CN108873886B - 针对步行人群的自动化车辆控制策略 - Google Patents

针对步行人群的自动化车辆控制策略 Download PDF

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CN108873886B
CN108873886B CN201810420945.7A CN201810420945A CN108873886B CN 108873886 B CN108873886 B CN 108873886B CN 201810420945 A CN201810420945 A CN 201810420945A CN 108873886 B CN108873886 B CN 108873886B
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pedestrian
host vehicle
population
controller
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CN108873886A (zh
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韦峻青
许闻达
李钟昊
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Motional AD LLC
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Abstract

本发明提供一种用于在步行人群中操作自动化车辆的系统，其包括物体检测设备及控制器，可任选地，还包括信号灯检测器。该物体检测器用于检测本车辆附近的步行人群。信号灯检测器检测交通信号灯所显示的信号灯状态，该交通信号灯在显示停止状态时表示何时本车辆应当停止以供步行人群通过本车辆前方，交通信号灯显示行驶状态时表示何时步行人群应当停止通过本车辆前方以供本车辆能向前行驶。控制器控制本车辆的移动，并与物体检测器及信号灯检测器进行通信。在显示停止状态时控制器操作本车辆使其停止，在交通信号灯变为行驶状态且经过等待间隔后步行行人并未停止通过本车辆前方时，控制器操作本车辆向前缓行。

