CN108803619A - A kind of visualization automatic Pilot method and its system based on artificial intelligence - Google Patents
A kind of visualization automatic Pilot method and its system based on artificial intelligence Download PDFInfo
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- CN108803619A CN108803619A CN201810787637.8A CN201810787637A CN108803619A CN 108803619 A CN108803619 A CN 108803619A CN 201810787637 A CN201810787637 A CN 201810787637A CN 108803619 A CN108803619 A CN 108803619A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
A kind of visualization automatic Pilot method and its system based on artificial intelligence, obtain the navigation routine of target vehicle, and the current location of target vehicle is marked in navigation routine using the first label；Extract the traffic lights that navigation routine includes；If the driving instruction that target vehicle executes at traffic lights needs to wait for red light, extracted traffic lights as echo signal lamp；Echo signal lamp is labeled in navigation routine using the second label；It extracts and shortest one second label of the first marking path；Obtain the image of the echo signal lamp of the second mark；If there are stationary vehicles in front of target vehicle, critical point is obtained by projection ray at stationary vehicle commanding elevation and the horizontal line of sight of driver, calculates the critical value between echo signal lamp and critical point；Calculate the first level distance value between position of driver in echo signal lamp and target vehicle；If first level distance value is less than or equal to critical value, control targe vehicle brake.
Description
Technical field
The present invention relates to artificial intelligence field, more particularly to a kind of visualization automatic Pilot method based on artificial intelligence and
Its system.
Background technology
There is the possibility that is stopped and can not be observed traffic lights by front truck, especially in normal driving process in vehicle
Be be in the case that small-sized private car front truck is high capacity waggon or car in rear car, once there is the above situation, then can be to rear car
Car owner causes harmful effect.First, when front and back two vehicle is in transport condition, there is risk of making a dash across the red light in rear car, for example, front truck
By stop line and opposing lane is driven towards at the eleventh hour, and the sight of rear car driver does not observe that traffic is believed by front truck blocking
Signal lamp may follow front truck to move ahead together, make a dash across the red light then will result in rear car, be when drivers being waited to observe traffic lights
When it is late, it is bothersome laborious although the above situation can be eliminated by appealing；Second, when front and back two vehicle is in static shape
When state, the start-up time of rear car, which has, slightly to postpone, and leads to the reduction of vehicle percent of pass.
Invention content
Goal of the invention：In order to overcome the disadvantage in background technology, an embodiment of the present invention provides one kind being based on artificial intelligence
Visualization automatic Pilot method and its system, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of visualization automatic Pilot method based on artificial intelligence, includes the following steps：
101：The current location and target location for obtaining target vehicle, generate the current location leading to the target location
Air route line simultaneously exports the navigation routine；
102：The navigation routine for obtaining the target vehicle makes the current location of the target vehicle in the navigation routine
It is labeled with the first label, first label follows the change of target blockchain position and changes；
103：Extract the traffic lights that the navigation routine includes；
104：Judge whether the driving instruction that the target vehicle executes at the traffic lights needs to wait for red light；
105：If so, being extracted the traffic lights as echo signal lamp；
106：The echo signal lamp is labeled in the navigation routine using the second label；
107：It extracts and shortest one second label of first marking path；
108：Obtain the image of the echo signal lamp of second mark；
109：Judge to whether there is stationary vehicle in front of the target vehicle；
110：If so, in target vehicle described in inverse analog driver sight, pass through at the stationary vehicle commanding elevation project
The horizontal line of sight of ray and driver obtain critical point, calculate the critical value between the echo signal lamp and the critical point；
111：Calculate the first level distance value between position of driver in the echo signal lamp and the target vehicle；
112：Judge whether the first level distance value is less than or equal to the critical value；
113：If so, controlling the target vehicle brake.
