CN108399792B - Unmanned vehicle avoidance method and device and electronic equipment - Google Patents
Unmanned vehicle avoidance method and device and electronic equipment Download PDFInfo
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Abstract
The invention discloses a method and a device for avoiding an unmanned vehicle, which relate to the technical field of unmanned driving and comprise the following steps: acquiring a detection result of the road condition; when the detection result does not meet the preset meeting condition, generating avoidance information according to the detection result and a preset avoidance rule; the avoidance information comprises the avoidance rule; and sending the avoidance information to at least one peripheral vehicle so that the at least one peripheral vehicle can meet according to the avoidance information. The invention can judge whether the road can meet the meeting by identifying the road condition, and provides an automatic negotiation mechanism when the road can not meet the meeting, thereby realizing the avoidance of the vehicles by the negotiation mode among the vehicles meeting.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned vehicle avoiding method, an unmanned vehicle avoiding device and electronic equipment.
Background
The unmanned automobile is one of intelligent automobiles, also called a wheeled mobile robot, and mainly depends on an intelligent driver which is mainly a computer system in the automobile to achieve the unmanned aim.
The unmanned vehicle dodges and exits in two scenes, one is that a driving error causes possible frontal collision or rear-end collision, and the other is that the road does not have enough width so as not to meet the vehicle meeting of two vehicles or the obstacle exists on the road so as to narrow the original road and cause the vehicle not to meet.
The development of the unmanned technology is still in the experimental stage at present and is not put into use. In addition, most of the existing unmanned technologies are designed to solve the problem of how to prevent the vehicle from colliding under the condition that the lane width is enough.
In practice, however, many roads have the latter problem. For example, in many cities in china, roads exist which are not wide enough to accommodate two cars traveling in opposite directions, or which are wide enough but have too many parking lanes to accommodate two cars in parallel. When such a problem occurs, the existing avoidance technology of the unmanned vehicle will not solve such a problem.
Disclosure of Invention
Objects of the invention
The invention aims to solve the technical problem that avoidance cannot be realized due to insufficient road width when an unmanned vehicle meets a manned vehicle or an unmanned vehicle.
(II) technical scheme
In order to solve the above problem, a first aspect of the present invention provides an unmanned vehicle avoidance method, including: acquiring a detection result of the road condition; when the detection result does not meet the preset meeting condition, generating avoidance information according to the detection result and a preset avoidance rule; the avoidance information comprises the avoidance rule; and sending the avoidance information to at least one peripheral vehicle so that the at least one peripheral vehicle can meet according to the avoidance information.
Optionally, the acquiring the detection result of the road condition further includes:
acquiring the driving direction and the identification data of surrounding vehicles;
and obtaining the vehicle arrangement relation and the communication address of the vehicle around the vehicle based on the identity recognition data.
Optionally, the preset meeting conditions are as follows: L1-C1-C2 is more than or equal to 2S 1 or L1-C1-C2 is more than or equal to 2S 1+ S2; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.
Optionally, the identification data is a license plate number or a predetermined unique identification code.
Optionally, the carrier of the identification data is one or more of a license plate, a two-dimensional code and an RFID tag.
Optionally, the method further comprises:
acquiring the live information of vehicle meeting;
adjusting the avoidance rule according to the live information;
and sending the adjusted avoidance rule to the at least one peripheral vehicle.
Optionally, the live information is sensor acquisition data and/or surrounding vehicle feedback information.
Optionally, the nearby vehicle feedback information includes a second avoidance rule.
Optionally, the acquiring the driving direction of the nearby vehicle includes:
receiving the own driving direction broadcasted by the surrounding vehicle; or the running direction of the surrounding vehicle is obtained through the comparison result of the current vehicle speed and the relative running speed.
Optionally, the avoidance rule includes: and determining an evasion party according to at least one of the vehicle distance in the detection result, the distance information of the rear vehicle meeting place, the driving direction information of the vehicle, the communication address information and the road congestion condition information of the vehicle avoidance direction.
Optionally, the rear available vehicle location is determined based on a width of a rear road.
According to another aspect of the present invention, there is provided an unmanned vehicle avoidance apparatus including: the data acquisition module is used for acquiring a detection result of the road condition; the judging module is used for judging whether the detection result meets the preset vehicle meeting condition or not, and generating avoidance information according to the detection result and a preset avoidance rule when the judgment result is yes; and the avoidance information sending module is used for sending the avoidance information to at least one peripheral vehicle so as to enable the at least one peripheral vehicle to meet according to the avoidance information.
