety zone refers to the region beyond the pre-determined distance of intelligent vehicle second, described second it is default away from From more than first pre-determined distance；Or,

When the intelligent vehicle deviates current driving lane, judge whether the intelligent vehicle opens corresponding steering indicating light, If not opening the steering indicating light, driving prompt message is sent to the intelligent vehicle；Or,

If detecting traffic sign on the current driving road, driving prompting letter is sent to the intelligent vehicle Breath；Or,

If the intelligent vehicle rear has the barrier for following traveling, and the barrier for following traveling is positioned at described In easy collision area, then driving prompt message is sent to the intelligent vehicle.

Alternatively, it is described according to the lane line information and the context information, plan the row of the intelligent vehicle After bus or train route footpath, methods described also includes：

The planning driving path is shown on first display interface.

Alternatively, the context information at least including the velocity information of the barrier, the barrier with it is described The dangerous journey of the distance between intelligent vehicle information, the azimuth information of the barrier and the barrier to the intelligent vehicle Spend information.

Second aspect includes there is provided a kind of intelligent vehicle control method, methods described：

The traffic information on intelligent vehicle current driving road is obtained, the traffic information at least includes the current driving The context information of barrier, lane line information and road signs information on road；

Send the traffic information to terminal, by the terminal according to the context information on the first display interface The barrier is shown, according to the lane line information and the road signs information, is shown on first display interface Lane line and traffic sign on the current driving road, according to the lane line information and the context information, rule Draw the planning driving path of the intelligent vehicle；

According to the planning driving path received, the driving path of the intelligent vehicle is controlled.

Alternatively, methods described also includes：

The current running condition information of the intelligent vehicle is obtained, the running condition information is sent to the terminal, The running condition information is shown on the running condition information display instrument panel of the second display interface by the terminal；

The control information to the intelligent vehicle that the terminal is sent is received, according to the control information to intelligent vehicle Perform corresponding control operation.

Alternatively, it is described that corresponding control operation is performed to intelligent vehicle according to the control information, including：

The control information being remotely controlled to the moving direction of the intelligent vehicle is received, the control information passes through to described Multiple moving direction remote keyings are manipulated on second display interface；According to the control information to the intelligent vehicle Travel direction is moved；Or,

Receive the control information being adjusted to the transport condition of the intelligent vehicle, the control information passes through described the Transport condition setting options input on two display interfaces；The traveling shape of the intelligent vehicle is adjusted according to the control information State；Or,

The control information for processing of being stopped in emergency to intelligent vehicle progress is received, the control information passes through described urgent The pressing operation triggering generation of parking button；The intelligent vehicle is controlled to stop traveling according to the control information.

Alternatively, the traffic information obtained on intelligent vehicle travel, including：

Obtain the road ahead information on the intelligent vehicle current driving road；

Lane line information and traffic sign are extracted in the road ahead information；

Obtain the velocity information of barrier on the intelligent vehicle current driving road；

Obtain range information, the azimuth information of the barrier of the barrier and the intelligent vehicle；

Obtain degree of danger information of the barrier to the intelligent vehicle；

It regard the velocity information, the azimuth information and the degree of danger information as the context information.

Alternatively, the current running condition information of the acquisition intelligent vehicle, including：

The current travel speed of the intelligent vehicle and steering angle are obtained, the running condition information is obtained.

Alternatively, the degree of danger information for obtaining the barrier to the intelligent vehicle, including：

According to the distance between the barrier and intelligent vehicle information, the region of the barrier is determined；

It is the corresponding degree of danger information of the obstacle tag according to the region of the barrier；

Wherein, when the range information is less than the first pre-determined distance, the barrier is located at easy collision area；When described When range information is more than the second pre-determined distance, the barrier is located at safety zone, and first pre-determined distance is less than described the Two pre-determined distances.

Alternatively, methods described also includes：

The deceleration of the terminal transmission is received with car driving instruction, the intelligent vehicle is controlled with car driving instruction according to slowing down Reduced Speed Now.

The third aspect includes there is provided a kind of intelligent vehicle control device, described device：

Receiving module, the traffic information on current driving road for receiving intelligent vehicle transmission, the traffic information At least include context information, lane line information and the road signs information of barrier on the current driving road；

First display module, for the context information according to the barrier, shows institute on the first display interface State barrier；

First display module, is additionally operable to according to the lane line information and the road signs information, described The lane line and traffic sign on the current driving road are shown on one display interface；

Path planning module, for according to the lane line information and the context information, planning the intelligent vehicle Planning driving path；

Sending module, for sending the planning driving path to the intelligent vehicle so that the intelligent vehicle is according to described Planning driving path is travelled.

Alternatively, described device also includes：

Second display module, if the trigger action for detecting automatic driving mode on the second display interface, Multiple moving direction remote keyings, running condition information setting options, transport condition are at least shown on second display interface Presentation of information instrument board and the button that stops in emergency；

Control information acquisition module, for obtaining the control to the intelligent vehicle inputted by second display interface Information processed；

The sending module, is additionally operable to send the control information to the intelligent vehicle so that the intelligent vehicle After the control information is received, corresponding operating is performed according to the control information.

Alternatively, the receiving module, is additionally operable to receive the running condition information that the intelligent vehicle is sent；

Second display module, in the running condition information display instrument panel, showing the intelligent vehicle Running condition information.

Alternatively, the control information acquisition module, for obtaining pair inputted by multiple moving direction remote keyings The control information that the moving direction of the intelligent vehicle is remotely controlled；Or, detect whether have in the transport condition setting options Running condition information is inputted；If having running condition information input in the transport condition setting options, obtain to the intelligence The control information that the transport condition of vehicle is adjusted；Or, promptly stop with the presence or absence of described on detection second display interface The pressing operation of car button；If detecting the pressing operation of the button that stops in emergency, obtain and the intelligent vehicle is carried out Stop in emergency the control information of processing.

Alternatively, when the intelligent vehicle is under automatic driving mode, the path planning module, for according to institute Context information is stated, judges that easy collision area whether there is barrier, the easy collision area is referred to apart from the intelligent vehicle Region within the first pre-determined distance；If the easy collision area has barrier, according to the lane line information and institute State context information and judge whether the intelligent vehicle can detour traveling；The traveling if intelligent vehicle can detour, is planned Go out a path of detouring；The traveling if intelligent vehicle can not detour, judges the front being located on the current driving road Whether barrier is low speed dynamic barrier；If the front obstacle is low speed dynamic barrier, to the intelligent vehicle Send and slow down with car driving instruction so that the intelligent vehicle is slowed down with car traveling according to described slow down with car instruction；If The barrier is not dynamic barrier, then sends cutoff command to the intelligent vehicle so that the intelligent vehicle is according to institute State cutoff command and perform shut-down operation.

Alternatively, when the intelligent vehicle is under driver's driving model, the path planning module, for basis The context information, judges that easy collision area whether there is barrier, the easy collision area is referred to away from the intelligent vehicle Region within the first pre-determined distance；If the easy collision area has barrier, according to the lane line information and institute State context information and judge whether the intelligent vehicle can detour traveling；The traveling if intelligent vehicle can detour, is planned Go out a path of detouring；The traveling if intelligent vehicle can not detour, driving prompt message, institute are sent to the intelligent vehicle Stating driving prompt message is used to point out driver to slow down or stop.

Alternatively, the sending module, if being additionally operable to there is barrier between the easy collision area and safety zone, Driving prompt message then is sent to the intelligent vehicle, the safety zone is referred to apart from the pre-determined distance of intelligent vehicle second Region in addition, second pre-determined distance is more than first pre-determined distance；Or, when the intelligent vehicle deviates current driving During track, judge whether the intelligent vehicle opens corresponding steering indicating light, if not opening the steering indicating light, to the intelligent vehicle Send driving prompt message；If or, detect traffic sign on the current driving road, to the intelligent vehicle send Driving prompt message；If or, the intelligent vehicle rear exists and follows the barrier of traveling, and the barrier for following traveling In the easy collision area, then driving prompt message is sent to the intelligent vehicle.