As a kind of preferred embodiment of the present invention, the traveling that the target vehicle executes at the traffic lights is judged
Instruction whether need wait for red light further include：
Judge whether the driving instruction is straight trip；
If so, judgement needs to wait for red light；
Judge whether the driving instruction is left-hand rotation；
If so, judgement needs to wait for red light；
Judge whether the driving instruction is right-hand rotation；
If so, judging whether the traffic lights include right turn signal lamp；
If so, judgement needs to wait for red light.
As a kind of preferred embodiment of the present invention, pass through the water of projection ray and driver at the stationary vehicle commanding elevation
Head-up line show that critical point further includes：
Extract previous stationary vehicle projection ray of the target vehicle；
Judge whether the ray projects to ground；
If it is not, then adjust the projecting direction of the ray, until in the echo signal lamp, the stationary vehicle any point with
And any point reaches the state of sight alignment on ground.
As a kind of preferred embodiment of the present invention, further include before step 112：
Calculate the distance between the target vehicle and the stationary vehicle value；
Judge whether the distance value is less than or equal to minimum safe distance value；
If so, controlling the target vehicle brake.
As a kind of preferred embodiment of the present invention, further include：
Obtain the present speed and acceleration of the target vehicle；
Calculate the second horizontal distance value between the target vehicle and the critical point；
The aimed acceleration of the target vehicle is calculated, and controls the target vehicle in advance and slows down, until the target vehicle
It is decelerated to zero in the second horizontal distance value.
A kind of visualization automated driving system based on artificial intelligence, including：
First acquisition module is configured as obtaining the current location of target vehicle, and current location described in real-time update；
Second acquisition module is configured as obtaining the target location of target vehicle, and preserves the target location；
Navigation routine generation module is configurable to generate the navigation routine of current location to target location；
Output module is configured as output navigation routine；
First labeling module is configured as in navigation routine marking the current location of target vehicle into rower using first
Note, and the position of the first label described in real-time update；
First extraction module is configured as extracting all traffic lights in navigation routine；
First judgment module is configured as judging whether the driving instruction that target vehicle executes at traffic lights needs to wait for
Red light；
Second extraction module is configured as extracting echo signal lamp；
Second labeling module is configured as echo signal lamp being labeled using the second label in navigation routine；
Third extraction module is configured as extracting and shortest one second label of the first marking path；
Image acquiring module is configured as obtaining the image of the echo signal lamp of the second mark；
Second judgment module is configured as judging to whether there is stationary vehicle in front of target vehicle；
Projection module is configured as from echo signal lamp through projection ray at stationary vehicle commanding elevation；
Critical point generation module is configurable to generate the intersection point of projection ray and driver's horizontal rays in target vehicle, described
Intersection point, that is, critical point；
First computing module is configured as calculating the critical value between echo signal lamp and critical point；
Second computing module, be configured as calculating first level in echo signal lamp and target vehicle between position of driver away from
From value；
Third judgment module is configured as judging whether first level distance value is less than or equal to critical value；
Brake module is configured as control targe vehicle brake.
As a kind of preferred embodiment of the present invention, further include：
First judging submodule is configured as judging whether driving instruction is straight trip；
Second judgment submodule is configured as judging whether driving instruction is left-hand rotation；
Third judging submodule is configured as judging whether driving instruction is right-hand rotation；
4th judging submodule is configured as judging whether traffic lights include right turn signal lamp.
As a kind of preferred embodiment of the present invention, further include：
4th extraction module is configured as extracting previous stationary vehicle of target vehicle；
4th judgment module is configured as judging whether ray projects to ground；
Projection adjustment module, is configured as the projecting direction of adjustment ray.
As a kind of preferred embodiment of the present invention, further include：
Third computing module is configured as calculating the distance between target vehicle and stationary vehicle value；
5th judgment module is configured as judging whether distance value is less than or equal to minimum safe distance value.
As a kind of preferred embodiment of the present invention, further include：
Third acquisition module is configured as obtaining the present speed of target vehicle with acceleration and to its real-time update；
4th computing module is configured as calculating the second horizontal distance value between target vehicle and critical point；
5th computing module is configured as calculating the aimed acceleration of target vehicle.
