CN105788369A - Overtaking control method and device used for unmanned vehicle - Google Patents
Overtaking control method and device used for unmanned vehicle Download PDFInfo
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- CN105788369A CN105788369A CN201610374246.4A CN201610374246A CN105788369A CN 105788369 A CN105788369 A CN 105788369A CN 201610374246 A CN201610374246 A CN 201610374246A CN 105788369 A CN105788369 A CN 105788369A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The invention discloses an overtaking control method and device used for an unmanned vehicle.The embodiment of the method includes the steps that overtaking request information sent by a vehicle to overtake is received and includes identification information of the vehicle to overtake and information of the position relative to the unmanned vehicle; whether the current road segment allows overtaking or not is detected; responding to the detection result that the current road segment allows overtaking, the distance between adjacent road segments is adjusted according to the information of the position relative to the unmanned vehicle; according to information of the adjusted distance, an overtaking signal is sent to the vehicle to overtake.Overtaking safety is ensured by the implement mode.
Description
Technical field
The application relates to automatic driving vehicle technical field, is specifically related to automatic driving vehicle networking technology field, particularly relates to overtake other vehicles control method and and the device of automatic driving vehicle.
Background technology
Automatic driving vehicle is a kind of novel intelligent automobile, also referred to as " wheeled mobile robot ", mainly through ECU (ElectronicControlUnit, electronic control unit), namely various piece in vehicle is carried out controlling accurately to realize the fully automatic operation of vehicle with computational analysis by vehicle-mounted terminal equipment, reaches the unpiloted purpose of vehicle.
Existing vehicle cut-ins technology is usually passing vehicle and decides whether to overtake other vehicles according to self position and information, this kind of situation is difficult to same surrounding vehicles and reaches common understanding, simultaneously, automatic driving vehicle carries out the operation of accurately high speed mainly through electronic control unit, when not reaching common understanding with other vehicles, it is difficult to ensure security reliability when overtaking other vehicles.
Summary of the invention
The purpose of the application is in that to propose overtake other vehicles control method and the device for automatic driving vehicle of a kind of improvement, solves the technical problem that background section above is mentioned.
First aspect, this application provides a kind of control method of overtaking other vehicles for automatic driving vehicle, described method includes: receives and treats the solicited message of overtaking other vehicles that passing vehicle sends, wherein, solicited message of overtaking other vehicles described in include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；Whether detection current road segment is section of can overtaking other vehicles；In response to current road segment for section can be overtaken other vehicles, according to described relative position information, adjustment and the distance between Adjacent vehicles；According to the range information after adjusting, treat that passing vehicle sends overtaking signal to described.
In certain embodiments, described is section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjust the distance between Adjacent vehicles, including: relative to the travel direction of described automatic driving vehicle, when described until on the right side of passing vehicle is positioned at described automatic driving vehicle side time, adjust the distance between described automatic driving vehicle and the first vehicle and the second vehicle, wherein, described first vehicle is positioned at the just front of described automatic driving vehicle, and described second vehicle is positioned at the right front of described automatic driving vehicle；Travel direction relative to described automatic driving vehicle, when described until on the left of passing vehicle is positioned at described automatic driving vehicle side time, adjusting the distance between described automatic driving vehicle and described first vehicle and the 3rd vehicle, wherein, described 3rd vehicle is positioned at the left front of described automatic driving vehicle.
In certain embodiments, described is section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles, comprises determining that whether distance to be adjusted is less than preset safe distance threshold value；In response to distance to be adjusted less than preset safe distance threshold value, speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value.
In certain embodiments, described determine that whether distance to be adjusted is less than preset safe distance threshold value, including: obtain the speed that described automatic driving vehicle is current；The safe distance threshold value under current vehicle speed is determined according to described speed.
In certain embodiments, described in response to distance to be adjusted less than preset safe distance threshold value, speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value, including: obtain the information of Adjacent vehicles, wherein, described information include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between described automatic driving vehicle, described information is by the sensor acquisition being placed in described automatic driving vehicle.
In certain embodiments, described sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
Second aspect, this application provides a kind of super truck control device for automatic driving vehicle, described device includes: information receiving unit, configuration is for receiving the solicited message of overtaking other vehicles treating that passing vehicle sends, wherein, solicited message of overtaking other vehicles described in include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；Detection unit, configuration is used for detecting whether current road segment is section of can overtaking other vehicles；Distance adjusting unit, configuration is for being section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles；To described, signal sending unit, according to the range information after adjusting, treats that passing vehicle sends overtaking signal.
