CN108357496A - Automatic Pilot control method and device - Google Patents
Automatic Pilot control method and device Download PDFInfo
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- CN108357496A CN108357496A CN201810145029.7A CN201810145029A CN108357496A CN 108357496 A CN108357496 A CN 108357496A CN 201810145029 A CN201810145029 A CN 201810145029A CN 108357496 A CN108357496 A CN 108357496A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of automatic Pilot control method and device, belongs to technical field of vehicle.The method includes：The relevant information of the running environment of vehicle is obtained, the relevant information includes the characteristic information of the object of the vehicle periphery and the environmental information of the vehicle periphery；Characteristic information based on the object obtains the historical behavior information of the object, the behavioural information that the historical behavior information is recorded by the object before current time；The environmental information of historical behavior information and the vehicle periphery based on the object carries out safety operation control to the vehicle.This method is used as effective foundation of operating and controlling vehicle by obtaining the historical behavior information of object so that can more accurate judgement vehicle safety, to improve safety of vehicle during automatic Pilot.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of automatic Pilot control method and device.
Background technology
Existing automatic driving control system is all to make identification point to moving object by the signal of sensor collection
Class, such as：Vehicle, pedestrian, bicycle etc. are driven then according to their current location and behavior to determine how to control automatically
Sail vehicle (slow down, stop, normal through).
And this mode only carries out the automatic Pilot such as avoiding according to the physical messages such as current location speed of moving object
Vehicle control.And in fact, even if very big if same class moving object behavioral difference, for example, a frequent vapour violating the regulations
Vehicle, the probability that it scrambles for roads and breaks rules and regulations are greater than other automobiles；The electric bicycle for sending take-away, the probability to make a dash across the red light are higher than commonly certainly
Driving.So in this case, being unable to judge accurately the movable information of vehicle periphery object so that can not be accurately to vehicle
Carry out safety operation control.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of automatic Pilot control method and device, to improve
The above problem.
In a first aspect, an embodiment of the present invention provides a kind of automatic Pilot control method, it is applied to vehicle-mounted control terminal, institute
The method of stating includes：The relevant information of the running environment of vehicle is obtained, the relevant information includes the object of the vehicle periphery
The environmental information of characteristic information and the vehicle periphery；Characteristic information based on the object obtains the history row of the object
The behavioural information being recorded before current time by the object for information, the historical behavior information；Based on described right
The historical behavior information of elephant and the environmental information of the vehicle periphery carry out safety operation control to the vehicle.
Further, the characteristic information based on the object obtains the historical behavior information of the object, including：Based on institute
The object is identified in the characteristic information for stating object, to obtain the identification information of the object；Mark based on the object
Know the historical behavior information of object described in acquisition of information.
Further, the environmental information of the vehicle periphery includes the current behavior information of the object, based on described right
The historical behavior information of elephant and the environmental information of the vehicle periphery carry out safety operation control to the vehicle, including：Based on described
The next step behavior act of object described in the historical behavior information of object and the current behavior information prediction of the object；It is based on
The next step behavior act of the object carries out safety operation control to the vehicle.
Further, the environmental information of the vehicle periphery further includes the current running state information of the vehicle, is based on
The next step behavior act of the object carries out safety operation control to the vehicle, including：Next step behavior based on the object
The current running state information of action and the vehicle judges whether the vehicle is in the hole；When to be, then to institute
It states vehicle and carries out safety operation control.
Further, the current running state information of the vehicle includes motion velocity information and the movement of the vehicle
The current running state information of directional information, next step behavior act and the vehicle based on the object judges the vehicle
It is whether in the hole, including：Motion velocity information, the fortune of next step behavior act and the vehicle based on the object
Dynamic directional information, judges whether the vehicle can bump against in preset time with the object；When to be, it is determined that the vehicle
It is in the hole, it thens follow the steps：Safety operation control is carried out to the vehicle.
