CN105711568A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN105711568A CN105711568A CN201610048193.7A CN201610048193A CN105711568A CN 105711568 A CN105711568 A CN 105711568A CN 201610048193 A CN201610048193 A CN 201610048193A CN 105711568 A CN105711568 A CN 105711568A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a vehicle control method and device and belongs to the field of vehicle control.The method comprises the steps that driving route information is obtained; when a target vehicle is at the preset distance from a first node, detection on whether the target vehicle passes the stop line corresponding to the first node is started; when the target vehicle passes the stop line, the target vehicle is controlled to pass the first node according to the curvature at the first node; when the target vehicle doesn't pass the stop line, whether the traffic light corresponding to first node is a green light is detected; when the traffic light is the green light, the target vehicle is controlled to pass the first node according to the curvature of the first node; when the traffic light is not the green light, the target vehicle is controlled to brake.According to the vehicle control method and device, the target vehicle is controlled to pass the first node according to the curvature of the first node through the fact that whether target vehicle passes the stop line corresponding to the first node or the traffic light is the green light, the problem in the prior art that a driver needs to manually control the vehicle to pass the node is solved, and the effect that the target vehicle can pass the node is controlled.
Description
Technical field
The present invention relates to field of vehicle control, particularly to a kind of control method for vehicle and device.
Background technology
In the last few years, along with the development of science and technology, developing rapidly of especially intelligence computation (property program being thought deeply by the computer that intelligence computation is a kind of empirical), the research of intelligent vehicle became the focus that each cart enterprise focuses on.
Correlation technique has a kind of control method for vehicle, in the method, pre-sets such as track and keep the various control pattern such as pattern and slowing-down brake pattern, at different mode, vehicle is performed different control and operate.Such as: when vehicle is in track maintenance pattern, controls vehicle and be maintained at current lane traveling；When vehicle is in slowing-down brake pattern, controlling vehicle deceleration and brake, driver vehicle is when some sections of road, it is possible to select different control models according to different situations.
In the process realizing the present invention, inventor have found that prior art at least there is problems in that above-mentioned control method is commonly used in some section that road conditions are similar and vehicle is controlled, at vehicle, by node, (node is the intersection in two sections, can be the positions such as crossing) time, it is necessary to driver is performed manually by control.
Summary of the invention
In order to solve prior art when vehicle is by node, it is necessary to driver is performed manually by the problem of control, embodiments provides a kind of control method for vehicle and device.Described technical scheme is as follows:
According to the first aspect of the invention, it is provided that a kind of control method for vehicle, described method includes:
Obtaining travel routes information, described travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, described at least two continuous print section；
When target vehicle distance primary nodal point predeterminable range, starting to detect whether described target vehicle passes through the stop line that primary nodal point place is corresponding, described primary nodal point is any node being positioned at described target vehicle front in described travel routes information；
When described target vehicle is by described stop line, according to the curvature control at described primary nodal point place, target vehicle passes through described primary nodal point；
When described target vehicle does not pass through described stop line, detect whether traffic light corresponding to described primary nodal point place are green light；
When described traffic light are green light, according to the curvature control of described primary nodal point, target vehicle passes through described primary nodal point；
When described traffic signal are not green light, control the brake of described target vehicle.
Optionally, described beginning detects whether described target vehicle passes through the stop line that primary nodal point place is corresponding, including:
Detecting whether described target vehicle front exists obstacle vehicle, described obstacle vehicle is the vehicle on described target vehicle current driving lane；
When described target vehicle front is absent from described obstacle vehicle, start whether to detect described target vehicle by described stop line.
Optionally, after whether the described target vehicle front of described detection exists obstacle vehicle, described method also includes:
When described target vehicle front exists described obstacle vehicle, obtain the current driving speed of described target vehicle and the speed difference of described target vehicle and described obstacle vehicle；
When described speed difference is equal to the current driving speed of described target vehicle, control the brake of described target vehicle；
When described speed difference is not equal to the current driving speed of described target vehicle, controls described target vehicle and described obstacle vehicle is carried out automatically with car.
Optionally, described obstacle vehicle is carried out automatically with car by the described target vehicle of described control, including:
Keep predeterminable range with described obstacle vehicle and described obstacle vehicle carried out automatically with car.
