CN108521800A - Control method, control terminal and the machine readable storage medium of automatic driving vehicle - Google Patents
Control method, control terminal and the machine readable storage medium of automatic driving vehicle Download PDFInfo
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- CN108521800A CN108521800A CN201780005169.8A CN201780005169A CN108521800A CN 108521800 A CN108521800 A CN 108521800A CN 201780005169 A CN201780005169 A CN 201780005169A CN 108521800 A CN108521800 A CN 108521800A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
There is provided a kind of control method of automatic driving vehicle, control terminal and machine readable storage medium, this method includes：Obtain the location information (201) of designated position；The real time position (202) of itself is determined according to the location information of designated position；Real time position is broadcasted (203) by the radio transmitting apparatus that itself is carried.Using this method, it may be implemented to travel on the automatic driving vehicle on bend and accurately obtain the running condition information of itself, and the running condition information of itself is subjected to broadcast transmission, the running condition information of other vehicle broadcast transmissions is detected simultaneously, to make measures to keep clear in advance according to the running condition information of other vehicles, collide in bend corner to avoid vehicle.
Description
Technical field
This application involves automatic Pilot technical field more particularly to a kind of control method of automatic driving vehicle, controls eventually
End and machine readable storage medium.
Background technology
Autonomous driving vehicle (Autonomous vechicles) is also known as pilotless automobile, computer driving or wheel
Formula mobile robot, for pilot steering automobile, autonomous driving vehicle is by increasing multiple sensors, by artificial intelligence
Energy, vision calculating, monitoring device etc., may be implemented automatic safe and reliably operate motor vehicles.
Currently, sensor of autonomous driving vehicle, such as millimetre-wave radar, ultrasonic radar etc. are all with divergent-ray
Mode detects position and the speed of offside traffic, however, this mode is only applicable to the road of near linear, for
For bend, then position and the speed of bend other side vehicle can not be detected in this way, to take in advance
Corresponding measure, to evade risk of collision.
Invention content
In view of this, this application discloses a kind of control method of automatic driving vehicle, control terminal and machine readable depositing
Storage media.
In a first aspect, a kind of control method of automatic driving vehicle is provided, the method includes：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
Second aspect provides a kind of control method of automatic driving vehicle, the method includes：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
Transport condition.
The third aspect provides a kind of control method of automatic driving vehicle, applied to being laid in being used for for bend corner
In the control terminal for detecting vehicle running state, the method includes：
Detection travels on the first vehicle on bend side；
The transport condition of first vehicle is determined according to self-position；
The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side；
Fourth aspect provides a kind of control terminal, and the control terminal includes processor, and the processor is used for：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
5th aspect, provides a kind of control terminal, the control terminal includes processor, and the processor is used for：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
Transport condition.
6th aspect, provides a kind of control terminal, and the control terminal is located at bend corner, for detecting vehicle traveling
State, the control terminal include memory, processor, and several computer instructions, the processing are stored in the memory
Device is used for：
Obtain the location information of designated position；
The real time position for travelling on the first vehicle on bend side is determined according to the location information of the designated position；
The real time position of first vehicle is sent to the second vehicle travelled on the bend other side.
7th aspect, provides a kind of machine readable storage medium, several meters is stored on the machine readable storage medium
Calculation machine instructs, and the computer instruction, which is performed, to be handled as follows：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
Eighth aspect provides a kind of machine readable storage medium, several meters is stored on the machine readable storage medium
Calculation machine instructs, and the computer instruction, which is performed, to be handled as follows：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
Transport condition.
9th aspect, provides a kind of machine readable storage medium, several meters is stored on the machine readable storage medium
Calculation machine instructs, and the computer instruction, which is performed, to be handled as follows：
Obtain the location information of designated position；
The real time position for travelling on the first vehicle on bend side is determined according to the location information of the designated position；
The real time position of first vehicle is sent to the second vehicle travelled on the bend other side.
As seen from the above-described embodiment, by obtaining the location information of designated position, according to the location information of the designated position
The real time position of itself is obtained, can improve the accuracy of the real time position of itself got, also, due to by the real-time position
It sets and carries out broadcast transmission in a manner of radio, the vehicle that may be implemented on the bend other side can detect the real-time position
It sets, so that the vehicle on the other side can make measures to keep clear in advance, collides in bend corner to avoid vehicle.
Description of the drawings
Fig. 1 is the application scenarios schematic diagram that the embodiment of the present invention realizes automatic Pilot control method；
Fig. 2 is one embodiment flow chart of the control method of automatic driving vehicle of the present invention；
Fig. 3 is another embodiment flow chart of the control method of automatic driving vehicle of the present invention；
Fig. 4 is another embodiment flow chart of the control method of automatic driving vehicle of the present invention；
One embodiment block diagram of Fig. 5 terminals in order to control；
Another embodiment block diagram of Fig. 6 terminals in order to control；
Another embodiment block diagram of Fig. 7 terminals in order to control.
Specific implementation mode
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Fig. 1 is referred to, an application scenarios schematic diagram of automatic Pilot control method, Fig. 1 are realized for the embodiment of the present invention
Include bend 100, and is consistent with actual conditions, since road safety blind spot is generally present in the corner of bend,
Therefore, it will usually lay some traffic mark boards, such as the traffic mark board 130 shown in Fig. 1 and traffic sign in trackside
Board 140, to prompt curve ahead to turn round, so as to cause driver note that driver can then take closing on corner
The measures to keep clear such as deceleration, whistle, to avoid vehicle from colliding in bend corner.