Further, before the relevant information of the running environment for obtaining vehicle, the method further includes：It obtains multiple
The historical behavior information of object；The historical behavior information of the multiple object is stored.
Second aspect, an embodiment of the present invention provides a kind of automatic Pilot control devices, run on vehicle-mounted control terminal, institute
Stating device includes：Context dependant information acquisition module, the relevant information of the running environment for obtaining vehicle, the relevant information
The environmental information of the characteristic information of object including the vehicle periphery and the vehicle periphery；Historical behavior acquisition of information mould
Block, the historical behavior information of the object is obtained for the characteristic information based on the object, and the historical behavior information is institute
State the behavioural information that object is recorded before current time；Control module, for the historical behavior letter based on the object
The environmental information of breath and the vehicle periphery carries out safety operation control to the vehicle.
Further, the historical behavior data obtaining module, including：Recognition unit is used for the spy based on the object
The object is identified in reference breath, to obtain the identification information of the object；Information acquisition unit, for based on described right
The identification information of elephant obtains the historical behavior information of the object.
Further, the environmental information of the vehicle periphery includes the current behavior information of the object, and described information obtains
Unit is taken, including：Action prediction unit is used for the current behavior of historical behavior information and the object based on the object
The next step behavior act of object described in information prediction；Unit is manipulated, the next step behavior act pair based on the object is used for
The vehicle carries out safety operation control.
Further, the environmental information of the vehicle periphery further includes the current running state information of the vehicle, described
Unit is manipulated, the current running state information for being specifically used for next step behavior act and the vehicle based on the object judges
Whether the vehicle is in the hole, when to be, then carries out safety operation control to the vehicle.
The advantageous effect of the embodiment of the present invention is：
The embodiment of the present invention provides a kind of automatic Pilot control method and device, the phase of the running environment by obtaining vehicle
Close information, wherein the relevant information includes the characteristic information of the object of the vehicle periphery and the ring of the vehicle periphery
Border information, the characteristic information for being then based on the object obtain the historical behavior information of the object, the historical behavior information
The behavioural information being recorded before current time by the object, then the historical behavior information based on the object and described
The environmental information of vehicle periphery carries out safety operation control to the vehicle.This method is made by obtaining the historical behavior information of object
For effective foundation of operating and controlling vehicle so that can more accurate judgement vehicle safety, to improve vehicle in automatic Pilot
Safety in the process.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing understanding of the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying what is write
Specifically noted structure is realized and is obtained in bright book, claims and attached drawing.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structure diagram can be applied to the electronic equipment in the embodiment of the present application；
Fig. 2 is a kind of flow chart of automatic Pilot control method provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of automatic Pilot control device provided in an embodiment of the present invention.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Fig. 1 is please referred to, Fig. 1 shows a kind of structure diagram for the electronic equipment 100 that can be applied in the embodiment of the present application.
Electronic equipment 100 can be vehicle-mounted control terminal, may include automatic Pilot control device, memory 101, storage control
102, processor 103, Peripheral Interface 104, display unit 105.
The memory 101, storage control 102, processor 103, Peripheral Interface 104,105 each element phase of display unit
It is directly or indirectly electrically connected between mutually, to realize the transmission or interaction of data.For example, these elements can pass through between each other
One or more communication bus or signal wire, which are realized, to be electrically connected.The automatic Pilot control device include it is at least one can be soft
The form of part or firmware (firmware) is stored in the memory 101 or is solidificated in the behaviour of the automatic Pilot control device
Make the software function module in system (operating system, OS).The processor 103 is for executing in memory 101
The executable module of storage, such as software function module or computer program that the automatic Pilot control device includes.
Wherein, memory 101 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 101 is for storing program, and the processor 103 executes described program after receiving and executing instruction, aforementioned
The method performed by server that the stream process that any embodiment of the embodiment of the present invention discloses defines can be applied to processor 103
In, or realized by processor 103.