Optionally, the data obtaining module includes:
the vehicle data acquisition module is used for acquiring the driving direction and the identification data of the surrounding vehicles;
and the vehicle identification module is used for obtaining the vehicle arrangement relation and the communication address of the vehicle around the vehicle based on the identity identification data.
Optionally, the apparatus further comprises:
the live obtaining module is used for obtaining the live information of the meeting;
the rule adjusting module is used for adjusting the avoidance rule according to the live information;
and the rule updating module is used for sending the adjusted avoidance rule to the at least one peripheral vehicle.
Optionally, the vehicle data acquisition module includes:
the broadcast receiving module is used for receiving the self driving direction broadcasted by the surrounding vehicles; and/or the presence of a gas in the gas,
and the speed comparison module is used for obtaining the running direction of the peripheral vehicle according to the comparison result of the current vehicle speed and the relative running speed.
Optionally, the determining module includes: and the concession party judging module is used for determining a concession party according to at least one of the distance between the vehicles and the distance information of the rear vehicle meeting place, the driving direction information of the vehicles, the communication address information and the road congestion condition information of the vehicle concession direction in the detection result.
According to another aspect of the present invention, a computer-readable storage medium is provided, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned unmanned vehicle avoidance method.
According to another aspect of the present invention, there is provided an electronic apparatus including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the unmanned vehicle avoidance method when executing the program.
(III) advantageous effects
The technical scheme of the invention has the following beneficial technical effects: the invention can judge whether the road can meet the meeting by identifying the road condition, and provides an automatic negotiation mechanism when the road can not meet the meeting, thereby realizing the avoidance of the vehicles by the negotiation mode among the vehicles meeting.
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FIG. 1 is a flow chart of the steps of a first embodiment of an avoidance method of the present invention;
FIG. 2 is a schematic diagram of a scenario in which the embodiment shown in FIG. 1 is applied;
FIG. 3 is a flow chart of the steps of a second embodiment of an avoidance method of the present invention;
FIG. 4 is a schematic diagram of a scenario applied to the embodiment shown in FIG. 3;
FIG. 5 is a schematic block diagram of an embodiment of an avoidance apparatus provided in accordance with the present invention;
fig. 6 is a schematic diagram of a hardware structure of the electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is a flowchart of the steps of a first embodiment of an avoidance method of the present invention.
Fig. 2 is a schematic view of a scene in which the embodiment shown in fig. 1 is applied.
As shown in fig. 2, B1 denotes the host vehicle, and a denotes a vehicle ahead of the host vehicle. The "√" in the arrow between a and B1 indicates that the vehicle a and the vehicle B1 can communicate with each other.
As shown in fig. 1, in the present embodiment, the avoidance method is applied to an application scenario of two vehicles. The avoidance method comprises the following steps S1-S3:
and S1, acquiring the detection result of the road condition.
The acquiring of the detection result of the road condition comprises the following steps: s11 and S12.
S11 acquires the detection data of the road condition.
The detection data includes the width of the road, the width of an object on the road, and the relative speed of the object and the host vehicle. Specifically, the detection data is obtained by detecting a road and an object on the road with a detection device such as a laser or a radar mounted on the vehicle.
And S12, analyzing the detection data to obtain a detection result.
Judging whether the object is a vehicle, whether the object is an obstacle or not and judging the driving direction of the object according to the comparison result of the relative speed V2 of the object and the vehicle and the driving speed V1 of the vehicle; and judging the running speed of the object according to the difference value between the relative speed V2 of the object and the vehicle and the running speed V1 of the vehicle.
The relative speed V2 of the object and the vehicle is obtained according to the detection data, and the running speed V1 of the vehicle can be obtained by a navigation system or obtained by a calculation mode according to the relative change of the self GPS position. Specifically, if V1 ═ V2, the object is determined to be an obstacle; if V1 ≠ V2, it is determined that the object is a vehicle; if V1< V2, the object is determined to be a vehicle, and the vehicle is opposite to the driving direction of the vehicle; if V1> V2, it is determined that the object is a vehicle and the vehicle is traveling in the same direction as the host vehicle. And according to the difference value between V1 and V2, the running speed of the front vehicle is estimated: when the driving direction is opposite, the driving speed of the front vehicle is V2-V1; the forward vehicle speed is V1-V2 (the V2 value may be positive or negative) with the same direction of travel. Based on the analysis and comparison of V2 and V1, it can be obtained that if no obstacle exists on the road, the detection result includes: the width of the road and the width of the vehicle ahead; if the road has obstacles, the detection result further comprises: the width of the obstacle.