In certain embodiments, the configuration of described distance adjusting unit is further used for: relative to the travel direction of described automatic driving vehicle, when described until on the right side of passing vehicle is positioned at described automatic driving vehicle side time, adjust the distance between described automatic driving vehicle and the first vehicle and the second vehicle, wherein, described first vehicle is positioned at the just front of described automatic driving vehicle, and described second vehicle is positioned at the right front of described automatic driving vehicle；Travel direction relative to described automatic driving vehicle, when described until on the left of passing vehicle is positioned at described automatic driving vehicle side time, adjusting the distance between described automatic driving vehicle and described first vehicle and the 3rd vehicle, wherein, described 3rd vehicle is positioned at the left front of described automatic driving vehicle.
In certain embodiments, described distance adjusting unit, including: safe distance threshold value subelement, configuration is for determining that whether distance to be adjusted is less than preset safe distance threshold value；Adjusting subelement, configuration is used in response to distance to be adjusted less than preset safe distance threshold value, and speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value.
In certain embodiments, the configuration of described safe distance threshold value subelement is further used for: obtain the speed that described automatic driving vehicle is current；The safe distance threshold value under current vehicle speed is determined according to described speed.
In certain embodiments, the configuration of described adjustment subelement is further used for: obtain the information of Adjacent vehicles, wherein, described information include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between described automatic driving vehicle, described information is by the sensor acquisition being placed in described automatic driving vehicle.
In certain embodiments, described sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
Overtake other vehicles control method and the device for automatic driving vehicle that the application provides, by receiving the identification information treating passing vehicle, determine the relative position treating passing vehicle, then detect whether the section being currently located is section of can overtaking other vehicles, if current road segment can be overtaken other vehicles, then according to the relative position treating passing vehicle, adjust the distance of the vehicle adjacent with automatic driving vehicle, finally according to the range information after adjusting, to treating that passing vehicle sends overtaking signal, thus ensureing the safety that automatic driving vehicle is overtaken other vehicles, effectively overtaking other vehicles of automatic driving vehicle is controlled.
Accompanying drawing explanation
By reading the detailed description that non-limiting example is made made with reference to the following drawings, other features, purpose and advantage will become more apparent upon:
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the flow chart of an embodiment of the control method of overtaking other vehicles for automatic driving vehicle according to the application；
Fig. 3 a and Fig. 3 b is the schematic diagram of an application scenarios of the control method of overtaking other vehicles for automatic driving vehicle according to the application；
Fig. 4 is the flow chart of another embodiment of the control method of overtaking other vehicles for automatic driving vehicle according to the application；
Fig. 5 is the structural representation of an embodiment of the super truck control device for automatic driving vehicle according to the application；
Fig. 6 is adapted for the structural representation of the computer system for the terminal unit or server realizing the embodiment of the present application.
Detailed description of the invention
Below in conjunction with drawings and Examples, the application is described in further detail.It is understood that specific embodiment described herein is used only for explaining related invention, but not the restriction to this invention.It also should be noted that, for the ease of describing, accompanying drawing illustrate only the part relevant to about invention.
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 illustrates the exemplary system architecture 100 of embodiment of overtake other vehicles control method or the control method device of overtaking other vehicles for automatic driving vehicle for automatic driving vehicle that can apply the application.
As shown in Figure 1, system architecture 100 can include the vehicle-mounted terminal equipment 101,102,103 of automatic driving vehicle, treat the vehicle-mounted terminal equipment 107,108,109 of passing vehicle, network 104,106, to the vehicle-mounted terminal equipment 101,102,103 of automatic driving vehicle and treat the server 105 that the vehicle-mounted terminal equipment 107,108,109 of passing vehicle is supported.Network 104 in order to provide the medium of communication link between vehicle-mounted terminal equipment 101,102,103 and the server 105 of automatic driving vehicle, and network 106 in order to provide the medium of communication link between vehicle-mounted terminal equipment 107,108,109 and the server 105 for the treatment of passing vehicle.Network 104,106 can include various connection type, for instance wired, wireless communication link, global positioning system or fiber optic cables etc..
Vehicle-mounted terminal equipment 101,102,103 is provided with the control system of automatic driving vehicle, it can be mutual either directly through network 104 and server 105, vehicle-mounted terminal equipment 107,108,109 is installed and needs the control system of passing vehicle, it can be mutual with server 105 either directly through network 106, and vehicle-mounted terminal equipment 101,102,103 may be also connected to each sensor for detecting vehicle working condition, for providing the display screen etc. of information input and display.
Server 105 can be the server controlling to provide service for overtaking other vehicles, for instance can receive the server of the request of overtaking other vehicles that vehicle-mounted terminal equipment 107,108,109 sends.The data such as request of overtaking other vehicles received can be sent to vehicle-mounted terminal equipment 101,102,103 by server.
It should be understood that the number of terminal unit in Fig. 1, network and server is merely schematic.According to realizing needs, it is possible to have any number of terminal unit, network and server.