Processor 103 can be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 103 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor 103 can also be any conventional processor etc..
The Peripheral Interface 104 couples various input/output devices to processor 103 and memory 101.At some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
Display unit 105 provides an interactive interface (such as user's operation circle between the electronic equipment 100 and user
Face) or for display image data give user reference.In the present embodiment, the display unit 105 can be liquid crystal display
Or touch control display.Can be the capacitance type touch control screen or resistance for supporting single-point and multi-point touch operation if touch control display
Formula touch screen etc..Single-point and multi-point touch operation is supported to refer to touch control display and can sense on the touch control display one
Or at multiple positions simultaneously generate touch control operation, and by the touch control operation that this is sensed transfer to processor 103 carry out calculate and
Processing.
The Peripheral Interface 104 couples various input/output devices to processor 103 and memory 101.At some
In embodiment, Peripheral Interface 104, processor 103 and storage control 102 can be realized in one single chip.Other one
In a little examples, they can be realized by independent chip respectively.
It is appreciated that structure shown in FIG. 1 is only to illustrate, the electronic equipment 100 may also include more than shown in Fig. 1
Either less component or with the configuration different from shown in Fig. 1.Hardware, software may be used in each component shown in Fig. 1
Or combinations thereof realize.
Fig. 2 is please referred to, Fig. 2 is a kind of flow chart of automatic Pilot control method provided in an embodiment of the present invention, the side
Method is applied to vehicle-mounted control terminal, and described method includes following steps：
Step S110：Obtain the relevant information of the running environment of vehicle.
During Vehicular automatic driving, information acquisition module and vehicle-mounted control terminal are generally fitted on vehicle, it is vehicle-mounted
Control terminal can obtain information collection by various communication modes (such as wired, wireless communication link or fiber optic cables)
The output of module.
Information acquisition module can be radar, camera, laser radar, millimetre-wave radar, ultrasonic radar, integrated navigation
Deng the relevant information of the running environment of energy collection vehicle.Vehicle-mounted control terminal can be various editable devices, such as FPGA, list
Piece machine etc. can also be the display terminal for including display module.
In the embodiment of the present invention, vehicle-mounted control terminal can obtain information acquisition module acquisition by way of data transmission
Vehicle running environment relevant information, the relevant information of the running environment includes the feature of the object of the vehicle periphery
The environmental information of information and the vehicle periphery, information acquisition module can collect map, lane information and ambient
The relevant information etc. of body (each object).The mode of above-mentioned data transmission includes but not limited to parallel transmission, serial transmission, synchronization
Transmission, asynchronous transmission, either simplex transmission, half-duplex transmission and full duplex transmission etc..
Wherein, the characteristic information of object can be the image information etc. of object, such as by camera to the pedestrian by road
Image Acquisition is carried out, the image information of the pedestrian is thus can get, laser is carried out by laser radar to the barrier by road
Point cloud data acquires, and thus can get the characteristic information of the laser point cloud data of barrier.
The environmental information of vehicle periphery may include the road condition information of vehicle periphery, traffic lights information, information of vehicle flowrate,
Or motion velocity information, the direction of motion information of the range information of the vehicle periphery object vehicle, vehicle, surroundings
The environmental informations such as the direction of motion and movement velocity.
Step S120：Characteristic information based on the object obtains the historical behavior information of the object.
After the characteristic information for obtaining object in above-mentioned steps, the object can be obtained with object-based characteristic information
Historical behavior information, the behavioural information that the historical behavior information of the object is recorded for the object before current time.