The present invention realizes following advantageous effect：
A kind of visualization automatic Pilot method based on artificial intelligence provided by the invention can help driver in target vehicle
The case where avoiding not observing traffic lights by front truck block vision；From the reversed mould of echo signal lamp overhead projector ray
The sight of quasi- driver, to obtain the intersection point with driver's horizontal line of sight, the intersection point, that is, critical point, control targe vehicle to
Stop up to stopping when the critical point, can ensure to keep minimum range with front truck in the case where not influencing to observe traffic lights；
Anticipation brake function is provided, when first level distance value is more than critical value, obtains present speed and the acceleration of target vehicle
Degree, calculates the aimed acceleration of target vehicle and is stopped with ensureing that target vehicle can be stopped in critical point；Adjust automatically ray projection
Direction, ensure ray be not obscured by an obstacle.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is provided by the invention a kind of based on the visual of artificial intelligence
Change automatic Pilot method flow diagram；
Fig. 2 is echo signal lamp extracting method flow chart provided by the invention；
Fig. 3 is ray projection direction regulating method flow chart provided by the invention；
Fig. 4 is the brake method flow chart provided by the invention based on minimum safe distance；
Fig. 5 is anticipation brake method flow chart provided by the invention；
Fig. 6 is a kind of visualization automated driving system structure diagram based on artificial intelligence provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, a kind of visualization automatic Pilot method based on artificial intelligence, includes the following steps：
101：The current location and target location of target vehicle are obtained, generates the navigation routine of current location to target location simultaneously
Navigation routine is exported；
102：Obtain target vehicle navigation routine, by the current location of target vehicle in navigation routine using first mark into
Rower is noted, and the first label follows the change of target blockchain position and changes；
103：Extract the traffic lights that navigation routine includes；
104：Judge whether the driving instruction that target vehicle executes at traffic lights needs to wait for red light；
105：If so, being extracted traffic lights as echo signal lamp；
106：Echo signal lamp is labeled in navigation routine using the second label；
107：It extracts and shortest one second label of the first marking path；
108：Obtain the image of the echo signal lamp of the second mark；
109：Judge to whether there is stationary vehicle in front of target vehicle；
110：If so, in inverse analog target vehicle driver sight, by projection ray at stationary vehicle commanding elevation with drive
The horizontal line of sight for the person of sailing obtains critical point, calculates the critical value between echo signal lamp and critical point；
111：Calculate the first level distance value between position of driver in echo signal lamp and target vehicle；
112：Judge whether first level distance value is less than or equal to critical value；
113：If so, control targe vehicle brake.
As shown in Fig. 2, judging whether the driving instruction that target vehicle executes at traffic lights needs to wait for red light also
Including：
Judge whether driving instruction is straight trip；
If so, judgement needs to wait for red light；
Judge whether driving instruction is left-hand rotation；
If so, judgement needs to wait for red light；
Judge whether driving instruction is right-hand rotation；
If so, judging whether traffic lights include right turn signal lamp；
If so, judgement needs to wait for red light.