Optionally, whether the traffic light of the described primary nodal point of described detection are green light, including:
Obtain the image information in described target vehicle front；
According to whether the traffic light that described image information detects described primary nodal point place corresponding are green light.
According to the second aspect of the invention, it is provided that a kind of controller of vehicle, described device includes:
Route acquiring module, is configured to obtain travel routes information, and described travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, described at least two continuous print section；
Stop line detection module, it is configured to when target vehicle distance primary nodal point predeterminable range, starting to detect whether described target vehicle passes through the stop line that primary nodal point place is corresponding, described primary nodal point is any node being positioned at described target vehicle front in described travel routes information；
Node passes through module, is configured to when described target vehicle is by described stop line, and according to the curvature control at described primary nodal point place, target vehicle passes through described primary nodal point；
Signal lights detection module, is configured to when described target vehicle does not pass through described stop line, detects whether traffic light corresponding to described primary nodal point place are green light；
Green light passes through module, is configured to green light when described traffic light are green light, and according to the curvature control of described primary nodal point, target vehicle passes through described primary nodal point；
First brake module, is configured to, when described traffic signal are not for green light, control the brake of described target vehicle.
Optionally, described stop line detection module, including:
Obstacle detection submodule, is configured to detect whether described target vehicle front exists obstacle vehicle, and described obstacle vehicle is the vehicle on described target vehicle current driving lane；
Stop line detection sub-module, is configured to when described target vehicle front is absent from described obstacle vehicle, starts whether to detect described target vehicle by described stop line.
Optionally, described device also includes:
Speed difference acquisition module, is configured to when described target vehicle front exists described obstacle vehicle, obtains the current driving speed of described target vehicle and the speed difference of described target vehicle and described obstacle vehicle；
Second brake module, is configured to, when described speed difference is equal to the current driving speed of described target vehicle, control the brake of described target vehicle；
Automatically with car module, it is configured to when described speed difference is not equal to the current driving speed of described target vehicle, controls described target vehicle and described obstacle vehicle is carried out automatically with car.
Optionally, described automatically with car module, it is configured to: keep predeterminable range with described obstacle vehicle and described obstacle vehicle carried out automatically with car.
Optionally, described signal lights detection module, it is configured to:
Obtain the image information in described target vehicle front；
According to whether the traffic light that described image information detects described primary nodal point place corresponding are green light.
The technical scheme that the embodiment of the present invention provides has the benefit that
By when target vehicle distance primary nodal point predeterminable range, according to target vehicle whether by whether the traffic light that stop line corresponding to primary nodal point place and primary nodal point place are corresponding are green light, and according to circumstances control target vehicle and pass through primary nodal point according to the curvature of primary nodal point, solve in correlation technique vehicle by node time, it is necessary to the problem that driver is performed manually by control.Having reached target vehicle can according to the effect controlled by node, it is not necessary to driver is performed manually by control.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, below the accompanying drawing used required during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the implementation environment schematic diagram of the control method for vehicle involved by each embodiment of the present invention；
Fig. 2 is the flow chart of a kind of control method for vehicle that the invention process exemplifies；
Fig. 3-1 is the flow chart of the another kind of control method for vehicle that the invention process exemplifies；
Fig. 3-2 detects the flow chart whether traffic light corresponding to primary nodal point place are green light in Fig. 3-1 illustrated embodiment；
Fig. 3-3 controls, according to predetermined control strategy, the flow chart that target vehicle travels in Fig. 3-1 illustrated embodiment；
Fig. 4-1 is the block diagram of a kind of controller of vehicle that the invention process exemplifies；
Fig. 4-2 is the block diagram of stop line detection module in controller of vehicle shown in Fig. 4-1；
Fig. 4-3 is the block diagram of the another kind of controller of vehicle that the invention process exemplifies.
By above-mentioned accompanying drawing, it has been shown that the embodiment that the present invention is clear and definite, will there is more detailed description hereinafter.These accompanying drawings and word are described and are not intended to be limited by any mode the scope of present inventive concept, but by idea of the invention being described with reference to specific embodiment for those skilled in the art.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
Fig. 1 is the implementation environment schematic diagram of the control method for vehicle involved by each embodiment of the present invention, and this implementation environment may include that navigation system 11, radar 12, industrial computer 13, video camera 14 and performance element 15.