However, above-mentioned for prompting the traffic mark board that curve ahead turns round to be only capable of the driver to artificially driving vehicle
Reminding effect is played, and for automatic driving vehicle, for example, the vehicle 110 shown in Fig. 1 and vehicle 120, are nothings
Method takes measures to keep clear in advance according to above-mentioned traffic mark board, but relies on the sensor of itself, such as millimetre-wave radar, super
Sound radar etc. detects position and the speed of offside traffic.However, due to millimetre-wave radar, super refreshing wave radar be all with
The mode of divergent-ray detects position and the speed of offside traffic, it can be seen that, aforesaid way is not particularly suited for Fig. 1
In exemplified negotiation of bends application scenarios.
Based on this, the present invention provides a kind of control method of automatic driving vehicle, and this method can be applied to exemplified by Fig. 1
In negotiation of bends application scenarios, vehicle 110 may be implemented and vehicle 120 respectively broadcasts the running condition information of itself,
And the running condition information of offside vehicle is separately detected, thus before entering bend corner, the row according to offside vehicle
It sails status information and takes measures to keep clear in advance, collide in bend corner to avoid vehicle.
It will be appreciated by persons skilled in the art that in Fig. 1 only by taking two traffic mark boards as an example, the present invention is to trackside cloth
If the particular number of traffic mark board be not restricted；Correspondingly, in Fig. 1 only by taking two vehicles as an example, the present invention is to vehicle
Particular number be not also restricted.
It is as follows, it lists following embodiments and the control method of automatic driving vehicle proposed by the present invention is illustrated.
First, show that following embodiments one illustrate automatic driving vehicle is how to carry out the running condition information of itself extensively
It broadcasts and send.
Embodiment one：
Fig. 2 is referred to, is one embodiment flow chart of the control method of automatic driving vehicle of the present invention, this method can be with
Include the following steps：
Step 201：Obtain the location information of designated position.
The application scenarios of example shown in Figure 1, due to traffic mark board once laying, position also just secures,
Based on this, in inventive embodiments, traffic mark board position can be set as designated position, then, obtain designated position
Location information be also equivalent to obtain be laid in current driving road segment trackside traffic mark board location information.
In one embodiment, the location information of the traffic mark board can be prestored on traffic mark board, for example,
In one optional realization method, the graphical symbol for recording data can be drawn on traffic mark board, is accorded with by the figure
Number record the location information of the traffic mark board.
In one embodiment, above-mentioned graphical symbol may include at least one of following：Quick Response Code, bar code, numeral flag,
AprilTag label tracking.
Correspondingly, in one embodiment, vehicle, such as vehicle 110 can then be acquired by the photographic device itself carried
Trackside image may include then being laid in the traffic mark board of current driving road segment trackside in the trackside image, such as institute in Fig. 1
Exemplary traffic mark board 130.Subsequently, which can further identify on traffic mark board that trackside image includes
Graphical symbol, to obtain the location information of traffic mark board.
In one embodiment, the location information of above-mentioned traffic mark board may include at least one of following：Traffic mark board
GPS coordinate, traffic mark board Position Number.
In one embodiment, since the photographic device carried on vehicle can have certain angular field of view, then, institute
May include multiple traffic mark boards in collected trackside image, for example, both including in the collected trackside image of institute
Traffic mark board 130, and include traffic mark board 140.
Correspondingly, after collecting trackside image, photographic device can identify each friendship that the trackside image includes
Quick Response Code on logical sign board, to get the location information of each traffic mark board.
Step 202：The real time position of itself is determined according to the location information of designated position.
It in one embodiment, can be with if the location information of above-mentioned designated position includes the Position Number of the designated position
Setting map is searched according to the Position Number of the designated position first, finds the Position Number position on this map
Point, then obtains the GPS coordinate of the location point, namely finds the corresponding GPS coordinate of the Position Number.Subsequently, further according to institute
The GPS coordinate of the designated position found determines the real time position of itself.
Seen from the above description, it is possible to get the location information of multiple traffic mark boards in step 201, if only
The real time position of itself is determined according to the location information of one of traffic mark board, it is possible to can due to accessed this its
In the location information of a traffic mark board have noise, be inaccurate, lead to the real time position of itself finally determined and be not allowed
Really, it is based on this, the embodiment of the present invention proposes, if getting the location information of multiple traffic mark boards, vehicle in step 201
, such as vehicle 110 can determine itself relative position relation between each traffic mark board respectively, further according to itself
With the relative position relation between each traffic mark board, the reality of itself is determined with the location information of each traffic mark board
When position.
In one embodiment, determine that the process of itself relative position relation between each traffic mark board is specifically wrapped
It includes：For determining itself relative position relation between one of traffic mark board, it may be determined that the traffic mark board
Size in trackside image and position, in order to describe method, in the embodiment of the present invention by traffic mark board in trackside image
Size and location be known as shooting size and camera site subsequently then can be according to the traffic mark board in trackside image
Size is shot, the actual size with the known traffic mark board calculates itself using mathematical algorithm, such as field depth principle
With the relative distance of the traffic mark board.Correspondingly, camera site that can be according to the traffic mark board in trackside image, profit
With mathematical algorithm, such as extended Kalman filter either particle filter, again or SLAM modeling methods etc., calculating is come from
The relative position of body and the traffic mark board.