Specifically, in a step 101, the current location of target vehicle is obtained by the vehicle GPS of target vehicle and driven
The target location of the person's of sailing setting, automatically generates the navigation routine of current location to target location, and control targe vehicle is according to leading
Air route line automatic Pilot, wherein navigation routine is exported by the display of vehicle-mounted computer to user.In a step 102, system with
The control terminal of target vehicle establishes a connection, and obtains above-mentioned navigation routine, by the current location of target vehicle on navigation road
It is labeled using the first label in line, and the position that real-time update first marks.In step 103, it transfers out including above-mentioned
The electronic map of navigation routine, and extract the traffic lights that navigation routine includes.At step 104, the row of target vehicle
It sails instruction to be sent out by system, wherein adjust driving instruction, different traffic lights according to the traffic lights in navigation routine
Have the function of that different instructions, general traffic lights can only limit straight trip or left-hand rotation, vehicle is not handed over generally when turning right
Ventilating signal lamp signal lamp limits, but in the section of part traffic environment complexity, traffic lights also include right turn signal lamp, this
When, vehicle is also limited by traffic lights when turning right, and in this step, judges what target vehicle executed at traffic lights
Whether driving instruction needs to wait for red light, that is, judges whether traffic lights may influence driving instruction.In step 105, when
When there are following three kinds of situations, you can judgement needs to wait for red light.Wherein, traffic lights further include slow other than traffic lights
Row indicator light, through going slowly indicator light when without considering parking, judge driving instruction at above-mentioned traffic lights is whether
To keep straight on, if so, judgement needs to wait for red light；Judge whether the driving instruction at above-mentioned traffic lights is left-hand rotation, if
It is that then judgement needs to wait for red light；Judge whether the driving instruction at above-mentioned traffic lights is right-hand rotation, if so, into one
Step judges whether above-mentioned traffic lights include right turn signal lamp, if so, judgement needs to wait for red light；The above situation will be met
Traffic lights extracted as echo signal lamp.In step 106, above-mentioned echo signal lamp is made in navigation routine
It is labeled with the second label, there are significant differences with the first label for the second label.In step 107, with target vehicle
The position of traveling, the first label is constantly changing, and marks into line trace and handles to first, when target vehicle is close to echo signal lamp
When, extract one second nearest label of the first marking path of distance.In step 108, the present invention is in all traffic signals
Monitoring camera is provided at the top of lamp, monitoring camera monitoring establishes one to always vehicle, monitoring camera with traffic lights
One-to-one correspondence, extracts the echo signal lamp of the second mark, and extracts monitoring camera corresponding with echo signal lamp
The filmed image that hair is sent.In step 109, analyzing processing is carried out to above-mentioned image, if the echo signal lamp is in red light shape
State then changes driving instruction, further judges to whether there is stationary vehicle in front of target vehicle.In step 110, if target carriage
There are stationary vehicles in front of, then the parking position of control targe vehicle can be completely with the driver ensured in target vehicle
Echo signal lamp is observed, from the top of echo signal lamp by the commanding elevation projection ray of stationary vehicle, and according to shooting shadow
As the horizontal line of sight of driver in simulated target vehicle, adjustment projection ray makes the two mutually give a bit with horizontal line of sight, the point
That is critical point, then the horizontal distance value between echo signal lamp and above-mentioned critical point is calculated, the horizontal distance value, that is, critical value.?
In step 111, the position of the first label is extracted, is calculated in advance in echo signal lamp and target blockchain between position of driver
First level distance value.In step 112, judge whether first level distance value is less than or equal to critical value.In step 113
In, when first level distance value is less than critical value, the driver in target vehicle very likely can not completely observe mesh
Signal lamp is marked, therefore, when first level distance value is equal to critical value, control targe vehicle brake is stopped.
Embodiment two
As shown in figure 3, showing that critical point further includes by projection ray at stationary vehicle commanding elevation and the horizontal line of sight of driver：
Extract previous stationary vehicle projection ray of target vehicle；
Judge whether ray projects to ground；
If it is not, the projecting direction of ray is then adjusted, up to arbitrary on any point in echo signal lamp, stationary vehicle and ground
Any reaches the state of sight alignment.
Specifically, the purpose of inverse analog pilot's line of vision is in order to enable target vehicle is after brake is stopped, and front truck will not hinder
The sight of driver's object observing signal lamp in target vehicle is kept off, therefore in simulation, projection ray need to be ensured not by barrier
Blocking, from echo signal lamp overhead projector ray, commanding elevation of the ray Jing Guo previous stationary vehicle of target vehicle, and projects
To ground, if the ray is obscured by an obstacle halfway, then the projection side for needing to adjust ray to ground can not be finally projected
To, method of adjustment is the angle being stepped up between ray and echo signal lamp, until when some on the ray projection to ground,
Adjustment finishes.