And S2, generating avoidance information according to the detection result and a pre-stored avoidance rule when the detection result does not meet the preset vehicle meeting condition.
The preset meeting condition is to judge whether the difference between the width of the road and the width of each object on the road is larger than a preset safe meeting distance. If the detection result does not meet the preset vehicle meeting condition, the road cannot meet the vehicle meeting condition, and the avoidance problem needs to be considered at the moment. On the contrary, if the detection result meets the preset vehicle meeting condition, the width of the road can meet the vehicle meeting condition, in this case, the vehicle does not need to be avoided, and the invention solves the problem that the width of the road cannot meet the vehicle meeting condition, so the condition is out of the consideration range of the invention.
In another embodiment of the present invention, when there is no obstacle on the road, the preset meeting conditions are: L1-C1-C2 is more than or equal to 2S 1; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, and S1 is the preset inter-vehicle distance. In another embodiment of the present invention, when there is an obstacle on the road, the preset meeting conditions are: L1-C1-C2 is more than or equal to 2S 1+ S2; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.
The avoidance rule is preset and stored in the vehicle-mounted memory, or can be stored in the remote server, and the avoidance rule is acquired from the remote server according to the triggering of the user. The avoidance rule is a rule for determining which of two parties of the meeting is the avoidance party according to a preset rule. In order to make public a better understanding of the avoidance rules of the present invention, any of the following rules may be used: a first rule: determining an evasion party according to the distance between the vehicle and a meeting place behind the vehicle; the second rule is as follows: determining an evasion party according to the driving direction of the vehicle; a third rule: determining an evasion party according to the communication address; the fourth rule is that: and determining an evacuee according to the road congestion condition of the vehicle in the backward direction. It should be noted that, besides these four rules, other rules may be used to determine which party is the evasive party, for example, a random method is used, and the above mentioned evasive rules do not limit the protection scope of the present invention.
The generated avoidance information comprises an avoidance rule and an avoidance result. And the avoidance result is the determined avoidance vehicle. The avoidance result may be a front vehicle, a rear vehicle, or a host vehicle.
S3, sending avoidance information to at least one peripheral vehicle, so that the at least one peripheral vehicle can meet according to the avoidance information.
The peripheral vehicle may be a manned vehicle, or an unmanned vehicle. When both the nearby vehicle and the host vehicle support a communication method such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G, the host vehicle can communicate with the nearby vehicle by the communication method, that is, transmit avoidance information to the nearby vehicle through the communication channel.
The surrounding vehicle includes the own vehicle, and in the worst case, only the own vehicle is controlled to avoid.
In another embodiment of the present invention, the step of acquiring the detection result of the road condition at S1 further includes the following steps S13 and S14.
And S13, acquiring the identification data of the vehicle around the vehicle.
The identification data refers to unique identification data representing the vehicle, which may be a license plate number or other defined unique identification data of the vehicle.
The identification data may be presented in one or more different forms. For example: through the license plate number or the two-dimensional code.
And S14, obtaining the vehicle arrangement relation and the communication address of the vehicle around the vehicle based on the identification data.
The specific steps of obtaining the communication addresses of the vehicles around the vehicle based on the identity recognition data are as follows: and accessing the server based on the identification data to obtain a communication address corresponding to the identification data. Wherein, the communication address is the IP address or the MAC address of the vehicle. The method for obtaining the vehicle arrangement relation of the vehicles around the vehicle based on the identity recognition data specifically comprises the following steps: and generating the peripheral vehicle arrangement relation of the vehicle based on the own identity recognition data and the identity recognition data of the peripheral vehicles.
The following specifically describes processes of acquiring identification data of vehicles around the host vehicle, and obtaining a vehicle arrangement relationship and a communication address of the vehicles around the host vehicle based on the identification data, with reference to 4 specific embodiments.