In one embodiment, the relative position relation according to itself between each traffic mark board, with each friendship
The location information of logical sign board determines that the process of the real time position of itself specifically includes：First against each traffic mark board,
According to itself relative position relation between the traffic mark board, the location information with the traffic mark board is calculated and is directed to
For the traffic mark board, which is known as position candidate by the position that itself may locate for convenience；Later, according to
The position candidate determines a candidate range, for example, can be centered on the position candidate, pre-determined distance is radius, determines one
A circular candidate range；According to above-mentioned processing procedure, it is often directed to a traffic mark board, then can obtain a candidate model
It encloses；Finally, can such as mathematical algorithm, calculate the intersection point between all candidate ranges, which be determined as
The real time position of itself.
It should be noted that if there are more than two intersection points, then in an optional realization between all candidate ranges
, can be in the two or more intersection point in mode, which is determined as the real-time position of itself by an optional intersection point
It sets.
By above-mentioned processing, the accuracy of the real time position of itself finally determined can be improved.
Step 203：Real time position is broadcasted by the radio transmitting apparatus that itself is carried.
In embodiments of the present invention, radio transmitting apparatus can be carried on vehicle, such as vehicle 110, passes through the nothing
Line electricity emitter broadcasts the real time position of itself determined in step 202.It, can since radio is different from ray
To propagate in a certain range, in the bend scene of example shown in Fig. 1, be located at other of bend not homonymy with vehicle 110
Vehicle, such as vehicle 120 can then detect the real time position of itself that vehicle 110 is broadcasted.
In one embodiment, vehicle 110 can emit dress according to preset fixed frequency by the radio itself carried
Set the real time position of broadcast transmission itself.
In addition, in embodiments of the present invention, vehicle can also obtain the traveling detected by the speed measuring device of itself carrying
Speed, and the travel speed can be broadcasted by the radio transmitting apparatus that itself is carried.
It will be appreciated by persons skilled in the art that vehicle is in the radio transmitting apparatus broadcast transmission carried by itself
While the real time position of itself, can also broadcast transmission itself travel speed；Alternatively, vehicle carried by itself it is wireless
Electric emitter sends the real time position and travel speed of itself with different frequency broadcasts respectively, and the present invention is to real time position
It is not restricted with the specific broadcast time of travel speed.
In addition, it is contemplated that the positioning device carried on vehicle, for example, global navigation satellite system receiver, GPS receiver,
Beidou satellite navigation system receiver, GALILEO positioning system receiver, GLONASS receiver of satellite navigation system, it is possible to
, there is drift phenomenon in meeting position inaccurate, is based on this, proposes in embodiments of the present invention, determines vehicle itself in step 202
Real time position after, can be corrected according to the positioning device that the real time position carries itself, to improve positioning device pair
The accuracy of vehicle location result of detection.
As seen from the above-described embodiment, by obtaining the location information of designated position, according to the location information of the designated position
The real time position of itself is obtained, can improve the accuracy of the real time position of itself got, also, due to by the real-time position
It sets and carries out broadcast transmission in a manner of radio, the vehicle that may be implemented on the bend other side can detect the real-time position
It sets, so that the vehicle on the other side can make measures to keep clear in advance, collides in bend corner to avoid vehicle.
So far, the associated description of embodiment one is completed.
Secondly, show that following embodiments two illustrate automatic driving vehicle is how to detect the transport condition letter of other vehicles
Breath, and the transport condition of itself is controlled according to the running condition information.
Embodiment two：
Fig. 3 is referred to, is another embodiment flow chart of the control method of automatic driving vehicle of the present invention, this method can
To include the following steps：
Step 301：Obtain the running condition information for other vehicles that the radio system carried on vehicle detects.
In embodiments of the present invention, by the description of embodiment illustrated in fig. 2 it is found that vehicle is by the wireless of itself carrying
The real time position of electric emitter broadcast transmission itself and/or travel speed, then, correspondingly, nothing can be carried on vehicle
Line electricity reception device, to detect the running condition information of other vehicle broadcast transmissions.
In one embodiment, above-mentioned running condition information may include at least one of following：Real time position, travel speed.
Step 302：Obtain the running condition information of vehicle.
In embodiments of the present invention, vehicle can obtain the location information of designated position, according to the position of the designated position
Information determines the real time position of vehicle itself；And/or obtain the travel speed that the speed measuring device carried on vehicle detects.
It is how to determine the real time position of itself as vehicle in this step, may refer to above-mentioned embodiment illustrated in fig. 2
In description, this will not be detailed here.
Step 303：The traveling of vehicle is controlled according to the running condition information of the running condition information of other vehicles and vehicle
State.
It in one embodiment, can be according to the real time position of other vehicles got in step 301, and in step 302
The vehicle got the real time position of itself, calculates the distance between vehicle itself and other vehicles, further, if should be away from
From the distance threshold less than setting, then can control vehicle itself Reduced Speed Now, to avoid with other vehicles in bend corner
It collides.
Similar, it in one embodiment, can be with the travel speed of other vehicles got in comparison step 301, with step
The vehicle got in rapid 302 the travel speed of itself, if comparing the travel speed for obtaining other vehicles higher than vehicle itself
Travel speed can then control vehicle itself Reduced Speed Now, collide in bend corner to avoid with other vehicles.
In one embodiment, above-mentioned control vehicle itself Reduced Speed Now may include：Control vehicle itself adding with setting
Speed carries out Reduced Speed Now.
In one embodiment, above-mentioned control vehicle itself Reduced Speed Now may include：First according to other vehicles and vehicle
The distance between itself calculates an acceleration, for convenience, which is known as aimed acceleration,
It controls vehicle and Reduced Speed Now is carried out with the aimed acceleration.It is handled by this kind, may be implemented neatly to control vehicle itself
Transport condition.