With continued reference to Fig. 2, it is shown that the flow process 200 according to an embodiment of the control method of overtaking other vehicles for automatic driving vehicle of the application.The described control method of overtaking other vehicles for automatic driving vehicle, comprises the following steps:
Step 201, receives and treats the solicited message of overtaking other vehicles that passing vehicle sends.
In the present embodiment, run on electronic equipment thereon (such as the vehicle-mounted terminal equipment 101,102,103 shown in Fig. 1) for the control method of overtaking other vehicles of automatic driving vehicle to pass through the mode of wireless connections from server, receive the solicited message of overtaking other vehicles treating that passing vehicle sends, wherein, above-mentioned solicited message of overtaking other vehicles include the vehicle identification information treating passing vehicle and treat the relative position information of passing vehicle and above-mentioned automatic driving vehicle.It is pointed out that above-mentioned radio connection can include but not limited to that 3G/4G connects, WiFi connects, bluetooth connects, WiMAX connects, Zigbee connects, UWB (ultrawideband) connects and other currently known or exploitation in the future radio connection.
Generally, treat that passing vehicle utilization runs on electronic equipment thereon (such as the vehicle-mounted terminal equipment 107,108,109 shown in Fig. 1) and sends, to server, the request of overtaking other vehicles by the mode of wireless connections, server is according to above-mentioned request, first determine that the identification information treating passing vehicle, above-mentioned identification information can include license plate number of the color of vehicle, the vehicle of vehicle, vehicle etc..According to above-mentioned identification information, it is determined that treat the relative position information between passing vehicle and automatic driving vehicle, for instance treat passing vehicle in the left side side of automatic driving vehicle, right side side or rear side side.The data identification information treating passing vehicle analyzed and relative position information are sent to automatic driving vehicle by server.Exemplarily, first a red automobile that license plate number is " abcd " sends the information asked of overtaking other vehicles, after server receives solicited message of overtaking other vehicles, be resolved to this request send vehicle be designated color redness, license plate number is " abcd ", sending this information to automatic driving vehicle, automatic driving vehicle receives this solicited message.
Step 202, whether detection current road segment is section of can overtaking other vehicles.
In the present embodiment, based on the request of overtaking other vehicles that passing vehicle sends for the treatment of received in step 201, above-mentioned electronic equipment (terminal unit 101,102,103 of the such as automatic driving vehicle shown in Fig. 1) can detect whether the section of automatic driving vehicle current driving is the section that can carry out overtaking other vehicles.Wherein, the above-mentioned section being not available for overtaking other vehicles can be the section of no Overtaking in traffic law for present road；Can also be that present road is crowded, be not easy to the section overtaken other vehicles.Exemplarily, to being whether that can the overtake other vehicles detection in section can include the direction board according to the no Overtaking arranged on road, the mark of direction board is preset in automatic driving vehicle.Under current road segment, if the terminal unit of automatic driving vehicle detects this mark, then being judged to overtake other vehicles, if being not detected by this mark, then being judged to overtake other vehicles.Whether to being that can the overtake other vehicles detection in section can also include sending to server the road section information of current road segment, server can send, according to the information of current road segment, the information whether can overtaken other vehicles to automatic driving vehicle.
In the present embodiment, in above-mentioned traffic law, the section of no Overtaking includes the possible sections of not overtaking other vehicles such as level crossing, intersection, narrow bridge, bend, abrupt slope, tunnel, crossing.Except the section of above-mentioned no Overtaking, current vehicle is turned left, turns around or is overtaken other vehicles, and is not suitable for overtaking other vehicles；Time above for vehicles such as the police car carried out an urgent task, fire fighting truck, ambulance, breakdown lorrys, also it is not suitable for overtaking other vehicles.
In the present embodiment, it is crowded that vehicle is in road, when being not easy to the section overtaken other vehicles, according to section situation, comparatively can evacuate at vehicle, it is possible to for, when passing vehicle is created and overtaken other vehicles condition, section of can not overtaking other vehicles being corrected as section of can overtaking other vehicles.
Step 203, in response to current road segment for overtaking other vehicles section, according to the relative position information treated between passing vehicle and automatic driving vehicle, adjustment and the distance between Adjacent vehicles.
According to the judgement whether can overtaken other vehicles about current road segment made in step 202, when determining that current road segment is to overtake other vehicles section, namely can be treat passing vehicle create overtake other vehicles condition when, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle according to the relative position information treating passing vehicle and above-mentioned automatic driving vehicle determined in step 201, can adjust automatic driving vehicle and be adjacent the distance of vehicle.