Wherein, before step S110, the historical behavior information of multiple objects can be obtained in advance, then by the history row
It is stored for information, the historical behavior information of certain multiple object can be stored in high in the clouds, can also be stored in vehicle-mounted control
Terminal processed, vehicle-mounted control terminal can obtain the historical behavior information of object with object-based characteristic information from high in the clouds, or
The historical behavior information of object is obtained directly from the memory of itself.The historical behavior information of object can be in advance to object
Various information be acquired the historical behavior information that rear confluence analysis obtains and can be counted for example, for taking out for vehicle
Its number that makes a dash across the red light, average overall travel speed, number violating the regulations etc. information, the take-away is found after these information are carried out confluence analysis
Vehicle average speed is very fast, the number that makes a dash across the red light is more, then can be hazardous vehicles by the take-away vehicle mark, above- mentioned information can be made
Historical behavior information to take out vehicle is stored.
During multiple objects are stored, key-value pair may be used in the mode of storage, and key is the class of each object
Not, can also be the characteristic information of each object, value is attribute value, may include that violation traveling record of object etc. is detailed
Thin information can also be the statistical informations such as violation probability, can also be the attribute informations such as danger classes, i.e. the historical behavior of object
Information, certainly, the characteristic information and attribute of any safety that can be used for being provided vehicle control can be carried out storing.
It, can be by the spy of each object in the characteristic information and storage of the object after the characteristic information for obtaining the object
Reference breath is matched, and when matching consistent, then can obtain the corresponding historical behavior information of the object of storage.Certainly, due to
The acquisition of information has error, matching rate can be arranged in matching, if for example, the characteristic information of the bicycle of high in the clouds storage is voluntarily
The pictorial information of vehicle, and the image information that an object that vehicle-mounted control terminal obtains at this time is bicycle, to be compared, if
The bicycle is not duplicate, then it will not be exactly matched, then can recognize when matching rate is more than a preset value (such as 90%)
It is consistent to match, to can get the historical behavior information of the bicycle, for example, the average overall travel speed of bicycle, rate violating the regulations
Deng.
In addition, in order to data storage simplicity, as an implementation, can object-based characteristic information to described right
As being identified, to obtain the identification information of the object, the identification information for being then based on the object obtains the object
Historical behavior information.
It is, when the historical behavior information to multiple objects stores, it can be using the identification information of object as key
Value, historical behavior information stored as attribute value, the identification information of object can for the characteristic information to object into
Row deletes the identification information obtained after choosing, such as the pictorial information of vehicle, can get after the pictorial information of the vehicle is identified
The license plate number information of the vehicle.
Specifically, for example, the image information to pedestrian is identified, corresponding image algorithm may be used, after identification
Obtain the identification information of the pedestrian, such as face information；Such as the image information of vehicle is identified, obtains the mark letter of the vehicle
Breath, such as license plate number information；Corresponding Text region may be used to the identification of electric vehicle and bicycle, thus may recognize that is
Which kind of electric vehicle, such as take out, express delivery electric vehicle.It as a result, can be using these information as the identification information of object.
And when being stored after the historical behavior to multiple objects obtains, object-based identification information as key assignments,
Its historical behavior information is stored as attribute value, as a result, can object identification information and storage multiple objects mark
Information is matched, and the historical behavior information of the object is can get when matching consistent.
Step S130：The environmental information of historical behavior information and the vehicle periphery based on the object is to the vehicle
Carry out safety operation control.
If for example, the vehicle periphery has a take-away electric vehicle, the history row of the take-away electric vehicle is obtained through the above steps
It is the information such as speed probability height fast, violating the regulations, danger classes height for information, and the environmental information of the vehicle periphery, such as surrounding vehicles
Less, other objects of vehicle periphery are apart from each other at a distance from the vehicle, then at this moment can carry out the vehicle far from the take-away
The manipulation of electric vehicle, such as steering wheel rotation changes travel direction or brake pedal slows down travel speed manipulation.