As seen from the above-described embodiment, by obtaining other vehicles for being detected of radio system of itself carrying
Running condition information obtains the running condition information of itself, and according to the running condition information of itself and other vehicles
Running condition information controls the transport condition of itself, may be implemented in time, actively control the transport condition of itself, avoid and its
He collides at vehicle in bend corner.
So far, the associated description of embodiment two is completed.
Based on the inventive concept similar with the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 2, the present invention is implemented
Example also provides the control method of another automatic driving vehicle, and the control that this method can be applied to be laid in bend corner is whole
On end, can have wherein at least one, photographic device, laser radar apparatus, millimetre-wave radar device etc. in the control terminal,
The control terminal can be used for detecting the transport condition of vehicle, and transport condition mentioned here may include the real time position of vehicle
With the travel speed of vehicle.As shown in figure 4, another embodiment flow of the control method for automatic driving vehicle of the present invention
Figure, includes the following steps：
Step 401：Detection travels on the first vehicle on bend side.
In one embodiment, if there is photographic device in the control terminal for the transport condition for detecting vehicle, then should
Control terminal can obtain road image by photographic device, and mathematical algorithm, such as the filter of foreground detection, background then may be used
Except scheduling algorithm, determine that the vehicle is known as by the vehicle travelled on bend side herein for convenience on road image
First vehicle.
It will be appreciated by persons skilled in the art that may include one or more first vehicle, this hair on road image
It is bright that this is not limited.
Step 402：The transport condition of the first vehicle is determined according to self-position.
In one embodiment, it can be determined on the road image described in above-mentioned steps 401 and determine that the first vehicle exists
The size is known as shooting size, which is known as shooting by the size in road image and position herein for convenience
Position.
Further, then itself relative distance between the first vehicle can be determined according to shooting size, according to shooting
Relative position between location determination itself and the first vehicle is specific to determine that the mode of relative distance and relative position refer to
Associated description in the prior art, it is, for example, possible to use this is no longer described in detail in range of triangle algorithm, the present invention.
Subsequently, then the real time position of vehicle can be determined according to above-mentioned relative position, relative distance and self-position
, it specifically determines the mode of the real time position of the first vehicle, may refer to the associated description in above-mentioned embodiment illustrated in fig. 2,
This will not be detailed here.
Correspondingly, the first vehicle can also be extrapolated according to the variation of the first vehicle camera site in several road images
Travel speed.
If in addition, there is laser radar apparatus or millimeter in the control terminal for the transport condition for detecting vehicle
Wave radar installations, it will be appreciated by persons skilled in the art that existing laser radar apparatus has with millimetre-wave radar device
It tests the speed, distance measurement function, then, after measuring itself relative distance between the first vehicle, then it can be pushed away according to self-position
Calculate the real time position of the first vehicle.
Step 403：The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.
As seen from the above-described embodiment, the first vehicle on bend side is travelled on by detection, due to known to self-position
And it is fixed, then the transport condition of the first vehicle can be determined according to self-position, so as to improve the first vehicle got
Transport condition accuracy, also, since first vehicle running state to be sent to travel on the bend other side
Two vehicles, to which the second vehicle can detect the transport condition of the first vehicle, to be carried according to the transport condition of first vehicle
Before make measures to keep clear, collide in bend corner to avoid vehicle.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 2, the present invention is implemented
Example also provides a kind of control terminal, as shown in figure 5, the control terminal 500 includes memory 510, processor 520, the storage
Several computer instructions are stored in device 510, the processor 520 is used for：Obtain the location information of designated position；According to described
The location information of designated position determines the real time position of itself；The real time position is emitted into dress by the radio itself carried
It sets and is broadcasted.
In one embodiment, the processor 520 can be used for：Obtain the traffic mark for being laid in current driving road segment trackside
The location information of will board.
In one embodiment, the processor 520 can be used for：Trackside figure is acquired by the photographic device itself carried
Picture, the trackside image include the traffic mark board for being laid in current driving road segment trackside；It identifies and is wrapped in the trackside image
The Quick Response Code on traffic mark board included, obtains the location information of the traffic mark board.
In one embodiment, the location information includes at least one of following：GPS coordinate, Position Number.
In one embodiment, the processor 520 can be used for：It is searched and is set according to the Position Number of the designated position
Map, to find the corresponding GPS coordinate of the Position Number；The real time position of itself is determined according to the GPS coordinate found.
In one embodiment, the trackside image includes multiple traffic mark boards；
The processor 520 can be used for：Itself opposite position between each described traffic mark board is determined respectively
Set relationship；According to itself relative position relation between each described traffic mark board, with traffic described in each
The location information of sign board determines the real time position of itself.
In one embodiment, the processor 520 can be used for：Determine each described traffic mark board described respectively
Shooting size in trackside image and camera site；For traffic mark board described in each, existed according to the traffic mark board
The actual size of shooting size and the traffic mark board in the trackside image, calculates itself and the traffic mark board
Relative distance, and the camera site according to the traffic mark board in the trackside image calculates itself and the friendship
The relative position of logical sign board.
In one embodiment, the processor 520 can be used for：For traffic mark board described in each, according to itself
With the relative position relation between the traffic mark board, the location information with the traffic mark board determines a candidate bit
It sets；A candidate range is determined according to the position candidate；Calculate the intersection point between each described candidate range；It will be described
Intersection point is determined as the real time position of itself.