Embodiment three
As shown in figure 4, further including before step 112：
Calculate the distance between target vehicle and stationary vehicle value；
Judge whether distance value is less than or equal to minimum safe distance value；
If so, control targe vehicle brake.
As shown in figure 5, obtaining the present speed and acceleration of target vehicle；
Calculate the second horizontal distance value between target vehicle and critical point；
Calculate the aimed acceleration of target vehicle, and control targe vehicle deceleration in advance, until target vehicle second it is horizontal away from
From being decelerated to zero in value.
Specifically, at a distance from the premise stopped in critical value brake in control targe vehicle is to ensure that target vehicle between front truck
More than or equal to minimum safe distance, therefore, during target vehicle is close to front truck, calculates target vehicle and previous quiet
The only distance value before vehicle, while following two distance values are judged：Distance value before target vehicle and front truck with
And the first level distance value in echo signal lamp and target vehicle between position of driver, when above-mentioned distance value is first less than or waits
When minimum safe distance value, that is, stops and stop target vehicle, without judging first level distance value；When above-mentioned first level distance
When value is first less than or equal to critical value, that is, stops and stop target vehicle, without judging distance value.
Wherein, system is built-in with a maximum range value, when above-mentioned first level distance value is first less than or equal to critical value,
Judge whether target vehicle is greater than or equal to maximum range value with the distance value before previous stationary vehicle, if so, not stopping
Stop target vehicle, control targe vehicle continues to travel, until the distance between two vehicles value is less than maximum range value.
Control targe vehicle brake stop during, prejudged in advance, first level distance value be more than critical value it
Before, its present speed and acceleration are obtained by the control terminal of target vehicle, calculated between target vehicle and critical point
Second horizontal distance value, calculates the aimed acceleration of target vehicle so that target vehicle can be stopped before critical point to stop.
Example IV
As shown in fig. 6, a kind of visualization automated driving system based on artificial intelligence, it is characterised in that：Including：
First acquisition module 401 is configured as obtaining the current location of target vehicle, and real-time update current location；
Second acquisition module 402 is configured as obtaining the target location of target vehicle, and preserves target location；
Navigation routine generation module 403 is configurable to generate the navigation routine of current location to target location；
Output module 404 is configured as output navigation routine；
First labeling module 405 is configured as in navigation routine carrying out the current location of target vehicle using the first label
Mark, and the position that real-time update first marks；
First extraction module 406 is configured as extracting all traffic lights in navigation routine；
First judgment module 407 is configured as judging whether the driving instruction that target vehicle executes at traffic lights needs
Wait for red light；
Second extraction module 408 is configured as extracting echo signal lamp；
Second labeling module 409 is configured as echo signal lamp being labeled using the second label in navigation routine；
Third extraction module 410 is configured as extracting and shortest one second label of the first marking path；
Image acquiring module 411 is configured as obtaining the image of the echo signal lamp of the second mark；
Second judgment module 412 is configured as judging to whether there is stationary vehicle in front of target vehicle；
Projection module 413 is configured as from echo signal lamp through projection ray at stationary vehicle commanding elevation；
Critical point generation module is configurable to generate the intersection point of projection ray and driver's horizontal rays in target vehicle, intersection point
That is critical point；
First computing module 414 is configured as calculating the critical value between echo signal lamp and critical point；
Second computing module 415 is configured as calculating the first water in echo signal lamp and target vehicle between position of driver
Flat distance value；
Third judgment module 416 is configured as judging whether first level distance value is less than or equal to critical value；
Brake module 429 is configured as control targe vehicle brake；
First judging submodule 417 is configured as judging whether driving instruction is straight trip；
Second judgment submodule 418 is configured as judging whether driving instruction is left-hand rotation；
Third judging submodule 419 is configured as judging whether driving instruction is right-hand rotation；
4th judging submodule 420 is configured as judging whether traffic lights include right turn signal lamp；
4th extraction module 421 is configured as extracting previous stationary vehicle of target vehicle；
4th judgment module 422 is configured as judging whether ray projects to ground；
Projection adjustment module 423, is configured as the projecting direction of adjustment ray；
Third computing module 424 is configured as calculating the distance between target vehicle and stationary vehicle value；
5th judgment module 425 is configured as judging whether distance value is less than or equal to minimum safe distance value；
Third acquisition module 426 is configured as obtaining the present speed of target vehicle with acceleration and to its real-time update；
4th computing module 427 is configured as calculating the second horizontal distance value between target vehicle and critical point；
5th computing module 428 is configured as calculating the aimed acceleration of target vehicle.