Alternatively, first display module, is additionally operable to show the planning driving path on first display interface.

Fourth aspect includes there is provided a kind of intelligent vehicle control device, described device：

Acquisition module, for obtaining the traffic information on intelligent vehicle current driving road, the traffic information is at least wrapped Include the context information of barrier on the current driving road, lane line information and road signs information；

Sending module, for sending the traffic information to terminal, is existed by the terminal according to the context information The barrier is shown on first display interface, according to the lane line information and the road signs information, described first The lane line and traffic sign on the current driving road are shown on display interface, according to the lane line information and the shape State description information, plans the planning driving path of the intelligent vehicle；

Control module, for according to the planning driving path received, controlling the driving path of the intelligent vehicle.

Alternatively, the acquisition module, is additionally operable to obtain the current running condition information of the intelligent vehicle, by the row Status information is sailed to send to the terminal, by the terminal on the running condition information display instrument panel of the second display interface it is right The running condition information is shown；The control module, is additionally operable to receive that the terminal sends to the intelligent vehicle Control information, corresponding control operation is performed to intelligent vehicle according to the control information.

Alternatively, the control module, the control letter being remotely controlled for receiving to the moving direction of the intelligent vehicle Breath, the control information to multiple moving direction remote keyings on second display interface by being manipulated；According to The control information is moved to the intelligent vehicle travel direction；Or, reception is carried out to the transport condition of the intelligent vehicle The control information of adjustment, the control information is inputted by the transport condition setting options on second display interface；According to The control information adjusts the transport condition of the intelligent vehicle；Or, receive processing of being stopped in emergency to intelligent vehicle progress Control information, the control information passes through the triggering generation of the pressing operation of the button that stops in emergency；Believed according to the control The breath control intelligent vehicle stops traveling.

Alternatively, the acquisition module, for obtaining the road ahead information on the intelligent vehicle current driving road； Lane line information and traffic sign are extracted in the road ahead information；Obtain and hinder on the intelligent vehicle current driving road Hinder the velocity information of thing；Obtain range information, the azimuth information of the barrier of the barrier and the intelligent vehicle；Obtain The barrier is taken to the degree of danger information of the intelligent vehicle；By the velocity information, the azimuth information and the danger Dangerous degree information is used as the context information.

Alternatively, the acquisition module, for obtaining the current travel speed of the intelligent vehicle and steering angle, is obtained The running condition information.

Alternatively, the acquisition module, for according to the distance between the barrier and intelligent vehicle information, really The region of the fixed barrier；It is the corresponding dangerous journey of the obstacle tag according to the region of the barrier Spend information；Wherein, when the range information is less than the first pre-determined distance, the barrier is located at easy collision area；When described When range information is more than the second pre-determined distance, the barrier is located at safety zone, and first pre-determined distance is less than described the Two pre-determined distances.

Alternatively, it is characterised in that the control module, the deceleration for being additionally operable to receive the terminal transmission refers to car traveling Order, the intelligent vehicle Reduced Speed Now is controlled according to slowing down with car driving instruction.

The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：

Terminal is on the current driving road for receiving intelligent vehicle transmission after traffic information, on the first display interface Show barrier；And the lane line information and road signs information included according to traffic information, show on the first display interface Show the lane line and traffic sign on current driving road；Meanwhile, the state included according to lane line information and traffic information Description information, plans the planning driving path of intelligent vehicle；And sending the planning driving path to intelligent vehicle so that intelligent vehicle is according to this Planning driving path is travelled.The present invention is realized to be controlled by the terminal-pair intelligent vehicle independently of intelligent vehicle, and can Planning and display planning driving path so that intelligent vehicle can be travelled according to planning driving path, and control range is big, control mode intelligence.

Brief description of the drawings

Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings Accompanying drawing.

Fig. 1 is a kind of terminal provided in an embodiment of the present invention and the modular structure schematic diagram of intelligent vehicle；

Fig. 2 is a kind of end side interaction control interface schematic diagram provided in an embodiment of the present invention；

Fig. 3 is a kind of end side traveling display interface schematic diagram provided in an embodiment of the present invention；

Fig. 4 is a kind of method flow diagram of intelligent vehicle control provided in an embodiment of the present invention；

Fig. 5 is a kind of method flow diagram of intelligent vehicle control provided in an embodiment of the present invention；

Fig. 6 is a kind of method flow diagram of intelligent vehicle control provided in an embodiment of the present invention；

Fig. 7 is a kind of structural representation of intelligent vehicle control device provided in an embodiment of the present invention；

Fig. 8 is a kind of structural representation of intelligent vehicle control device provided in an embodiment of the present invention.

Embodiment

To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention Formula is described in further detail.

The embodiments of the invention provide a kind of intelligent vehicle control method, including end side and intelligent vehicle side.Referring to figure 1, end side includes application module and wireless communication module；Intelligent vehicle side include wireless communication module, vehicle control module and Sensor assembly.

Wherein, application module, for intelligent vehicle send control instruction, receive intelligent vehicle send traffic information and Running condition information, plans planning driving path, and show the traffic information on present road and planning driving path letter according to traffic information Breath.Application module realizes control and display function, including interaction control interface and traveling display interface by application interface.Ginseng See Fig. 2, interaction control interface includes：Automatic driving mode button, start button, the button that stops in emergency, moving direction remote control by Key, setting speed input frame, setting steering angle input frame, travel speed instrument board and steering angle instrument board.Wherein, it is mobile Direction remote keying includes the remote keying of four, upper and lower, left and right, and upper remote keying is used to control vehicle to advance；Lower remote keying For controlling vehicle backing；Left remote keying is used to control vehicle to turn left；Right remote keying is used to control vehicle to turn right.Wherein, Speed input frame is set and sets steering angle input frame to constitute running condition information setting options；Travel speed instrument board and turn Running condition information display instrument panel is constituted to angle instrument board.Fig. 3 is participated in, the information that traveling display interface is shown includes：Car Diatom information, road signs information, planning driving path information, barrier context information.Wherein, barrier context information The distance between velocity information, barrier and intelligent vehicle including barrier information, the azimuth information of barrier and barrier To the degree of danger information of intelligent vehicle.Wherein, each target in Fig. 3 is to refer to barrier.

The communication module of end side and intelligent vehicle side, is used to the communication between terminal and intelligent vehicle.Wherein, terminal Communication between intelligent vehicle can realize data transfer by setting up bluetooth connection；Or nothing is arranged inside intelligent vehicle Line router, data transfer is realized by wireless routing.Or terminal can also pass through GPRS (General Packet Radio Service, general packet radio service technology) mode intelligent vehicle is controlled.

Vehicle control module, the control information sent for reading terminals side is horizontal by controlling under automatic driving mode To control module and longitudinally controlled module, the cross directional actuators and longitudinal actuator of intelligent vehicle are controlled respectively, are performed and control The corresponding operation of information；Under driver's pattern, the prompt message that receiving terminal is sent performs corresponding prompting operation.Vehicle Control module, is additionally operable to read traffic information and running condition information that sensor assembly is sent, and by the traffic information of reading Sent with running condition information to terminal.Wherein, traffic information at least includes lane line information, road signs information, current line Sail the context information of barrier on road；Running condition information at least includes current driving speed and steering angle.

Sensor assembly, for monitoring the status information of barrier and road ahead information on intelligent vehicle travel, And lane line information and road signs information are extracted in road ahead information, by the status information of acquisition, lane line information Sent with road signs information to vehicle control module.Wherein, the sensor type that sensor assembly is used has millimetre-wave radar Sensor, vision sensor, ultrasonic sensor etc., the embodiment of the present invention is to this without specific restriction.Using to it is a variety of Sensor is distributed in the vehicle body surrounding of intelligent vehicle.

Fig. 4 is a kind of intelligent vehicle control method flow diagram provided in an embodiment of the present invention.Referring to Fig. 4, the intelligent vehicle Control method is used in terminal, and method flow provided in an embodiment of the present invention includes：

401st, the traffic information on the current driving road that intelligent vehicle is sent is received, the traffic information at least includes current The context information of barrier, lane line information and road signs information on travel.