In one embodiment, the processor 520 can be used for：Obtain the traveling that the speed measuring device of itself carrying detects
Speed；The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.
In one embodiment, the processor 520 can be also used for：The positioning that itself is carried according to the real time position
Equipment is corrected.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 3, the present invention is implemented
Example also provides a kind of control terminal, as shown in fig. 6, the control terminal 600 includes memory 610, processor 620, the storage
Several computer instructions are stored in device 510, the processor 620 is used for：Obtain the radio system carried on vehicle
The running condition information of other vehicles detected；Obtain the running condition information of the vehicle；According to other vehicles
The running condition information of running condition information and the vehicle controls the transport condition of the vehicle.
In one embodiment, the running condition information includes at least one of following：Real time position, travel speed.
In one embodiment, the processor 620 can be used for：Obtain the location information of designated position；According to the finger
Position the real time position that the location information set determines vehicle；And/or obtain what the speed measuring device carried on the vehicle detected
Travel speed.
In one embodiment, the processor 620 can be used for：According to the real time position of other vehicles and the vehicle
Real time position, determine described the distance between other vehicles and the vehicle；If the distance is less than setting apart from threshold
Value then controls the vehicle deceleration traveling.
In one embodiment, the processor 620 can be used for：Compare the travel speed of other vehicles and the vehicle
Travel speed；If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, institute is controlled
State vehicle deceleration traveling.
In one embodiment, the processor 620 can be used for：It controls the vehicle and is slowed down with the acceleration set
Traveling.
In one embodiment, the processor 620 can be used for：According between other described vehicles and the vehicle away from
From calculating aimed acceleration；It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 4, the present invention is implemented
Example also provides a kind of control terminal, and the control terminal is located at bend corner, for detecting vehicle running state, such as Fig. 7 institutes
Show, control terminal 700 includes memory 710, processor 720, and several computer instructions, institute are stored in the memory 710
Processor 720 is stated to be used for：Detection travels on the first vehicle on bend side；First vehicle is determined according to self-position
Transport condition；The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.
In one embodiment, the processor 720 is used for：Acquire road image；Trip is detected on the road image
It sails in the first vehicle on bend side.
In one embodiment, the processor 720 is used for：The shooting of first vehicle is determined in the road image
Size and camera site；Itself relative distance between first vehicle is determined according to the shooting size, and according to institute
It states camera site and determines itself relative position between first vehicle；According to the relative distance, relative position, and
Self-position determines the real time position of first vehicle, and the traveling speed of first vehicle is determined according to the camera site
Degree.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 2, the present invention is implemented
Example also provides a kind of machine readable storage medium, and several computer instructions are stored on the machine readable storage medium, described
Computer instruction, which is performed, to be handled as follows：Obtain the location information of designated position；According to the position of the designated position
Information determines the real time position of itself；The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
In one embodiment, during the location information for obtaining designated position, the computer instruction is performed
When be handled as follows：Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.
In one embodiment, the mistake of the location information for obtaining the traffic mark board for being laid in current driving road segment trackside
Cheng Zhong, the computer instruction, which is performed, to be handled as follows：Trackside image, institute are acquired by the photographic device itself carried
It includes the traffic mark board for being laid in current driving road segment trackside to state trackside image；Identify the friendship that the trackside image includes
Quick Response Code on logical sign board, obtains the location information of the traffic mark board.
In one embodiment, the location information includes at least one of following：GPS coordinate, Position Number.
In one embodiment, if the location information includes the Position Number, the position according to the designated position
During confidence breath determines the real time position of itself, the computer instruction, which is performed, to be handled as follows：According to described
The Position Number of designated position searches setting map, to find the corresponding GPS coordinate of the Position Number；According to what is found
GPS coordinate determines the real time position of itself.
In one embodiment, the trackside image includes multiple traffic mark boards；
During the location information according to the designated position determines the real time position of itself, the computer refers to
Order, which is performed, to be handled as follows：Itself relative position relation between each described traffic mark board is determined respectively；
According to itself relative position relation between each described traffic mark board, with traffic mark board described in each
Location information determines the real time position of itself.
In one embodiment, described to determine itself relative position relation between each described traffic mark board respectively
During, the computer instruction, which is performed, to be handled as follows：Determine each described traffic mark board in institute respectively
State shooting size and the camera site in trackside image；For traffic mark board described in each, according to the traffic mark board
The actual size of shooting size and the traffic mark board in the trackside image, calculates itself and the traffic sign
The relative distance of board, and the camera site according to the traffic mark board in the trackside image, calculate itself with it is described
The relative position of traffic mark board.
In one embodiment, itself relative position between each described traffic mark board described in the basis is closed
System, during determining the real time position of itself with the location information of traffic mark board described in each, the computer instruction
It is performed and is handled as follows：For traffic mark board described in each, according to itself between the traffic mark board
Relative position relation, the location information with the traffic mark board determine a position candidate；It is determined according to the position candidate
One candidate range；Calculate the intersection point between each described candidate range；The intersection point is determined as to the real-time position of itself
It sets.
In one embodiment, the computer instruction, which is performed, is also handled as follows：Obtain testing the speed for itself carrying
The travel speed that device detects；The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.
In one embodiment, the computer instruction, which is performed, is also handled as follows：According to the real time position pair
The positioning device itself carried is corrected.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 3, the present invention is implemented
Example also provides a kind of machine readable storage medium, and several computer instructions are stored on the machine readable storage medium, described
Computer instruction, which is performed, to be handled as follows：Obtain other vehicles that the radio system carried on vehicle detects
Running condition information；Obtain the running condition information of the vehicle；According to the running condition information of other vehicles and institute
The running condition information for stating vehicle controls the transport condition of the vehicle.