As an implementation, the environmental information of the vehicle periphery includes the current behavior information of the object,
The current behavior information of the object can be the information such as current driving speed, the current driving direction of the object, be then based on institute
State the next step behavior act of object described in the historical behavior information of object and the current behavior information prediction of the object, base
Safety operation control is carried out to the vehicle in the next step behavior act of the object.If for example, the historical behavior information of the object
In its average speed it is very fast, and current driving speed is very fast in the current behavior information of the object, and its current kinetic direction
When to be parallel to the vehicle, it can determine whether that the next step behavior act of the object is to continue parallel to vehicle traveling, then can control
Vehicle continues to keep the operations such as present speed traveling or Reduced Speed Now.
In addition, the environmental information of the vehicle periphery may also include the current running state information of vehicle, object is being obtained
Next step behavior act after, the current running state of next step behavior act and the vehicle that can also be based on the object is believed
Breath judges whether the vehicle is in the hole, and when to be, then the vehicle carries out safety operation control.Wherein, precarious position
Can vehicle and surrounding objects distance be less than safe distance, there is the possibility to collide, can also be that may be driven out to road,
In the presence of the possibility for driving towards dangerous region, can also be to violate the traffic regulations may lead to dangerous state, such as make a dash across the red light, forbid
Crossing of turning around is turned around.
The current running state information of the vehicle includes the motion velocity information and direction of motion information of the vehicle,
In motion velocity information, the direction of motion information of next step behavior act and the vehicle that can be based on the object, institute be judged
State whether vehicle can bump against in preset time with the object, when to be, it is determined that the vehicle is in the hole, then
Execute step：Safety operation control is carried out to the vehicle.
Can be a period of time in future in preset time, such as can be according to the position relationship of vehicle and its surroundings
And if the motion state of surroundings can calculate the motion state that vehicle keeps current, in following one minute, if meeting
The possibility to collide can control the operations such as vehicle deceleration evacuation, so that vehicle when judging to collide
Safety traffic.
Fig. 3 is please referred to, Fig. 3 is a kind of structure diagram of automatic Pilot control device 200 provided in an embodiment of the present invention, institute
It states device and runs on vehicle-mounted control terminal, described device includes：
Context dependant information acquisition module 210, the relevant information of the running environment for obtaining vehicle, the relevant information
The environmental information of the characteristic information of object including the vehicle periphery and the vehicle periphery.
Historical behavior data obtaining module 220 obtains the history of the object for the characteristic information based on the object
Behavioural information, the behavioural information that the historical behavior information is recorded by the object before current time.
Control module 230 is used for the environmental information pair of historical behavior information and the vehicle periphery based on the object
The vehicle carries out safety operation control.
As an implementation, the historical behavior data obtaining module 220, including：
Recognition unit is identified the object for the characteristic information based on the object, to obtain the object
Identification information.
Information acquisition unit obtains the historical behavior information of the object for the identification information based on the object.
As an implementation, the environmental information of the vehicle periphery includes the current behavior information of the object, institute
Information acquisition unit is stated, including：
Action prediction unit is used for the current behavior information of historical behavior information and the object based on the object
Predict the next step behavior act of the object.
Unit is manipulated, safety operation control is carried out to the vehicle for the next step behavior act based on the object.
As an implementation, the environmental information of the vehicle periphery further includes the current running state letter of the vehicle
Breath, the manipulation unit are specifically used for the current running state of next step behavior act and the vehicle based on the object
Information judges whether the vehicle is in the hole, when to be, then carries out safety operation control to the vehicle.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
Specific work process, can refer to preceding method in corresponding process, no longer excessively repeat herein.