402nd, according to the context information of barrier, barrier is shown on the first display interface.

403rd, according to lane line information and road signs information, shown on the first display interface on current driving road Lane line and traffic sign.

404th, according to lane line information and context information, the planning driving path of intelligent vehicle is planned.

405th, planning driving path is sent to intelligent vehicle so that intelligent vehicle is travelled according to planning driving path.

Method provided in an embodiment of the present invention, terminal road conditions letter on the current driving road for receiving intelligent vehicle transmission After breath, barrier is shown on the first display interface；And the lane line information and traffic sign included according to traffic information Information, shows the lane line and traffic sign on current driving road on the first display interface；Meanwhile, according to lane line information The context information included with traffic information, plans the planning driving path of intelligent vehicle；And send the driving to intelligent vehicle Path so that intelligent vehicle is travelled according to the planning driving path.The present invention is realized by the terminal-pair intelligence independently of intelligent vehicle Energy vehicle is controlled, and can plan and show planning driving path so that intelligent vehicle can be travelled according to planning driving path, control Scope processed is big, control mode intelligence.

Alternatively, this method also includes：

If detecting the trigger action of automatic driving mode on the second display interface, on the second display interface at least Show multiple moving direction remote keyings, running condition information setting options, running condition information display instrument panel and promptly stop Car button；

Obtain the control information to intelligent vehicle inputted by the second display interface；

The control information is sent to intelligent vehicle so that intelligent vehicle is after control information is received, according to control information Perform corresponding operating.

Alternatively, at least show that multiple moving direction remote keyings, running condition information are set on the second display interface After option, running condition information display instrument panel and the button that stops in emergency, this method also includes：

Receive the running condition information that intelligent vehicle is sent；

In running condition information display instrument panel, the running condition information of intelligent vehicle is shown.

Alternatively, the control information to intelligent vehicle inputted by the second display interface is obtained, including：

Obtain the control being remotely controlled to the moving direction of intelligent vehicle inputted by multiple moving direction remote keyings Information；Or,

Whether there is running condition information input in detection transport condition setting options；If having row in transport condition setting options Status information input is sailed, then obtains the control information being adjusted to the transport condition of intelligent vehicle；Or,

Detect the pressing operation with the presence or absence of the button that stops in emergency on the second display interface；If detecting the button that stops in emergency Pressing operation, then obtain and the control information of processing of stopping in emergency carried out to intelligent vehicle.

Alternatively, when intelligent vehicle is under automatic driving mode, according to lane line information and context information, rule The planning driving path of intelligent vehicle is drawn, including：

According to context information, judge that easy collision area whether there is barrier, easy collision area refers to distance intelligence Region within the pre-determined distance of vehicle first；

If easy collision area has barrier, whether intelligent vehicle is judged according to lane line information and context information Can be detoured traveling；

The traveling if intelligent vehicle can not detour, judges whether the front obstacle being located on current driving road is low speed Dynamic barrier；If front obstacle is low speed dynamic barrier, sends and slow down with car driving instruction to intelligent vehicle so that Intelligent vehicle is slowed down according to slowing down with car instruction to travel with car；If barrier is not dynamic barrier, to intelligent vehicle Send cutoff command so that intelligent vehicle performs shut-down operation according to cutoff command.

Alternatively, when intelligent vehicle is under driver's driving model, according to lane line information and context information, The planning driving path of intelligent vehicle is planned, including：

According to context information, judge that easy collision area whether there is barrier, easy collision area is referred to away from intelligent vehicle Region within the first pre-determined distance；

The traveling if intelligent vehicle can not detour, driving prompt message is sent to intelligent vehicle, and driving prompt message is used for Driver is pointed out to slow down or stop.

Alternatively, this method also includes：

If there is barrier between easy collision area and safety zone, driving prompt message is sent to intelligent vehicle, Safety zone refers to the region beyond the pre-determined distance of intelligent vehicle second, and the second pre-determined distance is more than the first pre-determined distance； Or,

When intelligent vehicle deviates current driving lane, judge whether intelligent vehicle opens corresponding steering indicating light, if not opening Steering indicating light, then send driving prompt message to intelligent vehicle；Or,

If detecting traffic sign on current driving road, driving prompt message is sent to intelligent vehicle；Or,

If there is the barrier for following traveling in intelligent vehicle rear, and follow the barrier of traveling to be located at easy collision area It is interior, then send driving prompt message to intelligent vehicle.

Alternatively, according to lane line information and context information, after the planning driving path for planning intelligent vehicle, this method Also include：

Planning driving path is shown on the first display interface.

Alternatively, context information at least including barrier velocity information, barrier and intelligent vehicle between away from From the degree of danger information of information, the azimuth information of barrier and barrier to intelligent vehicle.

Above-mentioned all optional technical schemes, can form the alternative embodiment of the disclosure, herein no longer using any combination Repeat one by one.

Fig. 5 is a kind of intelligent vehicle control method flow diagram provided in an embodiment of the present invention.Referring to Fig. 5, the wagon control Method is used in intelligent vehicle, and method flow provided in an embodiment of the present invention includes：

501st, the traffic information on intelligent vehicle current driving road is obtained.

Wherein, traffic information at least include the context information of barrier on current driving road, lane line information and Road signs information.

502nd, traffic information is sent to terminal.

Wherein, terminal shows barrier according to context information on the first display interface, according to lane line information and Road signs information, shows the lane line and traffic sign on current driving road, according to lane line on the first display interface Information and context information, plan the planning driving path of intelligent vehicle.

503rd, according to the planning driving path received, the driving path of intelligent vehicle is controlled.

Method provided in an embodiment of the present invention, intelligent vehicle after the traffic information on current driving road is got, Traffic information is sent to terminal；The context information included by terminal according to traffic information is shown on the first display interface Barrier, according to lane line information and road signs information, shows the track on current driving road on the first display interface Line and traffic sign, according to lane line information and context information, plan the planning driving path of intelligent vehicle；Intelligent vehicle according to The planning driving path received, controls the driving path of intelligent vehicle.The present invention is realized by the terminal independently of intelligent vehicle Intelligent vehicle is controlled, and the planning driving path that can be planned according to terminal, control the traveling of intelligent vehicle, control range Greatly, control mode intelligence.

Alternatively, this method also includes：

The current running condition information of intelligent vehicle is obtained, the running condition information is sent to terminal, by terminal the The running condition information is shown on the running condition information display instrument panel of two display interfaces；

The control information to intelligent vehicle that receiving terminal is sent, is performed corresponding according to the control information to intelligent vehicle Control operation.

Alternatively, corresponding control operation is performed to intelligent vehicle according to control information, including：

The control information being remotely controlled to the moving direction of intelligent vehicle is received, the control information passes through to the second display circle Multiple moving direction remote keyings are manipulated on face；Intelligent vehicle travel direction is moved according to the control information； Or,

The control information being adjusted to the transport condition of intelligent vehicle is received, the control information passes through the second display interface On transport condition setting options input；The transport condition of intelligent vehicle is adjusted according to the control information；Or,

The control information for processing of being stopped in emergency to intelligent vehicle progress is received, the control information passes through the button that stops in emergency Pressing operation triggering generation；Intelligent vehicle is controlled to stop traveling according to the control information.

Alternatively, the traffic information on intelligent vehicle travel is obtained, including：

Obtain the road ahead information on intelligent vehicle current driving road；Lane line letter is extracted in road ahead information Breath and traffic sign；Obtain the velocity information of barrier on intelligent vehicle current driving road；Obtain barrier and intelligent vehicle Range information, the azimuth information of barrier；Obtain degree of danger information of the barrier to intelligent vehicle；By velocity information, side Position information and degree of danger information are used as context information.

Alternatively, the current running condition information of intelligent vehicle is obtained, including：

The current travel speed of intelligent vehicle and steering angle are obtained, running condition information is obtained.