Navigation system 11 is for being input to industrial computer by the speed-limiting messages in the section of target vehicle current driving in real time, and navigation system 11 can also be the devices such as cyberdog.
Radar 12 can be millimetre-wave radar, for detecting the obstacle information of vehicles in target vehicle front, and is input in industrial computer by obstacle information of vehicles in real time.Millimetre-wave radar can be connected with industrial computer 13 by PCAN (CAN turns USB interface).
Industrial computer (IndustrialPersonalComputer, IPC) 13 is a kind of employing bus structures, production process and electromechanical equipment, technological equipment are carried out the instrument general name of Detection & Controling, industrial computer 13 is embedded with corresponding control strategy and logical order, and industrial computer 13 is used for controlling performance element 15.
Video camera 14 is used for detecting front road conditions, and detects lane line by image processing techniques in industrial computer 13, by lane line information input to industrial computer 13.
Performance element 15 includes multiple actual control unit, it is possible to includes at least one in Throttle Opening Control unit, brake control unit and steering wheel control unit, and then realizes directly controlling throttle, brake and steering wheel.
Navigation system 11, radar 12, video camera 14 and performance element 15 can all be set up to have with industrial computer 13 and be connected.
Fig. 2 is the flow chart of a kind of control method for vehicle that the invention process exemplifies, and the present embodiment is applied to control target vehicle with this wagon control and illustrates.This control method for vehicle can include following several step:
In step 201, obtaining travel routes information, travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, at least two continuous print section.
In step 202., when target vehicle distance primary nodal point predeterminable range, starting to detect whether target vehicle passes through the stop line that primary nodal point place is corresponding, primary nodal point is any node being positioned at target vehicle front in travel routes information.
In step 203, when target vehicle is by stop line, primary nodal point is passed through according to the curvature control target vehicle at primary nodal point place.
In step 204, when target vehicle does not pass through stop line, whether the traffic light detecting primary nodal point place corresponding are green light.
In step 205, when traffic light are green light, pass through primary nodal point according to the curvature control target vehicle of primary nodal point.
In step 206, when traffic signal are not green light, control target vehicle brake.
In sum, the control method for vehicle that the embodiment of the present invention provides, by when target vehicle distance primary nodal point predeterminable range, according to target vehicle whether by whether the traffic light that stop line corresponding to primary nodal point place and primary nodal point place are corresponding are green light, and according to circumstances control target vehicle and pass through primary nodal point according to the curvature of primary nodal point, solve in correlation technique vehicle by node time, it is necessary to the problem that driver is performed manually by control.Having reached target vehicle can according to the effect controlled by node, it is not necessary to driver is performed manually by control.
Fig. 3-1 is the flow chart of the another kind of control method for vehicle that the invention process exemplifies, and the present embodiment is applied to control target vehicle with this wagon control and illustrates.This control method for vehicle can include following several step:
In step 301, travel routes information is obtained.Perform step 302.
When the control method for vehicle provided by the embodiment of the present invention controls target vehicle, first can obtaining travel routes information by navigation system, this travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, at least two continuous print section.Node can be the crossing including traffic lights and stop line.
Exemplary, driver to drive target vehicle and go to B ground from A, after the two place is inputted navigation system by driver, navigation system can obtain travel routes information and (be likely to there is multiple travel routes information, may select one of them), the information in the multiple continuous print sections with can including A in this travel routes information and between B ground.
In step 302, it is judged that whether target vehicle arrives the position of distance primary nodal point predeterminable range.When target vehicle arrives the position of distance primary nodal point predeterminable range, perform step 303, perform step 312 when target vehicle does not arrive the position of distance primary nodal point predeterminable range.
After obtaining travel routes information, it is possible to obtained the position of target vehicle by navigation system in real time, and judge whether target vehicle arrives the position of distance primary nodal point predeterminable range.
In step 303, whether detection target vehicle front exists obstacle vehicle.When target vehicle front is absent from obstacle vehicle, perform step 304, when target vehicle front exists obstacle vehicle, perform step 305.