Description

针对步行人群的自动化车辆控制策略
技术领域
本发明大体涉及一种在步行人群中操作自动化车辆的系统，尤其涉及一种系统，其在步行人群持续通过本车辆前方的时间超过等待间隔时操作该本车辆使其向前缓行。
背景技术
自动化车辆被配置或编程成使得在有行人穿越马路或车辆前方的行驶路径时停下并等待。然而，若一大群流量稳定的行人穿越马路且该路段无信号灯(例如：行走/止步信号)控制该人流，或者行人所通过的位置并非指定人行道，或者行人在指定人行道选择无视信号灯时，自动化车辆可能无限时间地等待下去，从而造成交通拥堵，或者非预期地破坏车辆交通流。
发明内容
本发明涉及一种自动化车辆控制系统，其包括了一系列规则来使得例如作为本车辆的自动化车辆移动通过不合理地堵塞该本车辆及跟随该本车辆的其他车辆的行驶的步行人群。
根据一实施方式，提供一种用于在步行人群中操作自动化车辆的系统。该系统包括物体检测器和控制器。该物体检测器用于检测本车辆附近的行人。该控制器控制所述本车辆的移动，并与所述物体检测器进行通信。在行人在所述本车辆前方通过时所述控制器操作所述本车辆使其停止，在行人持续通过所述本车辆前方时，所述控制器操作所述本车辆在等待间隔后向前缓行。
根据另一实施方式，提供一种用于在步行人群中操作自动化车辆的系统。该系统包括物体检测器、信号灯检测器和控制器。该物体检测器用于检测本车辆附近的行人。该信号灯检测器检测交通信号灯所显示的信号灯状态。所述交通信号灯显示：停止状态，该停止状态表示何时所述本车辆应当停止以供所述行人通过所述本车辆前方；以及行驶状态，该行驶状态表示何时所述行人应当停止通过所述本车辆前方以供所述本车辆能不受所述行人干扰地在路径上行驶。所述控制器控制所述本车辆的移动，并与所述物体检测器及所述信号灯检测器进行通信。在显示停止状态时所述控制器操作所述本车辆使其停止，在所述交通信号灯变为行驶状态且经过等待间隔而行人并未停止在所述本车辆前方通过时，所述控制器操作所述本车辆向前缓行。
阅读优选实施例的下列详细描述并参考各个附图，进一步的特征和优点将进一步得到阐明，优选实施例只是作为非限制性示例给出的。
附图说明
参考各个附图通过示例的方式来描述本发明，其中：
图1是一实施方式所涉及的在步行人群中操作自动化车辆的系统的图。
图2是一实施方式所涉及的图1所示系统所遇到的交通场景图。
具体实施方式
图1示出系统10的一非限定性示例，该系统10对自动化车辆、例如本车辆12进行操作，该本车辆12周围或附近存在一群或一组步行人群14，其中，该步行人群14阻碍本车辆12的移动，例如阻碍本车辆12继续前进。如本发明所使用的，术语“自动化车辆”可应用于正以自动模式(即，完全自主模式)操作本车辆12的情况，其中，为了操作本车辆12，本车辆12的人类操作者几乎不用做除指定目的地以外的其它操作。然而，完全自动化不是必需的。可以认为，本发明的教导适用于以手动模式操作本车辆12的情况，在该手动模式下，自动化的程度或等级可能仅限为系统10操作油门及制动器以安全穿越可能存在于、例如本车辆12前方的步行人群14。
系统10包括物体检测器16，该物体检测器16检测本车辆12附近的步行人群14。物体检测器16可以包括但不限于摄像头、雷达及/或激光雷达中的一个或任意组合。如本领域普通技术人员所众知，上述设备并不需要如图1中所示的那样三者集成在一起。也就是说，可以理解，物体检测器16可具有多种示例，其中上述任意设备分散配置于区域本车辆各部位。
可选地，系统10可具有信号灯检测器18，该信号灯检测器18检测交通信号灯22所显示的信号灯状态20。该信号灯检测器18可以包括但不限于摄像头及/或车辆对基础设施收发收器(V2I收发器)中的一个或任意组合。若信号灯检测器18及物体检测器16均包括摄像头或使用摄像头，则该摄像头可供信号灯检测器18及物体检测器16所共享，或者在各应用中使用分别具有专门视野及分辨率的不同摄像头。
交通信号灯22可以是简单的停止标志或闪烁红灯，或者是交叉路口常见的红黄绿类型的交通灯。可选地，交通信号灯可包含针对步行人群14的行走/止步类型的信号灯，或者，步行人群14需要参照红黄绿类型的交通灯以确定步行人群14何时被授权前进并穿越马路或本车辆12的行驶路径。这意味着，交通信号灯22可被配置成显示停止状态24(例如为朝向本车辆12的红灯)，该状态表示本车辆12何时应当停止以供步行人群14通过本车辆12前方；以及显示行驶状态26(例如为朝向本车辆12的绿灯)，该状态表示步行人群14何时应当等待并停止通过本车辆12前方以确保本车辆12能不受步行人群14干扰地在路径或马路或车道上行驶。
图2示出了马路28的一非限定性示例，其中，步行人群14通过本车辆12前方，使得马路28上的本车辆12及其他车辆32无法向前移动。在马路28的该非限定性示例中包括或规定了人行道30，但该人行道30对于本发明技术方案并不是必须的。这意味着步行人群14可能在沿马路28的任意区域穿越马路28而堵住交通，而并非一定位于规定的人行道上。
图2还示出了交通信号灯22的一非限定性示例，该交通信号灯22具有朝向马路28的信号灯以用于控制马路上的车辆，也具有朝向人行道30的信号灯、即垂直于马路28的信号灯以用于控制步行人群14。然而，该交通信号灯22对于本发明技术方案并不是必须的。例如，步行人群14可能在没有交通信号灯供本车辆12、其它车辆32或步行人群14参照的位置穿越马路28而堵住交通。
返回参见图1，系统10包括控制器34，该控制器34通过车辆控制36来控制本车辆12的移动。控制器34还与物体检测器16进行通信，并且在构成系统允许的情况下，该控制器34还与信号灯检测器18进行通信。控制器34可包括诸如微处理器的处理器(未具体示出)或其它控制电路，诸如模拟和/或数字控制电路，包括应当为本领域技术人员熟知的用于处理数据的专用集成电路(ASIC)。控制器34可包括用以存储一个或多个例程、阈值和所捕捉的数据的存储器(未具体示出)，该存储器包括非易失性存储器，诸如电可擦除可编程只读存储器(EEPROM)。可通过处理器执行一个或多个例程来执行这里所描述的、在本车辆12的行驶路径被步行人群14挡住的情况下基于控制器34所接收到的信号来控制本车辆12的移动的各步骤。
控制器34被编程或配置成使得在步行人群14通过本车辆12前方时操作本车辆12，使得本车辆12停止38。然而，过分礼让除了可能会造成交通混乱或交通拥堵，还会妨碍紧急车辆(未图示)到达目的地，因此，控制器34在步行人群14持续通过本车辆12前方的情况下，在等待间隔42、例如2分钟之后操作本车辆12向前缓行40。如上所述，向前缓行40是指本车辆12开始朝向堵住本车辆12的步行人群14向前移动，但并不至于造成任何步行人群14受伤。由此，期望步行人群14会远离本车辆12的前行，从而最终在步行人群14的人流中产生突破口以供本车辆12行进。
在有作为一示例的交通信号灯22存在的情况下，系统10可以使用交通信号灯22的变化来确定何时开始等待间隔42。也就是说，当系统10包括信号灯检测器18且存在交通信号灯22并由系统10对交通信号灯22进行检测时，在显示停止状态24时控制器34操作本车辆12使其停止38，在交通信号灯22变为行驶状态26后经过了等待间隔42而步行人群14并未停止在本车辆12前方通过时，控制器34操作本车辆12向前缓行40。
控制器34也可以被配置成使用物体检测器16来执行行人检测44，具体而言是执行缺口检测46，也就是说寻找步行人群14中的缺口，以作为通过步行人群14的机会。例如，在已经过等待间隔42而缺口检测46指出步行人群14中有一缺口正接近本车辆12之前的区域时，系统10可以选择等待该缺口，而并不开始向前缓行40。
系统10也可以还包括能被步行人群识别到的警报装置50，控制器34可被配置成在控制器34操作本车辆12向前缓行40时启动52该警报装置50。可以理解，该警报装置50可以为声换能器54，该声换能器54在被启动时发出可被听见的蜂鸣音，该可被听见的蜂鸣音的音量小于车辆上通常安装的喇叭。即，可被听见的蜂鸣音音量足够大到被本车辆12附近的步行人群14所察觉，但并不至于太响而惊吓到步行人群14。此外，作为声换能器54的替代或者附加，警报装置50还可以是在启动时发出闪光的光源56。
由此，本发明提供在步行人群中操作自动化车辆的系统(系统10)、用于该系统10的控制器34以及操作该系统10的方法。通过将本车辆12配置成朝向步行人群14向前缓行40，从而期望车辆交通流会得到改善，尤其适用于例如体育场馆或演唱会场馆等娱乐会场周围的交通场景。
尽管已经根据本发明的优选实施例描述了本发明，但是并不旨在受限于此，而是仅受随后的权利要求书中所阐述的范围限制。