The system that above-described embodiment four is provided only the example of the division of the above functional modules actually is answered
In, it can be completed, i.e., divided the internal structure of system by different function modules as needed and by above-mentioned function distribution
At different function modules, to complete all or part of the functions described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of visualization automatic Pilot method based on artificial intelligence, it is characterised in that：Include the following steps：
101：The current location and target location for obtaining target vehicle, generate the current location leading to the target location
Air route line simultaneously exports the navigation routine；
102：The navigation routine for obtaining the target vehicle makes the current location of the target vehicle in the navigation routine
It is labeled with the first label, first label follows the change of target blockchain position and changes；
103：Extract the traffic lights that the navigation routine includes；
104：Judge whether the driving instruction that the target vehicle executes at the traffic lights needs to wait for red light；
105：If so, being extracted the traffic lights as echo signal lamp；
106：The echo signal lamp is labeled in the navigation routine using the second label；
107：It extracts and shortest one second label of first marking path；
108：Obtain the image of the echo signal lamp of second mark；
109：Judge to whether there is stationary vehicle in front of the target vehicle；
110：If so, in target vehicle described in inverse analog driver sight, pass through at the stationary vehicle commanding elevation project
The horizontal line of sight of ray and driver obtain critical point, calculate the critical value between the echo signal lamp and the critical point；
111：Calculate the first level distance value between position of driver in the echo signal lamp and the target vehicle；
112：Judge whether the first level distance value is less than or equal to the critical value；
113：If so, controlling the target vehicle brake.
2. a kind of visualization automatic Pilot method based on artificial intelligence according to claim 1, it is characterised in that：Judge
The driving instruction that the target vehicle executes at the traffic lights whether need wait for red light further include：
Judge whether the driving instruction is straight trip；
If so, judgement needs to wait for red light；
Judge whether the driving instruction is left-hand rotation；
If so, judgement needs to wait for red light；
Judge whether the driving instruction is right-hand rotation；
If so, judging whether the traffic lights include right turn signal lamp；
If so, judgement needs to wait for red light.
3. a kind of visualization automatic Pilot method based on artificial intelligence according to claim 1, it is characterised in that：Pass through
Projection ray and the horizontal line of sight of driver show that critical point further includes at the stationary vehicle commanding elevation：
Extract previous stationary vehicle projection ray of the target vehicle；
Judge whether the ray projects to ground；
If it is not, then adjust the projecting direction of the ray, until in the echo signal lamp, the stationary vehicle any point with
And any point reaches the state of sight alignment on ground.
4. a kind of visualization automatic Pilot method based on artificial intelligence according to claim 1, it is characterised in that：Step
Further include before 112：
Calculate the distance between the target vehicle and the stationary vehicle value；
Judge whether the distance value is less than or equal to minimum safe distance value；
If so, controlling the target vehicle brake.
5. a kind of visualization automatic Pilot method based on artificial intelligence according to claim 1, it is characterised in that：Also wrap
It includes：
Obtain the present speed and acceleration of the target vehicle；
Calculate the second horizontal distance value between the target vehicle and the critical point；
The aimed acceleration of the target vehicle is calculated, and controls the target vehicle in advance and slows down, until the target vehicle
It is decelerated to zero in the second horizontal distance value.