When target vehicle distance primary nodal point predeterminable range, it is possible to whether detection target vehicle front exists obstacle vehicle, and primary nodal point is any node being positioned at target vehicle front in travel routes information, and obstacle vehicle is the vehicle on target vehicle current driving lane.
By the position then passing through the target vehicle that navigation system obtains, the physical location of this position and target vehicle would be likely to occur certain error, thus can when distance primary nodal point predeterminable range, whether exist obstacle vehicle, for being prepared by primary nodal point if beginning to detection target vehicle front.
In step 304, start to detect whether target vehicle passes through stop line.When target vehicle is by stop line, perform step 309, when target vehicle does not pass through stop line, perform step 310.
When target vehicle front is absent from obstacle vehicle, it is possible to start to detect whether target vehicle passes through stop line.When target vehicle soon arrives primary nodal point, if target vehicle front is absent from obstacle vehicle, then can start whether to detect target vehicle by stop line, and according to whether perform corresponding step by stop line.This stop line is a kind of road traffic marking, and when traffic light are red light, vehicle can not cross stop line.
In step 305, the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle are obtained.Perform step 306.
When there is obstacle vehicle in target vehicle front, it is possible to obtain the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle.Target vehicle can be obtained and the speed difference of obstacle vehicle by millimetre-wave radar, is obtained the current driving speed of target vehicle by the vehicle wheel rotational speed of target vehicle.
Within step 306, whether the speed difference of detection target vehicle and obstacle vehicle is equal to the current driving speed of target vehicle.When speed difference is equal to the current driving speed of target vehicle, perform step 307, when speed difference is not equal to the current driving speed of target vehicle, perform step 308.
After the speed difference of the current driving speed and target vehicle and obstacle vehicle that obtain target vehicle, whether the speed difference of detection target vehicle and obstacle vehicle is equal to the current driving speed of target vehicle, and according to circumstances performs corresponding step.
In step 307, target vehicle brake is controlled.
When speed difference is equal to the current driving speed of target vehicle, the translational speed that the obstacle vehicle in target vehicle front is described is zero, namely obstacle vehicle is likely to be due to the situations such as red light and remains static, now in order to avoid target vehicle and obstacle vehicle collide, it is possible to control target vehicle slowing-down brake.The concrete grammar controlling target vehicle slowing-down brake is referred to correlation technique, and the embodiment of the present invention repeats no more.
After obstacle vehicle re-moves, it is possible to control target vehicle and restart.Namely, after this step terminates, it is possible to re-execute step 305, obtain the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle, and according to circumstances perform corresponding step.
In step 308, control target vehicle obstacle vehicle to be carried out automatically with car.
When speed difference is not equal to the current driving speed of target vehicle, illustrate that the obstacle vehicle in front travels, now can control target vehicle and obstacle vehicle be carried out automatically with car.
Alternatively, control target vehicle keep predeterminable range with obstacle vehicle and obstacle vehicle carried out automatically with car.This predeterminable range can be 5 meters.
Target vehicle obstacle vehicle carried out automatically with car until after crossing stop line, it is possible to perform step 309.
In a step 309, the curvature control target vehicle according to primary nodal point place passes through primary nodal point.
When target vehicle is by stop line, it is possible to control target vehicle and pass through primary nodal point according to the curvature control target vehicle at primary nodal point place.
At target vehicle by after primary nodal point, target vehicle can enter next section to be continued to travel.Step 312 can be performed.
In the step 310, whether the traffic light that detection primary nodal point place is corresponding are green light.When traffic light are green light, perform step 309, when traffic signal are not green light, perform step 311.
When target vehicle does not pass through stop line, it is possible to whether the traffic light detecting primary nodal point place corresponding are green light.
When target vehicle does not pass through stop line, it is necessary to consider whether traffic light are green light, and according to whether traffic light are that green light controls target vehicle, it is to avoid target vehicle violates the traffic regulations.
As shown in figure 3-2, this step can include following two sub-step:
In sub-step 3101, obtain the image information in target vehicle front.
When target vehicle does not pass through stop line, it is possible to obtained the image information in target vehicle front by video camera.This video camera can be installed on the front of target vehicle, in order to obtains the image information at target vehicle junction ahead place.
In sub-step 3102, according to whether the traffic light that image information detects primary nodal point place corresponding are green light.