Alternatively, degree of danger information of the barrier to intelligent vehicle is obtained, including：

According to the distance between barrier and intelligent vehicle information, the region of barrier is determined；

It is the corresponding degree of danger information of obstacle tag according to the region of barrier；

Wherein, when range information is less than the first pre-determined distance, barrier is located at easy collision area；When range information is more than During the second pre-determined distance, barrier is located at safety zone, and the first pre-determined distance is less than the second pre-determined distance.

Alternatively, this method also includes：

The deceleration that receiving terminal is sent is slowed down with car driving instruction control intelligent vehicle according to slowing down and gone with car driving instruction Sail.

Fig. 6 is a kind of intelligent vehicle control method flow diagram provided in an embodiment of the present invention.Interaction agent is terminal and intelligence Can vehicle.Referring to Fig. 6, method flow provided in an embodiment of the present invention includes：

601st, intelligent vehicle obtains the running condition information of the traffic information and current intelligent vehicle on current driving road, And send traffic information and running condition information to terminal.

Because the vehicle body surrounding in intelligent vehicle is provided with different types of sensor, intelligent vehicle passes through different types of Sensor is detectable and gathers traffic information.It is as follows for the detailed acquisition process of traffic information：Obtain intelligent vehicle current line Sail the road ahead information on road；Road ahead information to acquisition is handled in real time, is detected and is extracted road ahead letter Lane line information and road signs information in breath；Whether there is barrier on detection current driving road, if current driving road On have barrier, then obtain the velocity information of the barrier；Obtain the range information of the barrier and intelligent vehicle, barrier Azimuth information；Obtain degree of danger information of the barrier to intelligent vehicle；By velocity information, azimuth information and degree of danger information It is used as context information.

During intelligent vehicle is travelled, the sensor installed on intelligent vehicle can be according to obstacle on current driving road The distance between thing and intelligent vehicle, three different regions of degree of danger are divided into by intelligent vehicle surrounding, including：Easily collision Region between region, safety zone, easy collision area and safety zone.Barrier positioned at different zones is to intelligent vehicle Degree of danger is different.In degree of danger information of the acquisition barrier to intelligent vehicle, following manner can be taken to realize：First, According to the distance between barrier and intelligent vehicle information, the region of barrier is determined；Secondly, according to the place of barrier Region, is the corresponding degree of danger information of obstacle tag.Wherein, when range information is less than the first pre-determined distance, barrier Positioned at easy collision area；When range information is more than the second pre-determined distance, barrier is located at safety zone, and the first pre-determined distance is small In the second pre-determined distance.Wherein, the embodiment of the present invention to the concrete numerical value of the first pre-determined distance and the second pre-determined distance without Limit, it is only necessary to ensure that the first pre-determined distance is less than the second pre-determined distance.

After the traffic information on intelligent vehicle travel is got, the traffic information is sent to terminal.In order to Allow users to easily understand by terminal the current running state of intelligent vehicle, and then preferably control intelligent vehicle.Intelligence Energy vehicle need to obtain current running condition information, and running condition information is sent to terminal.Wherein, current traveling is obtained Status information includes obtaining travel speed and steering angle.

602nd, terminal receives and shown the traffic information and transport condition letter on the current driving road that intelligent vehicle is sent Breath.

When detect intelligent vehicle have traffic information or running condition information transmission when, terminal by communication module receive should Traffic information or running condition information.After traffic information is properly received, the barrier that terminal includes according to traffic information Context information, lane line information and road signs information, in the traveling display interface shown in Fig. 3, namely the first display circle Barrier, lane line and traffic sign are shown on face.After running condition information is properly received, in the interactive controlling shown in Fig. 2 In interface, namely the running condition information display instrument panel of the second display interface, the running condition information of intelligent vehicle is shown.

Wherein, context information at least the distance between velocity information, barrier and intelligent vehicle including barrier The degree of danger information of information, the azimuth information of barrier and barrier to intelligent vehicle.It was found from from step 601, barrier It is different to the degree of danger information of intelligent vehicle positioned at different regions, in order to more easily discriminate the obstacle for being located at different zones Thing, when showing obstacle information on the second contact surface shown in Fig. 3, the barrier that can be pointed to different zones adds different marks Note.Such as, colors different on the obstacle tag of different zones are pointed to.It is red positioned at the obstacle tag of easy collision area Color, the obstacle tag positioned at safety zone is green, and obstacle tag positioned there between is yellow.For different zones Barrier display mode, the embodiment of the present invention is to this without specific restriction.

Wherein, the first display interface and the second display interface can mutually be switched by button.

Driven automatically it should be noted that may choose whether to enter by the automatic driving mode button on the second display interface Sail pattern.If detecting the trigger action of automatic driving mode on the second display interface, that is, detect automatic driving mode by The pressing operation of key, then shown on the second display interface multiple moving direction remote keyings, running condition information setting options, Running condition information display instrument panel, start button and the button that stops in emergency.Wherein, multiple moving direction remote keyings include Upper and lower, left and right four direction remote keying.

603rd, terminal plans the row of intelligent vehicle according to the lane line information and context information included in traffic information Bus or train route footpath, and send the planning driving path to intelligent vehicle.

In the embodiment of the present invention, the control of terminal-pair intelligent vehicle is divided into both of which, including automatic driving mode and drives The person's of sailing driving model.In both modes, the lane line letter included in the traffic information that terminal can all be sent according to intelligent vehicle Breath and context information, plan the planning driving path of intelligent vehicle.

It should be noted that during terminal plans planning driving path according to lane line information and context information, If intelligent vehicle traveling front is straight road, straight line planning driving path is planned；If intelligent vehicle traveling front occurs curved Road, then plan a curve planning driving path for meeting bend crooked radian；If intelligent vehicle traveling front exist barrier and Vehicle forward is influenceed, then plans the planning driving path that detours.Finally, the planning driving path planned is sent to intelligent vehicle, and The planning driving path is shown in the first display interface.

Wherein, there is a situation where barrier for intelligent vehicle traveling front and influence vehicle forward, terminal planning around The detailed process of row planning driving path is as follows：

When intelligent vehicle is under automatic driving mode, according to context information, judge whether easy collision area is deposited In barrier；Wherein, easy collision area refers to the region within the pre-determined distance of intelligent vehicle first；If easy collision area is deposited In barrier, then judge whether intelligent vehicle can detour traveling according to lane line information and context information；If intelligent vehicle Can be detoured traveling, then cook up a path of detouring；The traveling if intelligent vehicle can not detour, judges to be located at current driving road On front obstacle whether be low speed dynamic barrier；If front obstacle is low speed dynamic barrier, to intelligent vehicle Send and slow down with car driving instruction so that intelligent vehicle is slowed down according to slowing down with car instruction to travel with car；If barrier is not It is dynamic barrier, then sends cutoff command to intelligent vehicle so that intelligent vehicle performs shut-down operation according to cutoff command.

When intelligent vehicle is under driver's driving model, according to context information, whether easy collision area is judged There is barrier；If easy collision area has barrier, intelligent vehicle is judged according to lane line information and context information Whether can detour traveling；The traveling if intelligent vehicle can detour, cooks up a path of detouring；If intelligent vehicle can not be around every trade Sail, then send driving prompt message to intelligent vehicle, point out driver to slow down or stop.

It should be noted that during intelligent vehicle is travelled, in order that driver or the intelligent vehicle of intelligent vehicle Passenger in recognizes the traffic information on present road in time, it is ensured that the safety traffic of intelligent vehicle, except it is above-mentioned Under driver's pattern, when there is barrier in road ahead and can not detour, the row for slowing down or stopping is sent to intelligent vehicle Outside car prompt message, terminal can also it is following it is several in the case of to intelligent vehicle send driving prompt message.

The first situation, on the current driving road of intelligent vehicle, if being deposited between easy collision area and safety zone In barrier, then driving prompt message is sent to intelligent vehicle.

Second of situation, when intelligent vehicle deviates current driving lane, judges whether intelligent vehicle opens corresponding steering Lamp；If not opening steering indicating light, driving prompt message is sent to intelligent vehicle.