Claims (8)

1.一种用于在步行人群(14)中操作自动化车辆的系统(10)，所述系统(10)包括：
物体检测器(16)，该物体检测器(16)用于检测本车辆(12)附近的步行人群(14)中的缺口，其中，缺口是移动通过所述步行人群的机会；以及
控制器(34)，该控制器(34)控制本车辆(12)的移动，并与所述物体检测器(16)进行通信，在所述步行人群(14)持续通过所述本车辆(12)前方时，所述控制器(34)操作所述本车辆(12)在等待间隔(42)后向前缓行(40)，并且在所述等待间隔后响应于所述步行人群中的缺口正接近所述本车辆而等待该缺口。
2.如权利要求1所述的系统(10)，其特征在于，
系统(10)包括能被步行人群(14)识别到的警报装置(50)，在所述控制器(34)操作本车辆(12)向前缓行(40)时启动所述警报装置(50)。
3.如权利要求2所述的系统(10)，其特征在于，
所述警报装置(50)是在启动时发出可被听见的蜂鸣音的声换能器(54)。
4.如权利要求2所述的系统(10)，其特征在于，
所述警报装置(50)是在启动时发出闪光的光源(56)。
5.一种用于在步行人群(14)中操作自动化车辆的系统(10)，所述系统(10)包括：
物体检测器(16)，该物体检测器(16)用于检测本车辆(12)附近的步行人群(14)中的缺口，其中，缺口是移动通过所述步行人群的机会；
信号灯检测器(18)，该信号灯检测器(18)检测交通信号灯(22)所显示的信号灯状态(20)，该交通信号灯(22)显示：停止状态(24)，该停止状态(24)表示何时本车辆(12)应当停止(38)以供所述步行人群(14)通过所述本车辆(12)前方；以及行驶状态(26)，该行驶状态(26)表示何时所述步行人群(14)应当停止(38)通过所述本车辆(12)前方以供所述本车辆(12)能不受所述步行人群(14)干扰地在路径上向前行驶；以及
控制器(34)，该控制器(34)控制所述本车辆(12)的移动，并与所述物体检测器(16)及所述信号灯检测器(18)进行通信，在所述交通信号灯(22)变为行驶状态(26)且经过等待间隔(42)后所述步行人群(14)并未停止(38)通过所述本车辆(12)前方时，响应于所述步行人群中的缺口正接近所述本车辆，所述控制器(34)操作所述本车辆(12)等待该缺口以向前行驶。
6.如权利要求5所述的系统(10)，其特征在于，
系统(10)包括能被步行人群(14)识别到的警报装置(50)，在所述控制器(34)操作本车辆(12)向前缓行(40)时启动所述警报装置(50)。
7.如权利要求6所述的系统(10)，其特征在于，
所述警报装置(50)是在启动时发出可被听见的蜂鸣音的声换能器(54)。
8.如权利要求6所述的系统(10)，其特征在于，
所述警报装置(50)是在启动时发出闪光的光源(56)。
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