After obtaining image information, it is possible to according to whether the traffic light that image information detects primary nodal point place corresponding are green light.This image information is the image information at target vehicle junction ahead place, it is possible to this image information is processed and detected whether traffic light corresponding to primary nodal point place are green light, and concrete detection process is referred to correlation technique, does not repeat them here.
It should be noted that can traffic light corresponding to primary nodal point be indicate the target vehicle by the traffic light of primary nodal point on the travel route of target vehicle.
In step 311, target vehicle brake is controlled.
When traffic signal are not green light, it is possible to control target vehicle brake.After controlling target vehicle brake, it is possible to perform step 303.
In step 312, control target vehicle according to predetermined control strategy to travel.
Travel when arbitrary section at target vehicle, it is possible to control target vehicle according to predetermined control strategy and travel.Exemplary, as shown in Fig. 3-3, this step can include following 12 sub-steps:
In sub-step S301, obtain the speed limit of target vehicle current driving road segment.Perform sub-step S302.
In sub-step S302, control target vehicle with the speeds less than or equal to speed limit.Perform sub-step S303.
In sub-step S303, whether detection target vehicle front exists obstacle vehicle.When target vehicle front is absent from obstacle vehicle, perform sub-step S304, when target vehicle front exists obstacle vehicle, perform sub-step S305.
In sub-step S304, control target vehicle and be maintained on the track of current driving and travel.
It is maintained on the track of current driving after traveling controlling target vehicle, it is possible to perform sub-step S301 and obtain the speed limit of target vehicle current driving road segment in real time, and the speed of target vehicle is carried out real-time adjustment.
In sub-step S305, obtain the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle.
In sub-step S306, whether detection speed difference is equal to the current driving speed of target vehicle.When speed difference is equal to the current driving speed of target vehicle, perform sub-step S307；When speed difference is not equal to the current driving speed of target vehicle, perform sub-step S308.
In sub-step S307, control target vehicle brake.
After obstacle vehicle re-moves, it is possible to control target vehicle and restart.Namely, after this step terminates, it is possible to re-execute sub-step S305, obtain the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle, and according to circumstances perform corresponding step.
In sub-step S308, whether detection speed difference is more than zero.When speed difference is more than zero, perform sub-step S309, when speed difference is not more than zero, perform sub-step S312.
In sub-step S309, whether 1-Δ v/v is more than predetermined coefficient in detection.When 1-Δ v/v is more than predetermined coefficient, perform sub-step S310, when 1-Δ v/v is not more than predetermined coefficient, perform sub-step S311.
In sub-step S310, control target vehicle and obstacle vehicle is carried out automatically with car.
When controlling target vehicle and obstacle vehicle being carried out automatically with car, it is possible to perform sub-step S305.
In sub-step S311, obstacle vehicle is carried out avoidance and overtakes other vehicles by control target vehicle.
Carrying out after avoidance overtakes other vehicles, it is possible to perform sub-step S301, namely control the travel speed of target vehicle according to the speed limit of current road segment.
In sub-step S312, control target vehicle and be maintained on the track of current driving and travel.
This step enters track at control target vehicle and keeps pattern to be referred to step S304, does not repeat them here.
It should be added that the control method for vehicle that the embodiment of the present invention provides controls target vehicle by the traffic light corresponding according to primary nodal point place, reached the effect avoiding target vehicle to violate the traffic regulations.
It should be added that, the control method for vehicle that the embodiment of the present invention provides, by judging whether the speed difference of the obstacle vehicle of target vehicle and front controls target vehicle equal to the current driving speed of target vehicle, reach the effect avoiding target vehicle with obstacle automobile crash.
In sum, the control method for vehicle that the embodiment of the present invention provides, by when target vehicle distance primary nodal point predeterminable range, according to target vehicle whether by whether the traffic light that stop line corresponding to primary nodal point place and primary nodal point place are corresponding are green light, and according to circumstances control target vehicle and pass through primary nodal point according to the curvature of primary nodal point, solve in correlation technique vehicle by node time, it is necessary to the problem that driver is performed manually by control.Having reached target vehicle can according to the effect controlled by node, it is not necessary to driver is performed manually by control.
Following for disclosure device embodiment, it is possible to be used for performing method of disclosure embodiment.For the details not disclosed in disclosure device embodiment, refer to method of disclosure embodiment.