In one embodiment, the identification data is a license plate number, and the carrier carrying the identification data is a license plate. Specifically, cameras are arranged in front of and behind the vehicle body of the vehicle, and are used for photographing license plate numbers of vehicles in front of and behind the vehicle, sending photographing results to a license plate recognition system of the vehicle, and recognizing the pictures by the license plate recognition system so as to obtain license plate numbers of vehicles in front of and behind the vehicle. After obtaining the license plate numbers of the vehicles in front of and behind the host vehicle, the host vehicle generates an arrangement relationship between the host vehicle and the vehicles in front of and behind the host vehicle based on the license plate numbers of the host vehicle and the license plate numbers of the vehicles in front of and behind the host vehicle, and generates an arrangement relationship between the vehicles in the vicinity based on communication interaction between the vehicles or interaction with a server. After generating the arrangement relationship of the surrounding vehicles, the host vehicle may find a license plate number to which avoidance information is to be sent based on the arrangement relationship of the surrounding vehicles, and obtain a communication address (an IP address or a MAC address) of the vehicle from the server based on the license plate number, thereby sending the avoidance information to the communication address. The method for generating the arrangement relation of the surrounding vehicles based on the communication interaction between the vehicles specifically comprises the following steps: the license plate numbers and the arrangement relation of the vehicles themselves and the vehicles in front of and behind the vehicles sent by the surrounding vehicles are received through communication modes such as DSRC (Dedicated Short distance Communications), LTE-V (Long term evolution-V), 5G (5G) and the like, and the arrangement relation of the surrounding vehicles is generated based on the received license plate numbers and the arrangement relation as well as the arrangement relation of the vehicles in front of and behind the vehicles. Generating an arrangement relationship of the surrounding vehicles based on the interaction with the server, including: the vehicle sends the license plate numbers and the arrangement relation of the vehicle and the vehicles in front and behind to the server through the base station, and obtains the license plate numbers and the arrangement relation of the vehicles of the surrounding vehicles and the vehicles in front and behind the vehicles from the server, so that the arrangement relation of the surrounding vehicles is generated.
In another embodiment, the identification data is a unique identification number predefined for each vehicle, and the carrier carrying the identification data is a two-dimensional code. Specifically, cameras are arranged in front of and behind the vehicle body of the vehicle, and are used for photographing two-dimensional codes of a front vehicle and a rear vehicle of the vehicle, and sending photographing results to a two-dimensional code recognition system of the vehicle, and the two-dimensional code recognition system recognizes the photographs, so that identity recognition data of the front vehicle and the rear vehicle of the vehicle are obtained. After the identification data of the preceding and following vehicles of the host vehicle is obtained, the host vehicle generates an arrangement relationship between the host vehicle and the preceding and following vehicles based on the identification data of the host vehicle and the identification data of the preceding and following vehicles, and generates an arrangement relationship between the neighboring vehicles based on communication interaction between the vehicles or interaction with the server. After generating the mutual arrangement relationship of the plurality of vehicles, the host vehicle may find, based on the generated arrangement relationship of the surrounding vehicles, identification data corresponding to the vehicle to which the avoidance information is to be sent, and obtain, based on the identification data, a communication address of the vehicle from the server, thereby sending the avoidance information to the communication address. The method for generating the arrangement relation of the surrounding vehicles based on the communication interaction between the vehicles specifically comprises the following steps: the identification data and the arrangement relationship of the vehicle itself and the vehicles in front of and behind the vehicle, which are transmitted by the nearby vehicle, may be received through a communication method such as DSRC (Dedicated short range Communications), LTE-V, 5G, and the like, and the arrangement relationship of the nearby vehicle may be generated based on the received identification data and the arrangement relationship of the vehicle and the vehicles in front of and behind the vehicle. Generating an arrangement relationship of the surrounding vehicles based on the interaction with the server, including: the host vehicle sends the identification data and the arrangement relation of the host vehicle and the front and rear vehicles to the server through the base station, and acquires the identification data and the arrangement relation of the vehicle of the surrounding vehicle and the front and rear vehicles from the server, so that the arrangement relation of the surrounding vehicle is generated.
In another embodiment, the identification data is a defined unique identification code and the carrier carrying the identification data is an RFID tag.
Specifically, the vehicle acquires the RFID tags and the geographic positions of the surrounding vehicles through a communication channel such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G, and generates a vehicle arrangement relationship based on the acquired RFID tags and geographic positions of the surrounding vehicles. Or, the vehicle obtains the vehicle arrangement relationship of the surrounding vehicles from the server (the vehicles upload the geographic positions and the RFID tags of the vehicles to the server in real time, and the server generates the vehicle arrangement relationship based on the geographic positions and the RFID tags uploaded by the vehicles). After obtaining the arrangement relationship of the surrounding vehicles, the host vehicle may find, based on the arrangement relationship of the surrounding vehicles, identification data corresponding to a vehicle to which avoidance information is to be sent, and obtain, from the server, a communication address of the vehicle based on the identification data, thereby sending the avoidance information to the communication address.
In yet another embodiment, the identification data is a defined unique identification code and the carrier carrying the identification data is a two-dimensional code and an RFID tag.