Exemplarily, above-mentioned Adjacent vehicles can include the travel direction relative to automatic driving vehicle, it is positioned at the vehicle of the dead ahead of above-mentioned automatic driving vehicle, is positioned at the vehicle of side on the left of above-mentioned automatic driving vehicle and is positioned at the vehicle of side on the right side of above-mentioned automatic driving vehicle.Above-mentioned Adjacent vehicles can also include the Adjacent vehicles determined based on adjacent thresholds distance preset in automatic driving vehicle.The vehicle-mounted terminal equipment of automatic driving vehicle is by adjusting the distance of automatic driving vehicle and Adjacent vehicles, it is possible to for treating that passing vehicle reserves position, in order to treat that passing vehicle can carry out safety and overtake other vehicles.
Step 204, according to the range information after adjusting, to treating that passing vehicle sends overtaking signal.
In the present embodiment, after automatic driving vehicle is adjacent in step 203 the distance adjustment between vehicle, treat that passing vehicle can carry out under safe cut-in situation determining, to above-mentioned, automatic driving vehicle treats that passing vehicle sends the instruction or signal overtaken other vehicles.
In the present embodiment, after determining and can overtaking other vehicles, instruction of overtaking other vehicles can be sent to server by the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle, after server receives this indication signal, then sends an indication to treat the terminal unit of passing vehicle.Above-mentioned automatic driving vehicle can also by instruction equipment such as preset display lamps onboard directly to treating that passing vehicle sends overtaking signal.
It it is a schematic diagram of the application scenarios of the control method of overtaking other vehicles for automatic driving vehicle according to the present embodiment with continued reference to Fig. 3 a and Fig. 3 b, Fig. 3 a and Fig. 3 b.
In the application scenarios of Fig. 3 a, vehicle 1, vehicle 2 are all identical with the travel direction of automatic driving vehicle with vehicle 3, wherein, automatic driving vehicle and car 2 travel on same track, car 1 travels in the left-hand lane of automatic driving vehicle, and the left front at automatic driving vehicle, car 3 travels in the right-hand lane of automatic driving vehicle, and the right front at automatic driving vehicle, treat that passing vehicle is positioned at the right side side of automatic driving vehicle, and treat that the color of passing vehicle is for redness, license plate number is " 1234 ".First, automatic driving vehicle receive a red license plate number for " 1234 " treat the request of overtaking other vehicles that passing vehicle sends.Then, automatic driving vehicle detects whether current section is section of can overtaking other vehicles.
In the application scenarios of Fig. 3 b, when automatic driving vehicle detects that current section is for overtaking other vehicles behind section, automatic driving vehicle adjust its with car 1, the distance of car 2, car 3, for treating that passing vehicle creates safe condition of overtaking other vehicles.After automatic driving vehicle is by position adjustment, to treating that passing vehicle sends instruction of overtaking other vehicles.Figure treating, passing vehicle can be overtaken other vehicles from the position reserved.
The method that above-described embodiment of the application provides is by receiving the overtaking other vehicles request that passing vehicle sends for the treatment of, whether detect current road segment is can overtake other vehicles section and automatic driving vehicle adjustment with the spacing between its Adjacent vehicles, it is possible to make to overtake other vehicles safe and reliable.
With further reference to Fig. 4, it illustrates the flow process 400 of another embodiment of the control method of overtaking other vehicles for automatic driving vehicle.This is used for the flow process 400 of control method of overtaking other vehicles of automatic driving vehicle, comprises the following steps:
Step 401, receives and treats the solicited message of overtaking other vehicles that passing vehicle sends.
In the present embodiment, run on electronic equipment thereon (such as the vehicle-mounted terminal equipment 101,102,103 shown in Fig. 1) for the control method of overtaking other vehicles of automatic driving vehicle to pass through the mode of wireless connections from server, receive the solicited message of overtaking other vehicles treating that passing vehicle sends, wherein, above-mentioned solicited message of overtaking other vehicles includes the vehicle identification information treating passing vehicle to treat the relative position information of passing vehicle and above-mentioned automatic driving vehicle.
Step 402, whether detection current road segment is section of can overtaking other vehicles.
In the present embodiment, based on the request of overtaking other vehicles that passing vehicle sends for the treatment of received in step 201, above-mentioned electronic equipment (terminal unit 101,102,103 of the such as automatic driving vehicle shown in Fig. 1) can detect whether the section of current driving is the section that can carry out overtaking other vehicles.
Step 403, in response to current road segment for overtaking other vehicles section, according to the relative position information treated between passing vehicle and automatic driving vehicle, adjustment and the distance between Adjacent vehicles.
According to the judgement whether can overtaken other vehicles about current road segment made in step 402, when determining that current road segment is to overtake other vehicles section, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle according to the relative position information treating passing vehicle and above-mentioned automatic driving vehicle determined in step 401, can adjust automatic driving vehicle and be adjacent the distance of vehicle.