Fig. 4-1 is the block diagram of a kind of controller of vehicle according to an exemplary embodiment, this controller of vehicle can pass through software, hardware or both be implemented in combination with become the some or all of of camera terminal.This controller of vehicle may include that
Route acquiring module 410, is configured to obtain travel routes information, and travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, at least two continuous print section.
Stop line detection module 420, is configured to, when target vehicle distance primary nodal point predeterminable range, start to detect whether target vehicle passes through the stop line that primary nodal point place is corresponding, and primary nodal point is any node being positioned at target vehicle front in travel routes information.
Node passes through module 430, is configured to, when target vehicle is by stop line, pass through primary nodal point according to the curvature control target vehicle at primary nodal point place.
Signal lights detection module 440, is configured to when target vehicle does not pass through stop line, and whether the traffic light detecting primary nodal point place corresponding are green light.
Green light passes through module 450, is configured to green light when traffic light are green light, passes through primary nodal point according to the curvature control target vehicle of primary nodal point.
First brake module 460, is configured to, when traffic signal are not for green light, control target vehicle brake.
In sum, the controller of vehicle that the embodiment of the present invention provides, by when target vehicle distance primary nodal point predeterminable range, according to target vehicle whether by whether the traffic light that stop line corresponding to primary nodal point place and primary nodal point place are corresponding are green light, and according to circumstances control target vehicle and pass through primary nodal point according to the curvature of primary nodal point, solve in correlation technique vehicle by node time, it is necessary to the problem that driver is performed manually by control.Having reached target vehicle can according to the effect controlled by node, it is not necessary to driver is performed manually by control.
Optionally, as shown in the Fig. 4-2, stop line detection module 420, including:
Obstacle detection submodule 421, is configured to whether detection target vehicle front exists obstacle vehicle, and obstacle vehicle is the vehicle on target vehicle current driving lane.
Stop line detection sub-module 422, is configured to, when target vehicle front is absent from obstacle vehicle, start to detect whether target vehicle passes through stop line.
Optionally, as shown in Fig. 4-3, this device also includes:
Speed difference acquisition module 470, is configured to when target vehicle front exists obstacle vehicle, obtains the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle.
Second brake module 480, is configured to, when speed difference is equal to the current driving speed of target vehicle, control target vehicle brake.
Automatically with car module 490, it is configured to when speed difference is not equal to the current driving speed of target vehicle, controls target vehicle and obstacle vehicle is carried out automatically with car.
Optionally, automatically with car module 490, it is configured to: keep predeterminable range with obstacle vehicle and obstacle vehicle carried out automatically with car.
Optionally, signal lights detection module 440, it is configured to:
Obtain the image information in target vehicle front；According to whether the traffic light that image information detects primary nodal point place corresponding are green light.
It should be added that the controller of vehicle that the embodiment of the present invention provides controls target vehicle by the traffic light corresponding according to primary nodal point place, reached the effect avoiding target vehicle to violate the traffic regulations.
It should be added that, the controller of vehicle that the embodiment of the present invention provides, by judging whether the speed difference of the obstacle vehicle of target vehicle and front controls target vehicle equal to the current driving speed of target vehicle, reach the effect avoiding target vehicle with obstacle automobile crash.
In sum, the controller of vehicle that the embodiment of the present invention provides, by when target vehicle distance primary nodal point predeterminable range, according to target vehicle whether by whether the traffic light that stop line corresponding to primary nodal point place and primary nodal point place are corresponding are green light, and according to circumstances control target vehicle and pass through primary nodal point according to the curvature of primary nodal point, solve in correlation technique vehicle by node time, it is necessary to the problem that driver is performed manually by control.Having reached target vehicle can according to the effect controlled by node, it is not necessary to driver is performed manually by control.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can be completed by hardware, can also be completed by the hardware that program carrys out instruction relevant, described program can be stored in a kind of computer-readable recording medium, storage medium mentioned above can be read only memory, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. a control method for vehicle, it is characterised in that described method includes:
Obtaining travel routes information, described travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, described at least two continuous print section；
When target vehicle distance primary nodal point predeterminable range, starting to detect whether described target vehicle passes through the stop line that primary nodal point place is corresponding, described primary nodal point is any node being positioned at described target vehicle front in described travel routes information；
When described target vehicle is by described stop line, according to the curvature control at described primary nodal point place, target vehicle passes through described primary nodal point；
When described target vehicle does not pass through described stop line, detect whether traffic light corresponding to described primary nodal point place are green light；
When described traffic light are green light, according to the curvature control of described primary nodal point, target vehicle passes through described primary nodal point；
When described traffic signal are not green light, control the brake of described target vehicle.