The third situation, if detecting traffic sign on current driving road, driving prompting is sent to intelligent vehicle Information.

4th kind of situation, on the current driving road of intelligent vehicle, if intelligent vehicle rear has the barrier for following traveling Hinder thing, and follow the barrier of traveling to be located in easy collision area, then send driving prompt message to intelligent vehicle.

It should be noted that the content for the driving prompt message that terminal is sent for different situations to intelligent vehicle is different. Wherein, prompt message can be the speech message prerecorded or it is similar " dichloro-diphenyl-dichlorothane " simple audio；For prompting The concrete form of information, the embodiment of the present invention is to this without specific restriction.

604th, terminal obtains the control information to intelligent vehicle inputted by the second display interface, and control information is sent out Deliver to intelligent vehicle.

When terminal detects the pressing operation of automatic driving mode button on the second display interface, it will open and drive automatically Sail pattern.Under automatic driving mode, multiple moving direction remote keyings, transport condition on the second display interface set choosing Item, start button and the button that stops in emergency are in operable state.By detecting in multiple moving direction remote keyings, traveling The operation performed on state setting options, start button and the button that stops in emergency, can obtain corresponding control information.Wherein, it is many Individual moving direction remote keying includes upper and lower, left and right four direction remote keying, is respectively used to control the advance of vehicle, falls Car, left-hand rotation and right-hand rotation.Acquisition for control information can be divided into following several situations.

The first situation, when detecting the pressing operation of start button, obtains and starts vehicle control information.

Wherein, this kind of situation is directed to automatic driving mode, and starting vehicle control information is used to control intelligent vehicle to carry out Self-starting.

Second of situation, during being remotely controlled to the moving direction of intelligent vehicle, when detecting upper remote keying Pressing operation when, obtain selection forward range control information so that intelligent vehicle is driven a vehicle forward；When detect lower remote control by During the pressing operation of key, the control information of selection reverse gear is obtained so that intelligent vehicle retreats traveling；When detecting left remote keying Pressing operation when, obtain 30 degree of control information；When detecting the pressing operation of right remote keying, right-hand rotation 30 is obtained The control information of degree.

The third situation, during being adjusted to the transport condition of intelligent vehicle, detection transport condition sets choosing Whether there is running condition information input in；If there is running condition information input in transport condition setting options, obtain to intelligence The control information that the transport condition of energy vehicle is adjusted.Wherein, whether there is transport condition in detection transport condition setting options Information input includes：Whether detection is set in speed option travel speed input, if setting in speed option has travel speed Input, then obtain the road speed of input；Or, whether have steering angle input in detection setting angle option, if setting angle There is steering angle in option, then obtain the steering angle of input.

4th kind of situation, during stopping in emergency, with the presence or absence of the button that stops in emergency on the second display interface of detection Pressing operation；If detecting the pressing operation for the button that stops in emergency, the control for processing of being stopped in emergency to intelligent vehicle progress is obtained Information processed.

Finally, the control information got is sent to intelligent vehicle so that intelligent vehicle is according to different control information Perform corresponding operation.

605th, intelligent vehicle controls the traveling of intelligent vehicle according to the control information or planning driving path received.

In the embodiment of the present invention, intelligent vehicle can be controlled under automatic driving mode and driver's pattern.Certainly Under dynamic driving model, terminal can send control information and planning driving path information to intelligent vehicle；Under driver's pattern, terminal is not Control information can be sent to intelligent vehicle.

Under automatic driving mode, different types of control information that intelligent vehicle receiving terminal is sent, and for each Individual control information performs corresponding control operation to intelligent vehicle.Intelligent vehicle performs corresponding to different types of control information Control operation includes following several situations.

The first situation, intelligent vehicle is after the startup vehicle control information of terminal transmission is received, according to the startup Vehicle control information, performs and starts vehicle operating, and gear is set into neutral.

Second of situation, receives the control information being remotely controlled to the moving direction of intelligent vehicle, according to the control information Intelligent vehicle travel direction is moved.

The third situation, receives the control information being adjusted to the transport condition of intelligent vehicle, and the control information passes through Transport condition setting options input on second display interface；The transport condition of intelligent vehicle is adjusted according to the control information.

4th kind of situation, receives the control information for processing of being stopped in emergency to intelligent vehicle progress, the control information passes through tight The pressing operation triggering generation of jerk car button；Intelligent vehicle is controlled to stop traveling according to the control information.

Terminal can plan the current planning driving path of intelligent vehicle according to lane line information and context information, and will planning Planning driving path send to intelligent vehicle.Under automatic driving mode, intelligent vehicle is after planning driving path is received, if roadway Footpath is straight line, then controls intelligent vehicle straight-line travelling；If planning driving path is curve, the direction of intelligent vehicle is controlled, It is set to be travelled according to curve planning driving path；If planning driving path is path of detouring, control intelligent vehicle is according to the route that detours.

It should be noted that under automatic driving mode, if there is barrier and influence intelligence in intelligent vehicle traveling front Vehicle forward, and when terminal is judged to detour, front obstacle is low speed dynamic barrier, can send and subtract to intelligent vehicle Speed is with car driving instruction；Intelligent vehicle obtains the velocity information of front obstacle after the deceleration is received with car instruction；By intelligence Can the travel speed of vehicle be down to and front obstacle same speed or be down to below the same speed；And control intelligence Energy vehicle is according to former direction of traffic in barrier behind.Or, when terminal is judged to detour and front obstacle is quiet During state barrier, cutoff command can be sent to intelligent vehicle；Intelligent vehicle is received after the cutoff command, and control intelligent vehicle is held Row shut-down operation.Under driver's driving model, when intelligent vehicle traveling front has barrier and influences intelligent vehicle to move ahead When, if terminal is judged to detour, driving prompt message is sent to intelligent vehicle, the driving prompt message is driven for prompting The person of sailing is slowed down or stopped.Intelligent vehicle is after the driving prompt message is received, and control intelligent vehicle sends what is slowed down or stop Prompt message.Wherein, the prompt message slowed down or stopped can be one section of voice or it is similar " dichloro-diphenyl-dichlorothane " simple sound Frequently, the embodiment of the present invention is limited without specific this.

If it should be noted that intelligent vehicle receives other driving prompt messages of terminal transmission, controlling intelligent vehicle Send corresponding voice message or it is similar " dichloro-diphenyl-dichlorothane " simple audio；For the concrete form of prompt message, the present invention Embodiment is to this without specific restriction.

Method provided in an embodiment of the present invention, traffic information of the intelligent vehicle on intelligent vehicle current driving road is obtained Afterwards, traffic information is sent to terminal；Terminal is on the current driving road for receiving intelligent vehicle transmission after traffic information； According to the context information of barrier in traffic information, barrier is shown on the first display interface；And believed according to lane line Breath and road signs information, show the lane line and traffic sign on current driving road on the first display interface；Meanwhile, root According to lane line information and context information, the planning driving path of intelligent vehicle is planned；And send the planning driving path to intelligent vehicle； Intelligent vehicle controls the driving path of intelligent vehicle according to the planning driving path received.The present invention is realized by independently of intelligence The terminal-pair intelligent vehicle of energy vehicle is controlled；In addition, providing such as button and option on the second display interface so that use Family is not only able to perform a variety of control operations to intelligent vehicle by the second display interface so that control mode is various；And It can also plan and planning driving path is shown by the first display interface so that intelligent vehicle can be travelled according to planning driving path, control Scope processed is big, control mode intelligence.

Fig. 7 is a kind of block diagram of intelligent vehicle control device provided in an embodiment of the present invention.Referring to Fig. 7, the device includes： Receiving module 701, the first display module 702, path planning module 703, sending module 704.