6. a kind of visualization automated driving system based on artificial intelligence according to any one of claims 1 to 5, feature
It is：Including：
First acquisition module is configured as obtaining the current location of target vehicle, and current location described in real-time update；
Second acquisition module is configured as obtaining the target location of target vehicle, and preserves the target location；
Navigation routine generation module is configurable to generate the navigation routine of current location to target location；
Output module is configured as output navigation routine；
First labeling module is configured as in navigation routine marking the current location of target vehicle into rower using first
Note, and the position of the first label described in real-time update；
First extraction module is configured as extracting all traffic lights in navigation routine；
First judgment module is configured as judging whether the driving instruction that target vehicle executes at traffic lights needs to wait for
Red light；
Second extraction module is configured as extracting echo signal lamp；
Second labeling module is configured as echo signal lamp being labeled using the second label in navigation routine；
Third extraction module is configured as extracting and shortest one second label of the first marking path；
Image acquiring module is configured as obtaining the image of the echo signal lamp of the second mark；
Second judgment module is configured as judging to whether there is stationary vehicle in front of target vehicle；
Projection module is configured as from echo signal lamp through projection ray at stationary vehicle commanding elevation；
Critical point generation module is configurable to generate the intersection point of projection ray and driver's horizontal rays in target vehicle, described
Intersection point, that is, critical point；
First computing module is configured as calculating the critical value between echo signal lamp and critical point；
Second computing module, be configured as calculating first level in echo signal lamp and target vehicle between position of driver away from
From value；
Third judgment module is configured as judging whether first level distance value is less than or equal to critical value；
Brake module is configured as control targe vehicle brake.
7. a kind of visualization automated driving system based on artificial intelligence according to claim 6, it is characterised in that：Also wrap
It includes：
First judging submodule is configured as judging whether driving instruction is straight trip；
Second judgment submodule is configured as judging whether driving instruction is left-hand rotation；
Third judging submodule is configured as judging whether driving instruction is right-hand rotation；
4th judging submodule is configured as judging whether traffic lights include right turn signal lamp.
8. a kind of visualization automated driving system based on artificial intelligence according to claim 6, it is characterised in that：Also wrap
It includes：
4th extraction module is configured as extracting previous stationary vehicle of target vehicle；
4th judgment module is configured as judging whether ray projects to ground；
Projection adjustment module, is configured as the projecting direction of adjustment ray.
9. a kind of visualization automated driving system based on artificial intelligence according to claim 6, it is characterised in that：Also wrap
It includes：
Third computing module is configured as calculating the distance between target vehicle and stationary vehicle value；
5th judgment module is configured as judging whether distance value is less than or equal to minimum safe distance value.
10. a kind of visualization automated driving system based on artificial intelligence according to claim 6, it is characterised in that：Also
Including：
Third acquisition module is configured as obtaining the present speed of target vehicle with acceleration and to its real-time update；
4th computing module is configured as calculating the second horizontal distance value between target vehicle and critical point；
5th computing module is configured as calculating the aimed acceleration of target vehicle.
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| CN201810787637.8A Withdrawn CN108803619A (en) | 2018-07-18 | 2018-07-18 | A kind of visualization automatic Pilot method and its system based on artificial intelligence |
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| Country | Link |
|---|---|
| CN (1) | CN108803619A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859884A (en) * | 2021-04-25 | 2021-05-28 | 北京三快在线科技有限公司 | Method and device for controlling unmanned equipment |
| CN114758495A (en) * | 2022-03-29 | 2022-07-15 | 北京百度网讯科技有限公司 | Traffic signal lamp adjusting method and device and electronic equipment |
-
2018
- 2018-07-18 CN CN201810787637.8A patent/CN108803619A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859884A (en) * | 2021-04-25 | 2021-05-28 | 北京三快在线科技有限公司 | Method and device for controlling unmanned equipment |
| CN114758495A (en) * | 2022-03-29 | 2022-07-15 | 北京百度网讯科技有限公司 | Traffic signal lamp adjusting method and device and electronic equipment |
| CN114758495B (en) * | 2022-03-29 | 2024-02-06 | 北京百度网讯科技有限公司 | Traffic signal lamp adjusting method and device and electronic equipment |
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