In one embodiment, the running condition information includes at least one of following：Real time position, travel speed.
In one embodiment, during the running condition information for obtaining the vehicle, the computer instruction quilt
It is handled as follows when execution：Obtain the location information of designated position；Vehicle is determined according to the location information of the designated position
Real time position；And/or obtain the travel speed that the speed measuring device carried on the vehicle detects.
In one embodiment, the running condition information of other vehicles described in the basis and the transport condition of the vehicle are believed
During breath controls the transport condition of the vehicle, the computer instruction, which is performed, to be handled as follows：According to described
The real time position of the real time position of other vehicles and the vehicle determines described the distance between other vehicles and the vehicle；
If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.
In one embodiment, the running condition information of other vehicles described in the basis and the transport condition of the vehicle are believed
During breath controls the transport condition of the vehicle, the computer instruction, which is performed, to be handled as follows：Compare described
The travel speed of the travel speed of other vehicles and the vehicle；Show that the travel speed of other vehicles is higher than institute if comparing
The travel speed of vehicle is stated, then controls the vehicle deceleration traveling.
In one embodiment, during the control vehicle deceleration traveling, the computer instruction is performed
It is handled as follows：It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.
In one embodiment, during the control vehicle deceleration traveling, the computer instruction is performed
It is handled as follows：Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；Control the vehicle
With the aimed acceleration carry out Reduced Speed Now.
Based on inventive concept same as the control method of the automatic driving vehicle exemplified by above-mentioned Fig. 4, the present invention is implemented
Example also provides a kind of machine readable storage medium, and several computer instructions are stored on the machine readable storage medium, described
Computer instruction, which is performed, to be handled as follows：Detection travels on the first vehicle on bend side；It is true according to self-position
The transport condition of fixed first vehicle；The transport condition of first vehicle is sent to travelled on the bend other side
Two vehicles.
In one embodiment, during the detection travels on the first vehicle on bend side, the computer refers to
Order, which is performed, to be handled as follows：Acquire road image；It detects to travel on bend side on the road image
First vehicle
In one embodiment, described during the transport condition that first vehicle is determined according to self-position
Computer instruction, which is performed, to be handled as follows：Shooting size and the bat of first vehicle are determined in the road image
It acts as regent and sets；Itself relative distance between first vehicle is determined according to the shooting size, and according to the shooting position
Set the relative position for determining itself between first vehicle；According to the relative distance, relative position and self-position
It determines the real time position of first vehicle, and determines the travel speed of first vehicle according to the camera site.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case of making the creative labor, you can to understand and implement.
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.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
Method and apparatus are provided for the embodiments of the invention above to be described in detail, it is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.
Claims (63)
1. a kind of control method of automatic driving vehicle, which is characterized in that the method includes：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
2. according to the method described in claim 1, it is characterized in that, it is described obtain designated position location information, including：
Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.
3. according to the method described in claim 2, it is characterized in that, described obtain the traffic for being laid in current driving road segment trackside
The location information of sign board, including：
Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road
The traffic mark board of side；
It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark
The location information of will board.
4. according to the method described in claim 3, it is characterized in that, the graphical symbol includes at least one of following：
Quick Response Code, bar code, numeral flag, AprilTag label tracking.
5. according to any method of claims 1 to 3, which is characterized in that the location information includes at least one of following：
GPS coordinate, Position Number.
6. if described according to the method described in claim 5, it is characterized in that, the location information includes the Position Number
The real time position of itself is determined according to the location information of the designated position, including：
Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；
The real time position of itself is determined according to the GPS coordinate found.
7. according to the method described in claim 3, it is characterized in that, the trackside image includes multiple traffic signs
Board；
The location information according to the designated position determines the real time position of itself, including：
Itself relative position relation between each described traffic mark board is determined respectively；
According to itself relative position relation between each described traffic mark board, with traffic sign described in each
The location information of board determines the real time position of itself.
8. the method according to the description of claim 7 is characterized in that described determine itself and traffic sign described in each respectively
Relative position relation between board, including：
Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；
For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute
The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark
Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.
9. the method according to the description of claim 7 is characterized in that itself and traffic sign described in each described in the basis
Relative position relation between board determines the real time position of itself with the location information of traffic mark board described in each, including：
For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute
The location information for stating traffic mark board determines a position candidate；
A candidate range is determined according to the position candidate；
Calculate the intersection point between each described candidate range；
The intersection point is determined as to the real time position of itself.
10. according to the method described in claim 1, it is characterized in that, the method further includes：
Obtain the travel speed that the speed measuring device of itself carrying detects；
The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.
11. according to the method described in claim 1, it is characterized in that, in the position according at least one fixed position
After confidence breath determines the real time position of itself, the method further includes：
The positioning device carried to itself according to the real time position is corrected.
12. a kind of control method of automatic driving vehicle, which is characterized in that the method includes：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
State.
13. according to the method for claim 12, which is characterized in that the running condition information includes at least one of following：
Real time position, travel speed.
14. according to the method for claim 13, which is characterized in that the running condition information for obtaining the vehicle, packet
It includes：
Obtain the location information of designated position；
The real time position of vehicle is determined according to the location information of the designated position；And/or
Obtain the travel speed that the speed measuring device carried on the vehicle detects.
15. according to the method for claim 13, which is characterized in that the running condition information of other vehicles described in the basis
The transport condition of the vehicle is controlled with the running condition information of the vehicle, including：
According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined
The distance between；
If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.