In some optional implementations of the present embodiment, travel direction relative to automatic driving vehicle, when being positioned at the right side side of automatic driving vehicle until passing vehicle, now, treating that passing vehicle can be overtaken other vehicles from the right side side automatic driving car, the vehicle-mounted terminal equipment of automatic driving vehicle can have only to adjust automatic driving vehicle and is positioned at the distance of automatic driving vehicle dead ahead vehicle and automatic driving vehicle and is positioned at the distance of vehicle of automatic driving vehicle right front.
In some optional implementations of the present embodiment, travel direction relative to automatic driving vehicle, when being positioned at the left side side of automatic driving vehicle until passing vehicle, now, treating that passing vehicle can be overtaken other vehicles from the left side side automatic driving car, the vehicle-mounted terminal equipment of automatic driving vehicle can have only to adjust automatic driving vehicle and is positioned at the distance of automatic driving vehicle dead ahead vehicle and automatic driving vehicle and is positioned at the distance of vehicle of automatic driving vehicle left front.
Step 404, it is determined that whether distance to be adjusted is less than preset safe distance threshold value.
In the present embodiment, safe distance threshold value between preset vehicle in the vehicle-mounted terminal equipment of automatic driving vehicle, based on step 403 being determined, current road segment is to overtake other vehicles after section, terminal unit in automatic driving vehicle when carrying out distance and adjusting to Adjacent vehicles, it is possible to first determines the safe distance the threshold value whether distance between Adjacent vehicles is preset less than in automatic driving vehicle.During the safe distance threshold value preset more than in automatic driving vehicle of the distance between automatic driving vehicle and Adjacent vehicles, it is possible to state directly up and treat that passing vehicle sends instruction of overtaking other vehicles.Wherein, safe distance is after the vehicle before automatic driving vehicle is braked suddenly, automatic driving vehicle is unlikely to knock the distance of front truck therewith braking, and safe distance is by brake action time, continuous braking time and releases the distance sum that braking time vehicle travels and determines.
In some optional implementations of the present embodiment, it is possible to first obtain the travel speed of above-mentioned automatic driving vehicle, road speed it is multiplied by above-mentioned brake action time, continuous braking time respectively and releases braking time, it is determined that above-mentioned safe distance threshold value.Automatic driving vehicle, under different road speeds, has different minimum safe distances.Automatic driving vehicle has the different continuous braking time on different road surfaces, road surface substantially can be divided into solid carbon dioxide road, dry asphalt road, wet asphalt road and wet cement road, wherein the attachment coefficient of solid carbon dioxide road is maximum, i.e. continuous braking shortest time, the attachment coefficient on wet cement road is minimum, and the continuous braking time is the longest.For 100km/h, the braking distance of dry asphalt road is 65.62m, and when brake action time of automatic driving vehicle is 0.5s, brake action time is 13.89m.Therefore, when the minimum safe distance that the road speed of automatic driving vehicle is 100km/h is 80m.Therefore, when 100km/h, the safe distance threshold value of above-mentioned automatic driving vehicle is 80m, the speed according to automatic driving vehicle, it is possible to determine the safe distance threshold value under current vehicle speed respectively.
Step 405, in response to distance to be adjusted less than preset safe distance threshold value, speed and/or direction to automatic driving vehicle are adjusted, so that distance to be adjusted is more than safe distance threshold value.
In the present embodiment, according to the safe distance threshold value under the current vehicle speed determined in step 404, when automatic driving vehicle with the distance of its Adjacent vehicles less than above-mentioned safe distance threshold value time, automatic driving vehicle is adjusted by the vehicle-mounted terminal equipment of automatic driving vehicle so that above-mentioned automatic driving vehicle with the distance of its Adjacent vehicles more than above-mentioned safe distance threshold value.Wherein it is possible to the speed of adjustment automatic driving vehicle and direction expand the distance between Adjacent vehicles.
In some optional implementations of the present embodiment, the vehicle-mounted terminal equipment of automatic driving vehicle can obtain the information of the vehicle being adjacent, wherein, above-mentioned information can include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between described automatic driving vehicle.By obtaining the lane information of Adjacent vehicles, the vehicle-mounted terminal equipment of automatic driving vehicle can first determine whether the relative position between above-mentioned Adjacent vehicles and automatic driving vehicle, so that it is determined which vehicle needs to judge safe distance threshold value in Adjacent vehicles；Then the speed information needing to adjust the Adjacent vehicles of relative distance is obtained, in conjunction with the speed information that automatic driving vehicle is current, it is determined that automatic driving vehicle is relative to the relative speed of Adjacent vehicles.According to above-mentioned relative speed, automatic driving vehicle adjusts self current speed, adjusts the locality of self simultaneously.
In some optional implementations of the present embodiment, the information of above-mentioned acquisition Adjacent vehicles can by the sensor acquisition being placed in above-mentioned automatic driving vehicle.Wherein the sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
Step 406, according to the range information after adjusting, to treating that passing vehicle sends overtaking signal.