Wherein, receiving module 701 is connected with the first display module 702, the current driving for receiving intelligent vehicle transmission Traffic information on road, traffic information at least includes the context information of barrier on current driving road, lane line letter Breath and road signs information；First display module 702 is connected with path planning module 703, is retouched for the state according to barrier Information is stated, barrier is shown on the first display interface；It is additionally operable to according to lane line information and road signs information, it is aobvious first Show the lane line and traffic sign shown on interface on current driving road；Path planning module 703 and the phase of sending module 704 Even, for according to lane line information and context information, planning the planning driving path of intelligent vehicle；Sending module 704, for Intelligent vehicle sends planning driving path so that intelligent vehicle is travelled according to planning driving path.

Alternatively, the device also includes：

Second display module 705, if the trigger action for detecting automatic driving mode on the second display interface, Multiple moving direction remote keyings, running condition information setting options, transport condition letter are at least shown on the second display interface Breath display instrument panel and the button that stops in emergency；

Control information acquisition module 706, believes for obtaining the control to intelligent vehicle inputted by the second display interface Breath；

Sending module 704, is additionally operable to send control information to intelligent vehicle so that intelligent vehicle is receiving control information Afterwards, corresponding operating is performed according to control information.

Alternatively, receiving module 701, are additionally operable to receive the running condition information that intelligent vehicle is sent；Second display module 705, in running condition information display instrument panel, showing the running condition information of intelligent vehicle.

Alternatively, control information acquisition module 706, for obtaining by multiple moving direction remote keyings input to intelligence The control information that the moving direction of energy vehicle is remotely controlled；Or, whether have transport condition letter in detection transport condition setting options Breath input；If there is running condition information input in transport condition setting options, the transport condition progress to intelligent vehicle is obtained The control information of adjustment；Or, the pressing operation on the second display interface of detection with the presence or absence of the button that stops in emergency；If detecting tight The pressing operation of jerk car button, then obtain the control information for processing of being stopped in emergency to intelligent vehicle progress.

Alternatively, when intelligent vehicle is under automatic driving mode, path planning module 703, for being retouched according to state State information, judge that easy collision area whether there is barrier, easy collision area refer to apart from the pre-determined distance of intelligent vehicle first with Interior region；If easy collision area has barrier, judge that intelligent vehicle is according to lane line information and context information The no traveling that detours；The traveling if intelligent vehicle can detour, cooks up a path of detouring；If intelligent vehicle can not be around every trade Sail, then judge whether the front obstacle being located on current driving road is low speed dynamic barrier；If front obstacle is low Fast dynamic barrier, then to intelligent vehicle send slow down with car driving instruction so that intelligent vehicle according to slow down with car instruct into Row slows down with car traveling；If barrier is not dynamic barrier, cutoff command is sent to intelligent vehicle so that intelligent vehicle root Shut-down operation is performed according to cutoff command.

Alternatively, when intelligent vehicle is under driver's driving model, path planning module 703, for according to state Description information, judges that easy collision area whether there is barrier, easy collision area refer to away from the pre-determined distance of intelligent vehicle first with Interior region；If easy collision area has barrier, judge that intelligent vehicle is according to lane line information and context information The no traveling that detours；The traveling if intelligent vehicle can detour, cooks up a path of detouring；If intelligent vehicle can not be around every trade Sail, then send driving prompt message to intelligent vehicle, driving prompt message is used to point out driver to slow down or stop.

Alternatively, sending module 704, if being additionally operable to there is barrier between easy collision area and safety zone, to Intelligent vehicle sends driving prompt message, and safety zone refers to the region beyond the pre-determined distance of intelligent vehicle second, second Pre-determined distance is more than the first pre-determined distance；Or, when intelligent vehicle deviates current driving lane, judge whether intelligent vehicle is opened Corresponding steering indicating light, if not opening steering indicating light, driving prompt message is sent to intelligent vehicle；If or, on current driving road Traffic sign is detected, then sends driving prompt message to intelligent vehicle；If or, there is the barrier for following traveling in intelligent vehicle rear Hinder thing, and follow the barrier of traveling to be located in easy collision area, then send driving prompt message to intelligent vehicle.

Alternatively, the first display module 702, is additionally operable to show planning driving path on the first display interface.

Device provided in an embodiment of the present invention, receive intelligent vehicle transmission current driving road on traffic information it Afterwards, barrier is shown on the first display interface；And the lane line information and road signs information included according to traffic information, The lane line and traffic sign on current driving road are shown on the first display interface；Meanwhile, according to lane line information and road The context information that condition information includes, plans the planning driving path of intelligent vehicle；And the planning driving path is sent to intelligent vehicle, So that intelligent vehicle is travelled according to the planning driving path.The present invention is realized by the terminal-pair intelligent vehicle independently of intelligent vehicle It is controlled, and can plans and show planning driving path so that intelligent vehicle can be travelled according to planning driving path, control range Greatly, control mode intelligence.

Fig. 8 is a kind of block diagram of intelligent vehicle control device provided in an embodiment of the present invention, and referring to Fig. 8, the device includes： Acquisition module 801, sending module 802, control module 803.

Wherein, acquisition module 801 is connected with sending module 802, for obtaining the road on intelligent vehicle current driving road Condition information, wherein, traffic information at least includes context information, lane line information and the friendship of barrier on current driving road Logical flag information；Sending module 802 is connected with control module 803, for terminal send traffic information, wherein, terminal according to Context information shows barrier on the first display interface, aobvious first according to lane line information and road signs information Show the lane line and traffic sign shown on interface on current driving road, according to lane line information and context information, rule Draw the planning driving path of intelligent vehicle；Control module 803, for according to the planning driving path received, controlling the traveling of intelligent vehicle Path.

Alternatively, acquisition module 801, are additionally operable to obtain the current running condition information of intelligent vehicle, transport condition are believed Breath is sent to terminal, and running condition information is carried out on the running condition information display instrument panel of the second display interface by terminal Display；Control module, is additionally operable to the control information to intelligent vehicle of receiving terminal transmission, according to control information to intelligent vehicle Perform corresponding control operation.

Alternatively, control module 803, the control information that the moving direction for receiving to intelligent vehicle is remotely controlled, control Information processed to multiple moving direction remote keyings on the second display interface by being manipulated；According to control information to intelligence Vehicle travel direction is moved；Or, the control information being adjusted to the transport condition of intelligent vehicle is received, control information passes through Transport condition setting options input on second display interface；The transport condition of intelligent vehicle is adjusted according to control information；Or, connect The control information for processing of being stopped in emergency to intelligent vehicle progress is received, the pressing operation that control information passes through the button that stops in emergency is triggered Generation；Intelligent vehicle is controlled to stop traveling according to control information.

Alternatively, acquisition module 801, for obtaining the road ahead information on intelligent vehicle current driving road；Preceding Lane line information and traffic sign are extracted in square road information；Obtain the speed letter of barrier on intelligent vehicle current driving road Breath；Obtain range information, the azimuth information of barrier of barrier and intelligent vehicle；Obtain danger of the barrier to intelligent vehicle Degree information；It regard velocity information, azimuth information and degree of danger information as context information.

Alternatively, acquisition module 801, for obtaining the current travel speed of intelligent vehicle and steering angle, are travelled Status information.

Alternatively, acquisition module 801, for according to the distance between barrier and intelligent vehicle information, determining barrier Region；It is the corresponding degree of danger information of obstacle tag according to the region of barrier；Wherein, when distance letter When breath is less than the first pre-determined distance, barrier is located at easy collision area；When range information is more than the second pre-determined distance, barrier Positioned at safety zone, the first pre-determined distance is less than the second pre-determined distance.

Alternatively, control module 803, are additionally operable to the deceleration of receiving terminal transmission with car driving instruction, according to deceleration with car Driving instruction controls intelligent vehicle Reduced Speed Now.

Device provided in an embodiment of the present invention, after the traffic information on intelligent vehicle current driving road is got, Traffic information is sent to terminal；The context information included by terminal according to traffic information is shown on the first display interface Barrier, according to lane line information and road signs information, shows the track on current driving road on the first display interface Line and traffic sign, according to lane line information and context information, plan the planning driving path of intelligent vehicle；Intelligent vehicle according to The planning driving path received, controls the driving path of intelligent vehicle.The present invention is realized by the terminal independently of intelligent vehicle Intelligent vehicle is controlled, and the planning driving path that can be planned according to terminal, control the traveling of intelligent vehicle, control range Greatly, control mode intelligence.