2. method according to claim 1, it is characterised in that described beginning detects whether described target vehicle passes through the stop line that primary nodal point place is corresponding, including:
Detecting whether described target vehicle front exists obstacle vehicle, described obstacle vehicle is the vehicle on described target vehicle current driving lane；
When described target vehicle front is absent from described obstacle vehicle, start whether to detect described target vehicle by described stop line.
3. method according to claim 2, it is characterised in that after whether the described target vehicle front of described detection exists obstacle vehicle, described method also includes:
When described target vehicle front exists described obstacle vehicle, obtain the current driving speed of described target vehicle and the speed difference of described target vehicle and described obstacle vehicle；
When described speed difference is equal to the current driving speed of described target vehicle, control the brake of described target vehicle；
When described speed difference is not equal to the current driving speed of described target vehicle, controls described target vehicle and described obstacle vehicle is carried out automatically with car.
4. method according to claim 3, it is characterised in that described obstacle vehicle is carried out automatically with car by the described target vehicle of described control, including:
Keep predeterminable range with described obstacle vehicle and described obstacle vehicle carried out automatically with car.
5. according to the arbitrary described method of Claims 1-4, it is characterised in that whether the traffic light of the described primary nodal point of described detection are green light, including:
Obtain the image information in described target vehicle front；
According to whether the traffic light that described image information detects described primary nodal point place corresponding are green light.
6. a controller of vehicle, it is characterised in that described device includes:
Route acquiring module, is configured to obtain travel routes information, and described travel routes information includes the information at least two continuous print section and the curvature at intermediate node place, described at least two continuous print section；
Stop line detection module, it is configured to when target vehicle distance primary nodal point predeterminable range, starting to detect whether described target vehicle passes through the stop line that primary nodal point place is corresponding, described primary nodal point is any node being positioned at described target vehicle front in described travel routes information；
Node passes through module, is configured to when described target vehicle is by described stop line, and according to the curvature control at described primary nodal point place, target vehicle passes through described primary nodal point；
Signal lights detection module, is configured to when described target vehicle does not pass through described stop line, detects whether traffic light corresponding to described primary nodal point place are green light；
Green light passes through module, is configured to green light when described traffic light are green light, and according to the curvature control of described primary nodal point, target vehicle passes through described primary nodal point；
First brake module, is configured to, when described traffic signal are not for green light, control the brake of described target vehicle.
7. device according to claim 6, it is characterised in that described stop line detection module, including:
Obstacle detection submodule, is configured to detect whether described target vehicle front exists obstacle vehicle, and described obstacle vehicle is the vehicle on described target vehicle current driving lane；
Stop line detection sub-module, is configured to when described target vehicle front is absent from described obstacle vehicle, starts whether to detect described target vehicle by described stop line.
8. device according to claim 7, it is characterised in that described device also includes:
Speed difference acquisition module, is configured to when described target vehicle front exists described obstacle vehicle, obtains the current driving speed of described target vehicle and the speed difference of described target vehicle and described obstacle vehicle；
Second brake module, is configured to, when described speed difference is equal to the current driving speed of described target vehicle, control the brake of described target vehicle；
Automatically with car module, it is configured to when described speed difference is not equal to the current driving speed of described target vehicle, controls described target vehicle and described obstacle vehicle is carried out automatically with car.
9. device according to claim 8, it is characterised in that described automatically with car module, is configured to: keeps predeterminable range with described obstacle vehicle and described obstacle vehicle is carried out automatically with car.
10., according to the arbitrary described device of claim 6 to 9, it is characterised in that described signal lights detection module, it is configured to:
Obtain the image information in described target vehicle front；
According to whether the traffic light that described image information detects described primary nodal point place corresponding are green light.
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