In the present embodiment, after determining and can overtaking other vehicles, instruction of overtaking other vehicles can be sent to server by the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle, after server receives this indication signal, then sends an indication to treat the terminal unit of passing vehicle.
As can be seen from Figure 4, compared with the embodiment that Fig. 2 is corresponding, the flow process 400 of control method of overtaking other vehicles for automatic driving vehicle in the present embodiment highlights determines that whether distance that automatic driving vehicle is adjacent between vehicle is less than the safe distance threshold value being placed in automatic driving vehicle, and when distance to be adjusted is less than preset safe distance threshold value, the step that automatic driving vehicle is adjusted.Thus, the present embodiment describe scheme can so that treat passing vehicle can safer, overtake other vehicles efficiently.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides one for an embodiment of the super truck control device of automatic driving vehicle, this device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and this device specifically can apply in various electronic equipment.
As it is shown in figure 5, the super truck control device 500 for automatic driving vehicle described in the present embodiment includes: information receiving unit 501, detection unit 502, distance adjusting unit 503 and signal sending unit 504.Wherein, information receiving unit 501 configuration is for receiving the solicited message of overtaking other vehicles treating that passing vehicle sends, wherein, described in overtake other vehicles solicited message include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；Detection unit 502 configuration is used for detecting whether current road segment is section of can overtaking other vehicles；Distance adjusting unit 503 configuration is for being section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles；And signal sending unit 504 is according to the range information after adjusting, treat that passing vehicle sends overtaking signal to described.
In the present embodiment, information receiving unit 501 for the super truck control device 500 of automatic driving vehicle can receive, by the mode of wireless connections, the solicited message of overtaking other vehicles treating that passing vehicle sends from server, wherein, above-mentioned solicited message of overtaking other vehicles includes the vehicle identification information treating passing vehicle to treat the relative position information of passing vehicle and above-mentioned automatic driving vehicle.
In the present embodiment, treating, based on what information receiving unit 501 received, the request of overtaking other vehicles that passing vehicle sends, whether above-mentioned detection unit 502 can detect the section of automatic driving vehicle current driving is the section gram carrying out overtaking other vehicles.
In the present embodiment, based on the judgement whether can overtaken other vehicles about current road segment that detection unit 502 is made, above-mentioned distance adjusting unit 503 is when determining that current road segment is to overtake other vehicles section, namely can be treat passing vehicle create overtake other vehicles condition when, the vehicle-mounted terminal equipment of above-mentioned automatic driving vehicle according to the relative position information treating passing vehicle and above-mentioned automatic driving vehicle determined in information receiving unit 501, can adjust automatic driving vehicle and be adjacent the distance of vehicle.
In the present embodiment, after the distance adjustment in distance adjusting unit 503, automatic driving vehicle being adjacent between vehicle, signal sending unit 504 treats that passing vehicle can carry out under safe cut-in situation determining, to above-mentioned, automatic driving vehicle treats that passing vehicle sends the instruction or signal overtaken other vehicles.
In some optional implementations of the present embodiment, the configuration of above-mentioned distance adjusting unit 503 is further used for the travel direction relative to described automatic driving vehicle, when described until on the right side of passing vehicle is positioned at described automatic driving vehicle side time, adjust the distance between described automatic driving vehicle and the first vehicle and the second vehicle, wherein, described first vehicle is positioned at the just front of described automatic driving vehicle, and described second vehicle is positioned at the right front of described automatic driving vehicle；Travel direction relative to described automatic driving vehicle, when described until on the left of passing vehicle is positioned at described automatic driving vehicle side time, adjusting the distance between described automatic driving vehicle and described first vehicle and the 3rd vehicle, wherein, described 3rd vehicle is positioned at the left front of described automatic driving vehicle.
In some optional implementations of the present embodiment, above-mentioned distance adjusting unit 503 also includes safe distance threshold value subelement (not shown), configuration is used for automatic driving vehicle with after the range measurement of its Adjacent vehicles, it is determined that the safe distance threshold value whether this distance is preset less than in automatic driving vehicle；Adjusting subelement (not shown), configuration is used in response to distance to be adjusted less than preset safe distance threshold value, and speed and/or direction to above-mentioned automatic driving vehicle are adjusted, so that distance to be adjusted is more than above-mentioned safe distance threshold value.The configuration of above-mentioned safe distance threshold value subelement (not shown) is further used for obtaining the speed that automatic driving vehicle is current；The safe distance threshold value under current vehicle speed is determined according to speed.The configuration of above-mentioned adjustment subelement (not shown) is further used for obtaining the information of Adjacent vehicles, wherein, above-mentioned information include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between above-mentioned automatic driving vehicle, above-mentioned information is by the sensor acquisition being placed in described automatic driving vehicle, wherein, sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
Below with reference to Fig. 6, it illustrates the structural representation of the computer system 600 being suitable to the vehicle-mounted terminal equipment for realizing the embodiment of the present application.