It should be noted that：Above-described embodiment provide intelligent vehicle control device control intelligent vehicle when, only more than The division progress of each functional module is stated for example, in practical application, as needed can distribute above-mentioned functions by difference Functional module complete, i.e., the internal structure of device is divided into different functional modules, with complete it is described above whole or Person's partial function.In addition, the device and the embodiment of the method for intelligent vehicle control of the intelligent vehicle control that above-described embodiment is provided Belong to same design, it implements process and refers to embodiment of the method, repeats no more here.

One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware To complete, the hardware of correlation can also be instructed to complete by program, described program can be stored in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..

The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.

Claims

1. a kind of intelligent vehicle control method, it is characterised in that methods described includes：

The traffic information on the current driving road that intelligent vehicle is sent is received, the traffic information at least includes the current line Sail the context information of barrier on road, lane line information and road signs information；

According to the lane line information and the road signs information, the current driving is shown on first display interface Lane line and traffic sign on road；

The planning driving path is sent to the intelligent vehicle so that the intelligent vehicle is travelled according to the planning driving path,

It is described to be believed according to the lane line information and the state description when the intelligent vehicle is under automatic driving mode Breath, plans the planning driving path of the intelligent vehicle, including：

According to the context information, judge that easy collision area whether there is barrier, the easy collision area refers to distance Region within the pre-determined distance of intelligent vehicle first；

If the easy collision area has barrier, according to judging the lane line information and the context information Whether intelligent vehicle can detour traveling；

The traveling if intelligent vehicle can not detour, judge be located at the current driving road on front obstacle whether be Low speed dynamic barrier；If the front obstacle is low speed dynamic barrier, sends and slow down with car to the intelligent vehicle Driving instruction so that the intelligent vehicle is slowed down with car traveling according to described slow down with car driving instruction；If the obstacle Thing is not dynamic barrier, then sends cutoff command to the intelligent vehicle so that the intelligent vehicle refers to according to the parking Order performs shut-down operation；

Or,

It is described according to the lane line information and the state description when the intelligent vehicle is under driver's driving model Information, plans the planning driving path of the intelligent vehicle, including：

According to the context information, judge that easy collision area whether there is barrier, the easy collision area is referred to away from institute State the region within the pre-determined distance of intelligent vehicle first；

The traveling if intelligent vehicle can not detour, driving prompt message, the driving prompting are sent to the intelligent vehicle Information is used to point out driver to slow down or stop.

2. according to the method described in claim 1, it is characterised in that methods described also includes：

If detecting the trigger action of automatic driving mode on the second display interface, on second display interface at least Show multiple moving direction remote keyings, running condition information setting options, running condition information display instrument panel and promptly stop Car button；

The control information is sent to the intelligent vehicle so that the intelligent vehicle is after the control information is received, root Corresponding operating is performed according to the control information.

3. method according to claim 2, it is characterised in that described at least to show multiple on second display interface Moving direction remote keying, running condition information setting options, running condition information display instrument panel and stop in emergency button it Afterwards, methods described also includes：

4. method according to claim 2, it is characterised in that pair that the acquisition is inputted by second display interface The control information of the intelligent vehicle, including：

Obtain the control being remotely controlled to the moving direction of the intelligent vehicle inputted by multiple moving direction remote keyings Information；Or,

Detect in the running condition information setting options whether there is running condition information input；If the running condition information is set Putting in option has running condition information input, then obtains the control information being adjusted to the transport condition of the intelligent vehicle； Or,

Detect the pressing operation with the presence or absence of the button that stops in emergency on second display interface；If detecting described urgent The pressing operation of parking button, then obtain the control information for processing of being stopped in emergency to intelligent vehicle progress.

5. according to the method described in claim 1, it is characterised in that methods described also includes：

If there is barrier between the easy collision area and safety zone, driving prompting letter is sent to the intelligent vehicle Breath, the safety zone refers to the region beyond the pre-determined distance of intelligent vehicle second, and second pre-determined distance is big In first pre-determined distance；Or,

When the intelligent vehicle deviates current driving lane, judge whether the intelligent vehicle opens corresponding steering indicating light, if not The steering indicating light is opened, then sends driving prompt message to the intelligent vehicle；Or,

If detecting traffic sign on the current driving road, driving prompt message is sent to the intelligent vehicle；Or,

If the intelligent vehicle rear has the barrier for following traveling, and the barrier for following traveling is easily touched positioned at described Hit in region, then send driving prompt message to the intelligent vehicle.

6. according to the method described in claim 1, it is characterised in that described according to the lane line information and the state description After information, the planning driving path for planning the intelligent vehicle, methods described also includes：

The planning driving path is shown on first display interface.

7. according to the method described in claim 1, it is characterised in that the context information at least includes the barrier The distance between velocity information, the barrier and the intelligent vehicle information, the azimuth information of the barrier and the barrier Hinder thing to the degree of danger information of the intelligent vehicle.

8. a kind of intelligent vehicle control method, it is characterised in that methods described includes：

The traffic information on intelligent vehicle current driving road is obtained, the traffic information at least includes the current driving road Context information, lane line information and the road signs information of upper barrier；

The traffic information is sent to terminal, is shown by the terminal according to the context information on the first display interface The barrier, according to the lane line information and the road signs information, shows described on first display interface Lane line and traffic sign on current driving road, according to the lane line information and the context information, plan institute State the planning driving path of intelligent vehicle；

According to the planning driving path received, the driving path of the intelligent vehicle is controlled,

The traveling if intelligent vehicle can not detour, judge be located at the current driving road on front obstacle whether be Low speed dynamic barrier；If the front obstacle is low speed dynamic barrier, sends and slow down with car to the intelligent vehicle Driving instruction, controls the intelligent vehicle to be slowed down and is travelled with car according to the deceleration received with car driving instruction；If The barrier is not dynamic barrier, then sends cutoff command to the intelligent vehicle, referred to according to the parking received The order control intelligent vehicle performs shut-down operation；

Or,

9. method according to claim 8, it is characterised in that methods described also includes：

The current running condition information of the intelligent vehicle is obtained, the running condition information is sent to the terminal, by institute Terminal is stated to show the running condition information on the running condition information display instrument panel of the second display interface；

The control information to the intelligent vehicle that the terminal is sent is received, intelligent vehicle is performed according to the control information Corresponding control operation.

10. method according to claim 9, it is characterised in that described to be performed according to the control information to intelligent vehicle Corresponding control operation, including：

The control information being remotely controlled to the moving direction of the intelligent vehicle is received, the control information passes through to described second Multiple moving direction remote keyings are manipulated on display interface；The intelligent vehicle is carried out according to the control information Directionality is moved；Or,

The control information being adjusted to the transport condition of the intelligent vehicle is received, the control information is aobvious by described second Show the running condition information setting options input on interface；The traveling shape of the intelligent vehicle is adjusted according to the control information State；Or,

The control information for processing of being stopped in emergency to intelligent vehicle progress is received, the control information passes through the button that stops in emergency Pressing operation triggering generation；The intelligent vehicle is controlled to stop traveling according to the control information.

11. method according to claim 8, it is characterised in that the road on the acquisition intelligent vehicle current driving road Condition information, including：

Lane line information and road signs information are extracted in the road ahead information；

12. method according to claim 9, it is characterised in that the current transport condition of the acquisition intelligent vehicle Information, including：

13. method according to claim 11, it is characterised in that the acquisition barrier is to the intelligent vehicle Degree of danger information, including：

Wherein, when the range information is less than the first pre-determined distance, the barrier is located at easy collision area；When the distance When information is more than the second pre-determined distance, the barrier is located at safety zone, and it is pre- that first pre-determined distance is less than described second If distance.

14. method according to claim 8, it is characterised in that methods described also includes：

The deceleration of the terminal transmission is received with car driving instruction, controls the intelligent vehicle to subtract with car driving instruction according to slowing down Speed traveling.