In conclusion the embodiment of the present invention provides a kind of automatic Pilot control method and device, by the row for obtaining vehicle
Sail the relevant information of environment, wherein the relevant information includes the characteristic information of the object of the vehicle periphery and the vehicle
Environmental information around, the characteristic information for being then based on the object obtains the historical behavior information of the object, described to go through
The behavioural information that history behavioural information is recorded by the object before current time, then the historical behavior based on the object
Information and the environmental information of the vehicle periphery carry out safety operation control to the vehicle.The history row that this method passes through acquisition object
Be used as effective foundation of operating and controlling vehicle for information so that can more accurate judgement vehicle safety, to improve vehicle
Safety during automatic Pilot.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. a kind of automatic Pilot control method, which is characterized in that it is applied to vehicle-mounted control terminal, the method includes：
The relevant information of the running environment of vehicle is obtained, the relevant information includes the characteristic information of the object of the vehicle periphery
And the environmental information of the vehicle periphery；
Characteristic information based on the object obtains the historical behavior information of the object, and the historical behavior information is described right
As the behavioural information being recorded before current time；
The environmental information of historical behavior information and the vehicle periphery based on the object carries out safety operation control to the vehicle.
2. according to the method described in claim 1, it is characterized in that, the characteristic information based on the object obtains the object
Historical behavior information, including：
The object is identified in characteristic information based on the object, to obtain the identification information of the object；
Identification information based on the object obtains the historical behavior information of the object.
3. according to the method described in claim 1, it is characterized in that, the environmental information of the vehicle periphery includes the object
The environmental information of current behavior information, historical behavior information and the vehicle periphery based on the object carries out the vehicle
Safety operation control, including：
The next step of historical behavior information based on the object and object described in the current behavior information prediction of the object
Behavior act；
Safety operation control is carried out to the vehicle based on the next step behavior act of the object.
4. according to the method described in claim 3, it is characterized in that, the environmental information of the vehicle periphery further includes the vehicle
Current running state information, based on the next step behavior act of the object to the vehicle carry out safety operation control, including：
Whether the current running state information of next step behavior act and the vehicle based on the object judges the vehicle
It is in the hole；
When to be, then safety operation control is carried out to the vehicle.
5. according to the method described in claim 4, it is characterized in that, the current running state information of the vehicle includes the vehicle
Motion velocity information and direction of motion information, next step behavior act and the vehicle based on the object it is current
Running condition information judges whether the vehicle is in the hole, including：
Motion velocity information, the direction of motion information of next step behavior act and the vehicle based on the object, judge institute
State whether vehicle can bump against in preset time with the object；
When to be, it is determined that the vehicle is in the hole, thens follow the steps：Safety operation control is carried out to the vehicle.
6. according to the method described in claim 1, it is characterized in that, it is described obtain vehicle running environment relevant information it
Before, the method further includes：
Obtain the historical behavior information of multiple objects；
The historical behavior information of the multiple object is stored.
7. a kind of automatic Pilot control device, which is characterized in that run on vehicle-mounted control terminal, described device includes：
Context dependant information acquisition module, the relevant information of the running environment for obtaining vehicle, the relevant information include institute
State the characteristic information of the object of vehicle periphery and the environmental information of the vehicle periphery；
Historical behavior data obtaining module obtains the historical behavior letter of the object for the characteristic information based on the object
Breath, the behavioural information that the historical behavior information is recorded by the object before current time；
Control module, the environmental information for historical behavior information and the vehicle periphery based on the object is to the vehicle
Carry out safety operation control.
8. device according to claim 7, which is characterized in that the historical behavior data obtaining module, including：
Recognition unit is identified the object for the characteristic information based on the object, to obtain the mark of the object
Know information；
Information acquisition unit obtains the historical behavior information of the object for the identification information based on the object.
9. device according to claim 8, which is characterized in that the environmental information of the vehicle periphery includes the object
Current behavior information, described information acquiring unit, including：
Action prediction unit is used for the current behavior information prediction of historical behavior information and the object based on the object
The next step behavior act of the object；
Unit is manipulated, safety operation control is carried out to the vehicle for the next step behavior act based on the object.
10. device according to claim 9, which is characterized in that the environmental information of the vehicle periphery further includes the vehicle
Current running state information, the manipulation unit is specifically used for next step behavior act based on the object and described
The current running state information of vehicle judges whether the vehicle is in the hole, when to be, is then carried out to the vehicle
Safety operation control.
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