Specifically, cameras are arranged in front of and behind the vehicle body of the vehicle, and are used for photographing two-dimensional codes of a front vehicle and a rear vehicle of the vehicle, and sending photographing results to a two-dimensional code recognition system of the vehicle, and the two-dimensional code recognition system recognizes the photographs, so that identity recognition data of the front vehicle and the rear vehicle of the vehicle are obtained. The vehicle receives the RFID tag broadcasted by the nearby vehicle through a communication channel such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G. And obtaining the arrangement relation of the surrounding vehicles based on the identification data and the RFID tags. The host vehicle can find the identification data and the communication address corresponding to the vehicle to which the avoidance information is to be sent based on the generated arrangement relationship of the surrounding vehicles, and thus send the avoidance information to the communication address.
The traveling direction of the vehicle around the host vehicle is acquired by the following means of step S131 or S132.
S131, if the host vehicle can communicate with other nearby vehicles by a communication method such as DSRC (Dedicated Short Range Communications), LTE-V, 5G, or the like, the broadcasted own traveling direction of the preceding vehicle is received through the communication channel.
S132, if the communication with the preceding vehicle cannot be performed by the communication method such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G, the driving direction of the other peripheral vehicle is obtained by comparing the driving speed V1 of the vehicle with the relative speed V2 of the other peripheral vehicle with the vehicle (the specific comparison method has been described above, and will not be described here again). For the host vehicle: the driving direction of the vehicle can be acquired from vehicle-mounted navigation data or a vehicle-mounted compass sensor; the running speed V1 of the vehicle is acquired from a sensor such as an in-vehicle tachometer.
After the traveling direction of the vehicle around the host vehicle is acquired, it is determined whether the traveling direction of the host vehicle is opposite to the traveling direction of the vehicle ahead. If the driving direction of the vehicle is opposite to the driving direction of the front vehicle, the situation shows that one of the vehicle and the front vehicle needs to avoid (namely the vehicle is the first vehicle which drives in the same direction). On the contrary, if the driving direction of the vehicle is the same as the driving direction in front, it is indicated that the vehicle is not the first vehicle driving in the same direction, and the vehicle does not need to negotiate with the front vehicle for avoiding, and only needs to receive an avoiding instruction of the first vehicle.
Fig. 3 is a flowchart of the steps of a second embodiment of the avoidance method of the present invention.
Fig. 4 is a schematic view of a scene in which the embodiment shown in fig. 3 is applied.
As shown in fig. 3, the embodiment of the present invention is applied to a scene of meeting a plurality of vehicles. The avoidance method includes the following steps S10-S30:
and S10, acquiring the live information of the meeting vehicles.
Wherein the live information is sensor acquisition data and/or surrounding vehicle feedback information. The surrounding vehicle feedback information includes a second avoidance rule.
S20, adjusting the avoidance rule according to the live information;
and if the second avoidance rule in the feedback information of the surrounding vehicles indicates that the vehicle is the avoidance party, adjusting the avoidance rule according to the feedback information of the surrounding vehicles.
And S30, sending the adjusted avoidance rule to the at least one peripheral vehicle.
Specifically, if the surrounding vehicle feedback information indicates that the own vehicle is an avoidance side, an avoidance instruction is generated and sent to one or more rear vehicles in the same driving direction as the own vehicle. The avoidance instruction is used for controlling the vehicle to avoid, so that the vehicle is controlled to avoid, and the vehicle receiving the avoidance instruction is controlled to avoid.
When the avoidance rule is sent, one avoidance rule and avoidance party information generated based on the avoidance rule can be sent at a time, and a plurality of avoidance rules and avoidance party information generated based on each avoidance rule can also be sent at a time. When an avoidance rule is sent each time, response information of a front vehicle based on the avoidance rule is obtained; if the response information is confirmation information, generating an avoidance instruction; and if the response information is negative information, sending other avoidance rules until obtaining that the response of the front vehicle based on a certain avoidance rule is confirmation information.
Wherein, dodging the rule and including: and determining an evasion party according to at least one of the vehicle distance in the detection result, the distance information of the rear vehicle meeting place, the driving direction information of the vehicle, the communication address information and the road congestion condition information of the vehicle avoidance direction.
If the evacuee is determined according to the distance between the vehicle and the rear available meeting place, the method comprises steps S201-S206:
s201, acquiring the width of a road behind the vehicle;
the first embodiment is as follows: when the vehicle has a high-precision map, road width data is acquired from the map data, and the width of the road behind the vehicle is obtained by searching the width of the road behind the vehicle.