16. according to the method for claim 13, which is characterized in that the running condition information of other vehicles described in the basis
The transport condition of the vehicle is controlled with the running condition information of the vehicle, including：
Compare the travel speed of the travel speed and the vehicle of other vehicles；
If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled
Traveling.
17. method according to claim 15 or 16, which is characterized in that the control vehicle deceleration traveling, including：
It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.
18. method according to claim 15 or 16, which is characterized in that the control vehicle deceleration traveling, including：
Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；
It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.
19. a kind of control method of automatic driving vehicle, which is characterized in that applied to be laid in bend corner for detecting
In the control terminal of vehicle running state, the method includes：
Detection travels on the first vehicle on bend side；
The transport condition of first vehicle is determined according to self-position；
The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.
20. according to the method for claim 19, which is characterized in that the detection travels on the first vehicle on bend side
, including：
Acquire road image；
Detect to travel on the first vehicle on bend side on the road image.
21. according to the method for claim 20, which is characterized in that described to determine first vehicle according to self-position
Transport condition, including：
Shooting size and the camera site of first vehicle are determined in the road image；
Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site
Determine itself relative position between first vehicle；
The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute
State the travel speed that camera site determines first vehicle.
22. a kind of control terminal, which is characterized in that the control terminal includes memory, processor, is stored in the memory
Several computer instructions, the processor are used for：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
23. control terminal according to claim 22, which is characterized in that the processor is used for：
Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.
24. control terminal according to claim 23, which is characterized in that the processor is used for：
Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road
The traffic mark board of side；
It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark
The location information of will board.
25. according to the method for claim 24, which is characterized in that the graphical symbol includes at least one of following：
Quick Response Code, bar code, numeral flag, AprilTag label tracking.
26. according to any control terminal of claim 22~24, which is characterized in that the location information include it is following extremely
One item missing：
GPS coordinate, Position Number.
27. control terminal according to claim 26, which is characterized in that the processor is used for：
Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；
The real time position of itself is determined according to the GPS coordinate found.
28. control terminal according to claim 24, which is characterized in that the trackside image includes multiple traffic
Sign board；
The processor is used for：
Itself relative position relation between each described traffic mark board is determined respectively；
According to itself relative position relation between each described traffic mark board, with traffic sign described in each
The location information of board determines the real time position of itself.
29. control terminal according to claim 28, which is characterized in that the processor is used for：
Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；
For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute
The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark
Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.
30. control terminal according to claim 28, which is characterized in that the processor is used for：
For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute
The location information for stating traffic mark board determines a position candidate；
A candidate range is determined according to the position candidate；
Calculate the intersection point between each described candidate range；
The intersection point is determined as to the real time position of itself.
31. control terminal according to claim 22, which is characterized in that the processor is additionally operable to：
Obtain the travel speed that the speed measuring device of itself carrying detects；
The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.
32. control terminal according to claim 22, which is characterized in that the processor is additionally operable to：
The positioning device carried to itself according to the real time position is corrected.
33. a kind of control terminal, which is characterized in that the control terminal includes memory, processor, is stored in the memory
Several computer instructions, the processor are used for：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
State.
34. control terminal according to claim 33, which is characterized in that the running condition information includes following at least one
：Real time position, travel speed.
35. control terminal according to claim 34, which is characterized in that the processor is used for：
Obtain the location information of designated position；
The real time position of vehicle is determined according to the location information of the designated position；And/or
Obtain the travel speed that the speed measuring device carried on the vehicle detects.
36. control terminal according to claim 34, which is characterized in that the processor is used for：
According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined
The distance between；
If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.
37. control terminal according to claim 34, which is characterized in that the processor is used for：
Compare the travel speed of the travel speed and the vehicle of other vehicles；
If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled
Traveling.
38. the control terminal according to claim 36 or 37, which is characterized in that the processor is used for：
It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.
39. the control terminal according to claim 36 or 37, which is characterized in that the processor is used for：
Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；
It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.
40. a kind of control terminal, which is characterized in that the control terminal is located at bend corner, and shape is travelled for detecting vehicle
State, the control terminal include memory, processor, and several computer instructions, the processor are stored in the memory
For：
Detection travels on the first vehicle on bend side；
The transport condition of first vehicle is determined according to self-position；
The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.
41. control terminal according to claim 40, which is characterized in that the processor is used for：
Acquire road image；
Detect to travel on the first vehicle on bend side on the road image.
42. control terminal according to claim 41, which is characterized in that the processor is used for：
Shooting size and the camera site of first vehicle are determined in the road image；
Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site
Determine itself relative position between first vehicle；
The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute
State the travel speed that camera site determines first vehicle.
43. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium
Instruction, the computer instruction, which is performed, to be handled as follows：
Obtain the location information of designated position；
The real time position of itself is determined according to the location information of the designated position；
The real time position is broadcasted by the radio transmitting apparatus that itself is carried.
44. machine readable storage medium according to claim 43, which is characterized in that the position for obtaining designated position
During information, the computer instruction, which is performed, to be handled as follows：
Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.
45. machine readable storage medium according to claim 44, which is characterized in that the acquisition is laid in current driving
During the location information of the traffic mark board of section trackside, the computer instruction, which is performed, to be handled as follows：
Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road
The traffic mark board of side；
It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark
The location information of will board.
46. machine readable storage medium according to claim 45, which is characterized in that the graphical symbol include it is following extremely
One item missing：
Quick Response Code, bar code, numeral flag, AprilTag label tracking.