As shown in Figure 6, computer system 600 includes CPU (CPU) 601, its can according to the program being stored in read only memory (ROM) 602 or from storage part 608 be loaded into the program random access storage device (RAM) 603 and perform various suitable action and process.In RAM603, also storage has system 600 to operate required various programs and data.CPU601, ROM602 and RAM603 are connected with each other by bus 604.Input/output (I/O) interface 705 is also connected to bus 604.
It is connected to I/O interface 605: include the importation 606 of keyboard, mouse etc. with lower component；Output part 607 including such as cathode ray tube (CRT), liquid crystal display (LCD) etc. and speaker etc.；Storage part 608 including hard disk etc.；And include the communications portion 609 of the NIC of such as LAN card, modem etc..Communications portion 609 performs communication process via the network of such as the Internet.Driver 610 is connected to I/O interface 605 also according to needs.Detachable media 611, such as disk, CD, magneto-optic disk, semiconductor memory etc., be arranged in driver 610 as required, in order to the computer program read from it is mounted into storage part 608 as required.
Especially, according to embodiment of the disclosure, the process described above with reference to flow chart may be implemented as computer software programs.Such as, embodiment of the disclosure and include a kind of computer program, it includes the computer program being tangibly embodied on machine readable media, and described computer program comprises the program code for performing the method shown in flow chart.In such embodiments, this computer program can pass through communications portion 609 and be downloaded and installed from network, and/or is mounted from detachable media 611.
Flow chart in accompanying drawing and block diagram, it is illustrated that according to the system of the various embodiment of the application, the architectural framework in the cards of method and computer program product, function and operation.In this, flow chart or each square frame in block diagram can represent a part for a module, program segment or code, and a part for described module, program segment or code comprises the executable instruction of one or more logic function for realizing regulation.It should also be noted that at some as in the realization replaced, the function marked in square frame can also to be different from the order generation marked in accompanying drawing.Such as, two square frames succeedingly represented can essentially perform substantially in parallel, and they can also perform sometimes in the opposite order, and this determines according to involved function.It will also be noted that, the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, can realize by the special hardware based system of the function or operation that perform regulation, or can realize with the combination of specialized hardware Yu computer instruction.
It is described in unit involved in the embodiment of the present application to be realized by the mode of software, it is also possible to realized by the mode of hardware.Described unit can also be arranged within a processor, for instance, it is possible to it is described as: a kind of processor includes information receiving unit, detection unit, distance adjusting unit and signal sending unit.Wherein, the title of these unit is not intended that the restriction to this unit itself under certain conditions, for instance, information receiving unit is also described as " unit that solicited message of overtaking other vehicles that passing vehicle sends is treated in reception ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, this nonvolatile computer storage media can be the nonvolatile computer storage media comprised in device described in above-described embodiment；Can also be individualism, be unkitted the nonvolatile computer storage media allocating in terminal.Above-mentioned nonvolatile computer storage media storage has one or more program, when one or multiple program are performed by an equipment, described equipment is received and treats the solicited message of overtaking other vehicles that passing vehicle sends, wherein, solicited message of overtaking other vehicles described in include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；Whether detection current road segment is section of can overtaking other vehicles；In response to current road segment for section can be overtaken other vehicles, according to described relative position information, adjustment and the distance between Adjacent vehicles；According to the range information after adjusting, treat that passing vehicle sends overtaking signal to described.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Skilled artisan would appreciate that, invention scope involved in the application, it is not limited to the technical scheme of the particular combination of above-mentioned technical characteristic, when also should be encompassed in without departing from described inventive concept simultaneously, other technical scheme being carried out combination in any by above-mentioned technical characteristic or its equivalent feature and being formed.Such as features described above and (but not limited to) disclosed herein have the technical characteristic of similar functions and replace mutually and the technical scheme that formed.
Claims (12)
1. the control method of overtaking other vehicles for automatic driving vehicle, it is characterised in that described method includes:
Receive and treat the solicited message of overtaking other vehicles that passing vehicle sends, wherein, described in overtake other vehicles solicited message include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；
Whether detection current road segment is section of can overtaking other vehicles；
In response to current road segment for section can be overtaken other vehicles, according to described relative position information, adjustment and the distance between Adjacent vehicles；
According to the range information after adjusting, treat that passing vehicle sends overtaking signal to described.