Example two: in the case of a vehicle without a high-precision map, the vehicle itself continuously measures the road width, and in conjunction with the map route, continuously records road width data for a route over a certain time (e.g., 30 minutes) or distance (e.g., 800 meters). The log data includes a travel route map, a route GPS position at the width change, and a road width value, so that the width of the road behind the host vehicle is acquired from the log data.
And S202, judging whether the rear road has a vehicle meeting available point or not based on the width of the rear road.
And comparing the road width L with the sum of the widths of the bidirectional vehicles C1+ C2, if L-C1-C2 is greater than the safe width.
S203, if the vehicle can meet the vehicle, calculating the distance between the position of the vehicle meeting point and the position of the vehicle;
s204, acquiring the distance between the front vehicle and a rear vehicle meeting point;
s205, comparing the two distance values, and judging the part with smaller distance or the part with larger distance as an evasion party;
and S206, generating the avoidance party information based on the determined avoidance party.
If the evacuee is determined according to the driving direction of the vehicle, the specific steps S211-S212:
s211, acquiring the running direction of the vehicle and the running direction of the front vehicle;
s212, judging that one party in accordance with the preset priority driving direction is an avoidance party;
the preset preferential traveling direction is, for example: the vehicle running towards the west is avoided in preference to running towards the east; similarly, the south-oriented driving is prioritized over the north-oriented driving, the southeast-oriented driving is prioritized over the northwest-oriented driving, and the southwest-oriented driving is prioritized over the northeast-oriented driving.
S213, generates the evacuee information based on the determined evacuee.
If the evasion party is determined according to the communication address; the following steps S221 to S224 are included:
s221, a communication address of the host vehicle and a communication address of the preceding vehicle are acquired.
Wherein, the communication address is: RFID code or IP address. The RFID code can directly sense goods wirelessly through the RFID chip; the IP address directly obtains the IP address and the port number of the opposite terminal when two vehicles communicate.
S222, judging that one party of which the communication address accords with the preset priority communication address is an evasion party;
for example: the size of a specified one-bit number in the communication address code is compared. The larger party is designated as the evading party or the smaller one.
S221, generates avoidance party information based on the determined avoidance party.
If the concessioner is determined according to the road congestion situation in the backward direction of the vehicle, the method comprises the following steps S231-S233:
and S231, acquiring the road congestion degree value of the backward direction of the vehicle and the road congestion degree value of the vehicle in front. The road congestion degree can be obtained from a traffic information center, or the real-time congestion condition of a live route from a navigation command center.
S232, judging the smaller or larger road congestion degree value as an evasion party;
s233, the avoidance party information is generated based on the determined avoidance party.
Fig. 5 is a schematic block diagram of an embodiment of an unmanned vehicle avoidance apparatus according to the present invention.
As shown in fig. 5, in an embodiment of the present invention, an unmanned vehicle avoidance apparatus includes: the device comprises a data acquisition module, a judgment module, a avoidance information generation module and an avoidance information sending module.
And the data acquisition module is used for acquiring the detection result of the road condition. The data acquisition module comprises: the device comprises a detection data acquisition module and a detection data analysis module.
And the detection data acquisition module is used for acquiring the detection data of the road condition. The detection data includes the width of the road, the width of an object on the road, and the relative speed of the object and the host vehicle. Specifically, the detection data is obtained by detecting a road and an object on the road with a detection device such as a laser or a radar mounted on the vehicle.
And the detection data analysis module is used for analyzing the detection data to obtain a detection result. Judging whether the object is a vehicle, whether the object is an obstacle or not and judging the driving direction of the object according to the comparison result of the relative speed V2 of the object and the vehicle and the driving speed V1 of the vehicle; and judging the running speed of the object according to the difference value between the relative speed V2 of the object and the vehicle and the running speed V1 of the vehicle.
The relative speed V2 of the object and the vehicle is obtained according to the detection data, and the running speed V1 of the vehicle can be obtained by a navigation system or obtained by a calculation mode according to the relative change of the self GPS position. Specifically, if V1 ═ V2, the object is determined to be an obstacle; if V1 ≠ V2, it is determined that the object is a vehicle; if V1< V2, the object is determined to be a vehicle, and the vehicle is opposite to the driving direction of the vehicle; if V1> V2, it is determined that the object is a vehicle and the vehicle is traveling in the same direction as the host vehicle. And according to the difference value between V1 and V2, the running speed of the front vehicle is estimated: when the driving direction is opposite, the driving speed of the front vehicle is V2-V1; the forward vehicle speed is V1-V2 (the V2 value may be positive or negative) with the same direction of travel. Based on the analysis and comparison of V2 and V1, it can be obtained that if no obstacle exists on the road, the detection result includes: the width of the road and the width of the vehicle ahead; if the road has obstacles, the detection result further comprises: the width of the obstacle.