47. according to any machine readable storage medium of claim 43~45, which is characterized in that the location information packet
It includes at least one of following：
GPS coordinate, Position Number.
48. machine readable storage medium according to claim 47, which is characterized in that if the location information includes described
Position Number, during the location information according to the designated position determines the real time position of itself, the computer
Instruction, which is performed, to be handled as follows：
Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；
The real time position of itself is determined according to the GPS coordinate found.
49. machine readable storage medium according to claim 45, which is characterized in that the trackside image includes multiple
The traffic mark board；
During the location information according to the designated position determines the real time position of itself, the computer instruction quilt
It is handled as follows when execution：
Itself relative position relation between each described traffic mark board is determined respectively；
According to itself relative position relation between each described traffic mark board, with traffic sign described in each
The location information of board determines the real time position of itself.
50. machine readable storage medium according to claim 49, which is characterized in that it is described respectively determine itself with it is each
During relative position relation between a traffic mark board, the computer instruction is performed to be located as follows
Reason：
Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；
For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute
The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark
Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.
51. machine readable storage medium according to claim 49, which is characterized in that described in the basis itself with it is each
Relative position relation between a traffic mark board determines itself with the location information of traffic mark board described in each
During real time position, the computer instruction, which is performed, to be handled as follows：
For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute
The location information for stating traffic mark board determines a position candidate；
A candidate range is determined according to the position candidate；
Calculate the intersection point between each described candidate range；
The intersection point is determined as to the real time position of itself.
52. machine readable storage medium according to claim 43, which is characterized in that the computer instruction is performed
Also it is handled as follows：
Obtain the travel speed that the speed measuring device of itself carrying detects；
The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.
53. machine readable storage medium according to claim 43, which is characterized in that the computer instruction is performed
Also it is handled as follows：
The positioning device carried to itself according to the real time position is corrected.
54. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium
Instruction, the computer instruction, which is performed, to be handled as follows：
Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；
Obtain the running condition information of the vehicle；
The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle
State.
55. machine readable storage medium according to claim 54, which is characterized in that under the running condition information includes
State at least one：Real time position, travel speed.
56. machine readable storage medium according to claim 55, which is characterized in that the traveling for obtaining the vehicle
During status information, the computer instruction, which is performed, to be handled as follows：
Obtain the location information of designated position；
The real time position of vehicle is determined according to the location information of the designated position；And/or
Obtain the travel speed that the speed measuring device carried on the vehicle detects.
57. machine readable storage medium according to claim 55, which is characterized in that other vehicles described in the basis
During the running condition information of running condition information and the vehicle controls the transport condition of the vehicle, the computer
Instruction, which is performed, to be handled as follows：
According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined
The distance between；
If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.
58. machine readable storage medium according to claim 55, which is characterized in that other vehicles described in the basis
During the running condition information of running condition information and the vehicle controls the transport condition of the vehicle, the computer
Instruction, which is performed, to be handled as follows：
Compare the travel speed of the travel speed and the vehicle of other vehicles；
If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled
Traveling.
59. the machine readable storage medium according to claim 57 or 58, which is characterized in that the control vehicle subtracts
During speed traveling, the computer instruction, which is performed, to be handled as follows：
It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.
60. the machine readable storage medium according to claim 57 or 58, which is characterized in that the control vehicle subtracts
During speed traveling, the computer instruction, which is performed, to be handled as follows：
Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；
It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.
61. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium
Instruction, the computer instruction, which is performed, to be handled as follows：
Detection travels on the first vehicle on bend side；
The transport condition of first vehicle is determined according to self-position；
The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.
62. machine readable storage medium according to claim 61, which is characterized in that the detection travels on bend side
On the first vehicle during, the computer instruction, which is performed, to be handled as follows：
Acquire road image；
Detect to travel on the first vehicle on bend side on the road image.
63. machine readable storage medium according to claim 62, which is characterized in that described to determine institute according to self-position
During the transport condition for stating the first vehicle, the computer instruction, which is performed, to be handled as follows：
Shooting size and the camera site of first vehicle are determined in the road image；
Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site
Determine itself relative position between first vehicle；
The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute
State the travel speed that camera site determines first vehicle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/104433 WO2019061311A1 (en) | 2017-09-29 | 2017-09-29 | Control method for self-driving car, control terminal and machine readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108521800A true CN108521800A (en) | 2018-09-11 |
Family
ID=63433157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780005169.8A Pending CN108521800A (en) | 2017-09-29 | 2017-09-29 | Control method, control terminal and the machine readable storage medium of automatic driving vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN108521800A (en) |
| WO (1) | WO2019061311A1 (en) |
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| CN109740433A (en) * | 2018-11-29 | 2019-05-10 | 深圳市元征科技股份有限公司 | A kind of vehicle preventing collision method and car-mounted terminal |
| CN109737971A (en) * | 2019-03-18 | 2019-05-10 | 爱驰汽车有限公司 | Vehicle-mounted assisting navigation positioning system, method, equipment and storage medium |
| CN109828571A (en) * | 2019-02-18 | 2019-05-31 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus based on V2X |
| CN110138485A (en) * | 2019-05-17 | 2019-08-16 | 爱驰汽车有限公司 | On-vehicle information broadcast system, method, equipment and storage medium |
| CN110187402A (en) * | 2019-05-17 | 2019-08-30 | 北京三快在线科技有限公司 | A kind of object identification method applied to unmanned equipment |
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Application publication date: 20180911 |