2. method according to claim 1, it is characterised in that described is section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles, including:
Travel direction relative to described automatic driving vehicle, when described until on the right side of passing vehicle is positioned at described automatic driving vehicle side time, adjust the distance between described automatic driving vehicle and the first vehicle and the second vehicle, wherein, described first vehicle is positioned at the just front of described automatic driving vehicle, and described second vehicle is positioned at the right front of described automatic driving vehicle；
Travel direction relative to described automatic driving vehicle, when described until on the left of passing vehicle is positioned at described automatic driving vehicle side time, adjusting the distance between described automatic driving vehicle and described first vehicle and the 3rd vehicle, wherein, described 3rd vehicle is positioned at the left front of described automatic driving vehicle.
3. method according to claim 2, it is characterised in that described is section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles, including:
Determine that whether distance to be adjusted is less than preset safe distance threshold value；
In response to distance to be adjusted less than preset safe distance threshold value, speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value.
4. method according to claim 3, it is characterised in that described determine that whether distance to be adjusted is less than preset safe distance threshold value, including:
Obtain the speed that described automatic driving vehicle is current；
The safe distance threshold value under current vehicle speed is determined according to described speed.
5. method according to claim 3, it is characterized in that, described in response to distance to be adjusted less than preset safe distance threshold value, speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value, including:
Obtain the information of Adjacent vehicles, wherein, described information include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between described automatic driving vehicle, described information is by the sensor acquisition being placed in described automatic driving vehicle.
6. method according to claim 5, it is characterised in that described sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
7. the super truck control device for automatic driving vehicle, it is characterised in that described device includes:
Information receiving unit, configuration is for receiving the solicited message of overtaking other vehicles treating that passing vehicle sends, wherein, described in overtake other vehicles solicited message include described in treat passing vehicle identification information and with the relative position information of described automatic driving vehicle；
Detection unit, configuration is used for detecting whether current road segment is section of can overtaking other vehicles；
Distance adjusting unit, configuration is for being section of can overtaking other vehicles in response to current road segment, according to described relative position information, adjustment and the distance between Adjacent vehicles；
To described, signal sending unit, according to the range information after adjusting, treats that passing vehicle sends overtaking signal.
8. device according to claim 7, it is characterised in that the configuration of described distance adjusting unit is further used for:
Travel direction relative to described automatic driving vehicle, when described until on the right side of passing vehicle is positioned at described automatic driving vehicle side time, adjust the distance between described automatic driving vehicle and the first vehicle and the second vehicle, wherein, described first vehicle is positioned at the just front of described automatic driving vehicle, and described second vehicle is positioned at the right front of described automatic driving vehicle；
Travel direction relative to described automatic driving vehicle, when described until on the left of passing vehicle is positioned at described automatic driving vehicle side time, adjusting the distance between described automatic driving vehicle and described first vehicle and the 3rd vehicle, wherein, described 3rd vehicle is positioned at the left front of described automatic driving vehicle.
9. device according to claim 8, it is characterised in that described distance adjusting unit, including:
Safe distance threshold value subelement, configuration is for determining that whether distance to be adjusted is less than preset safe distance threshold value；
Adjusting subelement, configuration is used in response to distance to be adjusted less than preset safe distance threshold value, and speed and/or direction to described automatic driving vehicle are adjusted, so that described distance to be adjusted is more than described safe distance threshold value.
10. device according to claim 9, it is characterised in that the configuration of described safe distance threshold value subelement is further used for:
Obtain the speed that described automatic driving vehicle is current；
The safe distance threshold value under current vehicle speed is determined according to described speed.
11. device according to claim 9, it is characterised in that the configuration of described adjustment subelement is further used for:
Obtain the information of Adjacent vehicles, wherein, described information include following at least one: the lane information of Adjacent vehicles, the speed information of Adjacent vehicles, and the range information between described automatic driving vehicle, described information is by the sensor acquisition being placed in described automatic driving vehicle.
12. device according to claim 11, it is characterised in that described sensor include following at least one: for gathering the sensor of distance between Adjacent vehicles；For gathering the sensor of the speed of Adjacent vehicles, for gathering the sensor of the lane information of Adjacent vehicles.
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| CN106671982A (en) * | 2017-01-09 | 2017-05-17 | 厦门大学 | Multi-intelligent agent based unmanned electric car automatic overtaking system and method |
| CN106671982B (en) * | 2017-01-09 | 2019-05-17 | 厦门大学 | Driverless electric automobile automatic overtaking system system and method based on multiple agent |
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| CN108922177B (en) * | 2018-06-29 | 2021-08-10 | 东南大学 | Speed control system and method for unmanned vehicle passing through intersection |
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| CN113039110B (en) * | 2018-12-28 | 2023-12-15 | 康明斯有限公司 | System and method for controlling overtaking maneuver of vehicle |
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| CN113990107A (en) * | 2021-11-26 | 2022-01-28 | 格林美股份有限公司 | Automatic driving dispatching system for automobile |
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