The judgment module is used for judging whether the detection result meets the preset vehicle meeting condition or not and sending the judgment result to the avoidance rule information generation module.
The preset meeting condition is to judge whether the difference between the width of the road and the width of each object on the road is larger than a preset safe meeting distance. If the detection result does not meet the preset vehicle meeting condition, the road cannot meet the vehicle meeting condition, and the avoidance problem needs to be considered at the moment. On the contrary, if the detection result meets the preset vehicle meeting condition, the width of the road can meet the vehicle meeting condition, in this case, the vehicle does not need to be avoided, and the invention solves the problem that the width of the road cannot meet the vehicle meeting condition, so the condition is out of the consideration range of the invention.
In another embodiment of the present invention, when there is no obstacle on the road, the preset meeting conditions are: L1-C1-C2 is more than or equal to 2S 1; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, and S1 is the preset inter-vehicle distance. In another embodiment of the present invention, when there is an obstacle on the road, the preset meeting conditions are: L1-C1-C2 is more than or equal to 2S 1+ S2; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.
The avoidance rule is preset and stored in the vehicle-mounted memory, or can be stored in the remote server, and the avoidance rule is acquired from the remote server according to the triggering of the user. The avoidance rule is a rule for determining which of two parties of the meeting is the avoidance party according to a preset rule. In order to make public a better understanding of the avoidance rules of the present invention, any of the following rules may be used: a first rule: determining an evasion party according to the distance between the vehicle and a meeting place behind the vehicle; the second rule is as follows: determining an evasion party according to the driving direction of the vehicle; a third rule: determining an evasion party according to the communication address; the fourth rule is that: and determining an evacuee according to the road congestion condition of the vehicle in the backward direction. It should be noted that, besides these four rules, other rules may be used to determine which party is the evasive party, for example, a random method is used, and the above mentioned evasive rules do not limit the protection scope of the present invention.
And the avoidance information generating module is used for generating avoidance information according to the detection result and a pre-stored avoidance rule if the judgment result of the judging module is that the detection result does not meet the preset meeting condition.
The generated avoidance information comprises an avoidance rule and an avoidance result. And the avoidance result is the determined avoidance vehicle. The avoidance result may be a front vehicle, a rear vehicle, or a host vehicle.
The avoidance information sending module is used for sending avoidance information to at least one peripheral vehicle so that the at least one peripheral vehicle can meet according to the avoidance information.
The peripheral vehicle may be a manned vehicle, or an unmanned vehicle. When both the nearby vehicle and the host vehicle support a communication method such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G, the host vehicle can communicate with the nearby vehicle by the communication method, that is, transmit avoidance information to the nearby vehicle through the communication channel.
The surrounding vehicle includes the own vehicle, and in the worst case, only the own vehicle is controlled to avoid.
Fig. 6 is a schematic diagram of a hardware structure of the electronic device provided by the present invention.
As shown in fig. 6, the present invention also provides an electronic device, including: one or more processors and memory, one processor being exemplified in fig. 6. Further, the electronic device may further include: an input device and an output device.
The processor, memory, input devices and output devices may be connected by a bus or other means, as exemplified by the connection by a bus in fig. 6.
Those skilled in the art will appreciate that the configuration of the electronic device shown in fig. 6 is not intended to limit embodiments of the present invention, and may be a bus or star configuration, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The processor may be composed of an Integrated Circuit (IC), for example, a single packaged IC, or a plurality of packaged ICs connected with the same or different functions. For example, the processor may include only a Central Processing Unit (CPU), or may be a combination of a CPU, a Digital Signal Processor (DSP), a Graphics Processing Unit (GPU), and various control chips. In the embodiment of the present invention, the CPU may be a single operation core, or may include multiple operation cores.