15. a kind of intelligent vehicle control device, it is characterised in that described device includes：

Receiving module, the traffic information on current driving road for receiving intelligent vehicle transmission, the traffic information is at least Including the context information of barrier, lane line information and road signs information on the current driving road；

First display module, for the context information according to the barrier, shows the barrier on the first display interface Hinder thing；

First display module, is additionally operable to according to the lane line information and the road signs information, aobvious described first Show the lane line and traffic sign shown on interface on the current driving road；

Sending module, for sending the planning driving path to the intelligent vehicle so that the intelligent vehicle is according to the driving Route,

When the intelligent vehicle is under automatic driving mode, the path planning module, for according to the state description Information, judges that easy collision area whether there is barrier, the easy collision area refers to default apart from the intelligent vehicle first Region within distance；If the easy collision area has barrier, according to the lane line information and the state description Information judges whether the intelligent vehicle can detour traveling；The traveling if intelligent vehicle can detour, cooks up one and detours Path；The traveling if intelligent vehicle can not detour, whether front obstacle of the judgement on the current driving road For low speed dynamic barrier；If the front obstacle be low speed dynamic barrier, to the intelligent vehicle send slow down with Car driving instruction so that the intelligent vehicle is slowed down with car traveling according to described slow down with car driving instruction；If the barrier It is not dynamic barrier to hinder thing, then sends cutoff command to the intelligent vehicle so that the intelligent vehicle is according to the parking Instruction performs shut-down operation；

Or,

When the intelligent vehicle is under driver's driving model, the path planning module, for being retouched according to the state Information is stated, judges that easy collision area whether there is barrier, the easy collision area refers to default away from the intelligent vehicle first Region within distance；If the easy collision area has barrier, according to the lane line information and the state description Information judges whether the intelligent vehicle can detour traveling；The traveling if intelligent vehicle can detour, cooks up one and detours Path；The traveling if intelligent vehicle can not detour, driving prompt message, the driving prompting are sent to the intelligent vehicle Information is used to point out driver to slow down or stop.

16. device according to claim 15, it is characterised in that described device also includes：

Second display module, if the trigger action for detecting automatic driving mode on the second display interface, described Multiple moving direction remote keyings, running condition information setting options, running condition information are at least shown on second display interface Display instrument panel and the button that stops in emergency；

Control information acquisition module, believes for obtaining the control to the intelligent vehicle inputted by second display interface Breath；

The sending module, is additionally operable to send the control information to the intelligent vehicle so that the intelligent vehicle is connecing Receive after the control information, corresponding operating is performed according to the control information.

17. device according to claim 16, it is characterised in that the receiving module, is additionally operable to receive the intelligent vehicle Send running condition information；Second display module, in the running condition information display instrument panel, showing The running condition information of the intelligent vehicle.

18. device according to claim 16, it is characterised in that the control information acquisition module, passes through for obtaining The control information being remotely controlled to the moving direction of the intelligent vehicle of multiple moving direction remote keying inputs；Or, detection Whether there is running condition information input in the running condition information setting options；If in the running condition information setting options There is running condition information input, then obtain the control information being adjusted to the transport condition of the intelligent vehicle；Or, detection institute State the pressing operation with the presence or absence of the button that stops in emergency on the second display interface；If detecting the button that stops in emergency Pressing operation, then obtain the control information for processing of being stopped in emergency to intelligent vehicle progress.

19. device according to claim 15, it is characterised in that the sending module, if being additionally operable in the easy collision There is barrier between region and safety zone, then send driving prompt message to the intelligent vehicle, the safety zone refers to Generation region beyond the pre-determined distance of intelligent vehicle second, second pre-determined distance be more than described first it is default away from From；Or, when the intelligent vehicle deviates current driving lane, judge whether the intelligent vehicle opens corresponding steering indicating light, if The steering indicating light is not opened, then sends driving prompt message to the intelligent vehicle；If or, being examined on the current driving road Traffic sign is measured, then sends driving prompt message to the intelligent vehicle；If or, the intelligent vehicle rear is present with retinue The barrier sailed, and the barrier for following traveling then sends row in the easy collision area to the intelligent vehicle Car prompt message.

20. device according to claim 15, it is characterised in that first display module, is additionally operable to described first The planning driving path is shown on display interface.

21. device according to claim 15, it is characterised in that the context information at least includes the barrier Velocity information, the distance between the barrier and the intelligent vehicle information, the azimuth information of the barrier and described Degree of danger information of the barrier to the intelligent vehicle.

22. a kind of intelligent vehicle control device, it is characterised in that described device includes：

Acquisition module, for obtaining the traffic information on intelligent vehicle current driving road, the traffic information at least includes institute State the context information of barrier on current driving road, lane line information and road signs information；

Sending module, for sending the traffic information to terminal, by the terminal according to the context information first The barrier is shown on display interface, according to the lane line information and the road signs information, in the described first display The lane line and traffic sign on the current driving road are shown on interface, is retouched according to the lane line information and the state Information is stated, the planning driving path of the intelligent vehicle is planned；

Control module, for according to the planning driving path received, controlling the driving path of the intelligent vehicle,

The traveling if intelligent vehicle can not detour, judge be located at the current driving road on front obstacle whether be Low speed dynamic barrier；If the front obstacle is low speed dynamic barrier, sends and slow down with car to the intelligent vehicle Driving instruction, the deceleration that the control module is received according to controls the intelligent vehicle to be slowed down with car driving instruction With car traveling；If the barrier is not dynamic barrier, cutoff command, the control module are sent to the intelligent vehicle The intelligent vehicle is controlled to perform shut-down operation according to the cutoff command received；

Or,

23. device according to claim 22, it is characterised in that the acquisition module, is additionally operable to obtain the intelligent vehicle Current running condition information, the running condition information is sent to the terminal, and boundary is shown second by the terminal The running condition information is shown on the running condition information display instrument panel in face；The control module, is additionally operable to connect The control information to the intelligent vehicle that the terminal is sent is received, intelligent vehicle is performed according to the control information corresponding Control operation.

24. device according to claim 23, it is characterised in that the control module, for receiving to the intelligent vehicle The control information that is remotely controlled of moving direction, the control information passes through to multiple movement sides on second display interface Manipulated to remote keying；The intelligent vehicle travel direction is moved according to the control information；Or, reception pair The control information that the transport condition of the intelligent vehicle is adjusted, the control information passes through on second display interface Running condition information setting options are inputted；The transport condition of the intelligent vehicle is adjusted according to the control information；Or, reception pair The intelligent vehicle stop in emergency the control information of processing, the pressing operation that the control information passes through the button that stops in emergency Triggering generation；The intelligent vehicle is controlled to stop traveling according to the control information.

25. device according to claim 22, it is characterised in that the acquisition module, for obtaining the intelligent vehicle Road ahead information on current driving road；Lane line information and traffic sign letter are extracted in the road ahead information Breath；Obtain the velocity information of barrier on the intelligent vehicle current driving road；Obtain the barrier and the intelligent vehicle Range information, the azimuth information of the barrier；Obtain degree of danger information of the barrier to the intelligent vehicle； It regard the velocity information, the azimuth information and the degree of danger information as the context information.

26. device according to claim 23, it is characterised in that the acquisition module, for obtaining the intelligent vehicle Current travel speed and steering angle, obtain the running condition information.

27. device according to claim 25, it is characterised in that the acquisition module, for according to the barrier with The distance between intelligent vehicle information, determines the region of the barrier；According to the region of the barrier, For the corresponding degree of danger information of the obstacle tag；Wherein, it is described when the range information is less than the first pre-determined distance Barrier is located at easy collision area；When the range information is more than the second pre-determined distance, the barrier is located at safety zone, First pre-determined distance is less than second pre-determined distance.

28. device according to claim 22, it is characterised in that the control module, is additionally operable to receive the terminal hair The deceleration sent controls the intelligent vehicle Reduced Speed Now according to slowing down with car driving instruction with car driving instruction.