The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the unmanned vehicle device in the embodiments of the present application (for example, the data acquiring module, the determining module, the avoidance rule sending module, and the avoidance instruction generating module shown in fig. 5). The processor executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory, namely, the processing method of the above-mentioned unmanned vehicle avoidance method embodiment is realized.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; in the embodiment of the present invention, the operating system may be an Android system, an iOS system, a Windows operating system, or the like. The storage data area may store data created in accordance with use of the unmanned vehicle device, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located from the processor. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing means operated by the list. The input device may include a touch screen, a keyboard, a mouse, etc., and may also include a wired interface, a wireless interface, etc. The output device may include a display screen, a speaker, and the like, and may also include a wired interface, a wireless interface, and the like.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (16)
1. An unmanned vehicle avoidance method, comprising:
acquiring a detection result of the road condition;
when the detection result does not meet the preset meeting condition, generating avoidance information according to the detection result and a preset avoidance rule; the avoidance information comprises the avoidance rule; the avoidance rule comprises that an avoidance party is determined according to at least one item of the distance between the vehicles and the distance information of the rear vehicle meeting place, the driving direction information of the vehicles, the communication address information and the road congestion condition information of the vehicle avoidance direction in the detection result, and the avoidance party information is generated based on the determined avoidance party;
when the vehicle is an evasion party, the avoidance information is sent to one or more rear vehicles in the same driving direction as the vehicle in at least one peripheral vehicle, so that the vehicle and the one or more rear vehicles can meet according to the avoidance information.
2. The method of claim 1, wherein the obtaining the detection result of the road condition further comprises:
acquiring the driving direction and the identification data of surrounding vehicles;
and obtaining the vehicle arrangement relation and the communication address of the vehicle around the vehicle based on the identity recognition data.
3. The method of claim 1, wherein the predetermined meeting conditions are: L1-C1-C2 is more than or equal to 2S 1 or L1-C1-C2 is more than or equal to 2S 1+ S2; where L1 is the width of the road, C1 is the width of the vehicle ahead, C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.
4. The method of claim 2, wherein the identification data is a license plate number or a predetermined unique identification code.
5. The method of claim 2, wherein the carrier of the identification data is one or more of a license plate, a two-dimensional code, and an RFID tag.
6. The method of claim 2, further comprising:
acquiring the live information of vehicle meeting;
adjusting the avoidance rule according to the live information;
and sending the adjusted avoidance rule to the at least one peripheral vehicle.
7. The method of claim 6, wherein the live information is sensor acquisition data and/or surrounding vehicle feedback information.
8. The method according to claim 7, wherein the nearby vehicle feedback information includes a second avoidance rule.
9. The method according to claim 2, wherein the acquiring of the traveling direction of the nearby vehicle includes:
receiving the own driving direction broadcasted by the surrounding vehicle; or the running direction of the surrounding vehicle is obtained through the comparison result of the current vehicle speed and the relative running speed.
10. The method of claim 1, wherein the rear available meeting location is determined based on a width of a rear road.
11. An unmanned vehicle avoidance apparatus, comprising:
the data acquisition module is used for acquiring a detection result of the road condition;
the judging module is used for judging whether the detection result meets the preset vehicle meeting condition or not and sending the judgment result to the avoidance rule information generating module; the judgment module comprises an evasion party judgment module which is used for determining an evasion party according to at least one item of distance information of the vehicle distance and the rear meeting place in the detection result, driving direction information of the vehicle, communication address information and road congestion condition information of the vehicle avoidance direction;
the avoidance information generating module is used for generating avoidance information according to the detection result and a preset avoidance rule if the judgment result of the judging module is that the detection result does not meet the preset meeting condition; the avoidance information comprises the avoidance rule; the avoidance rule comprises avoidance party information, and the avoidance party information is generated based on the determined avoidance party;
and the avoidance information sending module is used for sending the avoidance information to one or more rear vehicles in the same driving direction as the host vehicle in at least one peripheral vehicle when the host vehicle is the avoidance party so as to enable the host vehicle and the one or more rear vehicles to meet according to the avoidance information.
12. The apparatus of claim 11, wherein the data acquisition module comprises:
the vehicle data acquisition module is used for acquiring the driving direction and the identification data of the surrounding vehicles;
and the vehicle identification module is used for obtaining the vehicle arrangement relation and the communication address of the vehicle around the vehicle based on the identity identification data.
13. The apparatus of claim 12, further comprising:
the live obtaining module is used for obtaining the live information of the meeting;
the rule adjusting module is used for adjusting the avoidance rule according to the live information;
and the rule updating module is used for sending the adjusted avoidance rule to the at least one peripheral vehicle.
14. The apparatus of claim 12, wherein the vehicle data acquisition module comprises:
the broadcast receiving module is used for receiving the self driving direction broadcasted by the surrounding vehicles; and/or the presence of a gas in the gas,
and the speed comparison module is used for obtaining the running direction of the peripheral vehicle according to the comparison result of the current vehicle speed and the relative running speed.
15. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 10.
16. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 10 when executing the program.
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