CN109017787A - A kind of travel control method - Google Patents
A kind of travel control method Download PDFInfo
- Publication number
- CN109017787A CN109017787A CN201810901927.0A CN201810901927A CN109017787A CN 109017787 A CN109017787 A CN 109017787A CN 201810901927 A CN201810901927 A CN 201810901927A CN 109017787 A CN109017787 A CN 109017787A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- transit equipment
- signal
- control unit
- environmental information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18018—Start-stop drive, e.g. in a traffic jam
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Abstract
The present embodiments relate to a kind of travel control methods, which comprises control unit for vehicle is monitored the transit equipment signal in monitoring range by transit equipment communication unit；When transit equipment communication unit receives transit equipment signal, control unit for vehicle compares vehicle and passes through transit equipment time and transit equipment transformation period according to vehicle speed data and to obtain predicted vehicle by the time by distance；When vehicle is greater than transit equipment transformation period by the transit equipment time, and transit equipment signal is when being the first transit equipment signal or when vehicle is not more than transit equipment transformation period by the transit equipment time, and when transit equipment signal is third transit equipment signal or when transit equipment signal is the second transit equipment signal control unit for vehicle according to wait pass through distance generation virtual obstacles data；Braking instruction is generated according to virtual obstacles data and vehicle speed data.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of travel control methods.
Background technique
With the development of economy and the emergence of artificial intelligence technology, autonomous driving vehicle is also increasingly by the pass in market
Note.Autonomous driving vehicle refers to closing by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration
Make, computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.Market prediction is driven automatically
Sailing the universal of automobile may be implemented to reduce traffic accident incidence, reduces traffic congestion degree, reduces investment traffic infrastructure
Cost and reduce pollution and other effects to environment.
But currently, the relevant technologies in automatic Pilot field are also and immature, so that automatic Pilot vehicle can not be in real road
Middle traveling.Especially vehicle under automatic driving mode, how effective and accurate marker lamp, and according to the variation of signal lamp
Realize vehicle start-stop, referred to as current automatic Pilot field continues to solve the problems, such as.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of travel control method, in automatic Pilot mould
Under formula, perception vehicle driving road ahead is monitored with the presence or absence of signal lamp by transit equipment signal, and determine signal lamp
State, for vehicle according to the state and current vehicle speed of the signal lamp recognized determine the need for parking waiting signal
Lamp drives the vehicle under automatic driving mode safely, smoothly in the road conditions there are signal lamp.Also, it is logical
It crosses transit equipment signal and is monitored perception vehicle driving road ahead with the presence or absence of the mode of signal lamp, can more accurately know
Level signal lamp state.
To achieve the goals above, the embodiment of the invention provides a kind of travel control methods, comprising:
Control unit for vehicle in vehicle receives automatic Pilot conversion instruction, and according to the automatic Pilot conversion instruction work
Make；
The control unit for vehicle sets the traffic in monitoring range by the transit equipment communication unit in the vehicle
Standby signal is monitored；The transit equipment signal includes transit equipment status information and transit equipment transformation period；
When the transit equipment communication unit receives the transit equipment signal,
The control unit for vehicle passes through the time according to the vehicle speed data and to obtain predicted vehicle by distance,
And it compares the vehicle and passes through transit equipment time and the transit equipment transformation period；
When the vehicle is greater than the transit equipment transformation period, and the transit equipment signal by the transit equipment time
When for the first transit equipment signal or when the vehicle is not more than the transit equipment transformation period by the transit equipment time,
And the transit equipment signal is when being third transit equipment signal or when the transit equipment signal is the second transit equipment signal
When, the control unit for vehicle is according to described to generate the virtual obstacles data by distance；
Braking instruction is generated according to the virtual obstacles data and vehicle speed data, to the vehicle according to
Braking instruction work.
Preferably, before whether the determination transit equipment signal is the first transit equipment signal, the method
Further include:
The control unit for vehicle determines vehicle heading information according to route or travel by vehicle information；
Determine the transit equipment signal corresponding with the vehicle heading information.
Preferably, after the work according to the automatic Pilot conversion instruction, the method also includes:
The control unit for vehicle obtains vehicle environmental information by the sension unit.
It is further preferred that whether the determination transit equipment signal is the first transit equipment signal specifically:
The control unit for vehicle parses the vehicle environmental information, determines in the vehicle environmental information whether include handing over
Logical equipment image information；
When including transit equipment image information in the vehicle environmental information, and the transit equipment communication unit is received
When the transit equipment signal, the traffic is determined according to transit equipment image information and the transit equipment status information
Whether device signal is the first transit equipment signal.
It is further preferred that parsing the vehicle environmental information in the control unit for vehicle, the vehicle environmental is determined
Before whether including transit equipment image information in information, the method also includes:
The control unit for vehicle parses the vehicle environmental information, determine in the vehicle environmental information whether
Including the first obstacle information；
When in the vehicle environmental information including first obstacle information, determined according to the vehicle environmental information
The range data of vehicle and the first barrier；
When the range data of the vehicle and the first barrier is less than default spacing range data, the vehicle control list
Member generates deceleration instruction, is worked to the vehicle according to the deceleration instruction.
It is further preferred that the method is also when in the vehicle environmental information including first obstacle information
Include:
The range data of vehicle and the first barrier is determined according to the vehicle environmental information；
Instruction is followed according to the range data and the vehicle speed data of the vehicle and the first barrier and generation, is used
Instruction works are followed according to the vehicle.
It is further preferred that the control unit for vehicle obtains distance to be passed through specifically:
The distance to be passed through is determined according to the vehicle environmental information.
It is further preferred that after the vehicle is according to braking instruction work, the method also includes:
The transit equipment signal is monitored；
When the transit equipment signal becomes the first transit equipment signal from the third transit equipment signal, institute
It states control unit for vehicle and generates enabled instruction, worked to the vehicle according to the enabled instruction；
Or the control unit for vehicle generates enabled instruction according to the transit equipment transformation period, to the vehicle
It is worked according to the enabled instruction.
It is further preferred that the control unit for vehicle according to the transit equipment transformation period generate enabled instruction it
Before, the method also includes:
The control unit for vehicle obtains vehicle environmental information by sension unit；
The control unit for vehicle parses the vehicle environmental information, determine in the vehicle environmental information whether
Including the second obstacle information；
When not including second obstacle information in the vehicle environmental information, the control unit for vehicle is according to institute
It states transit equipment transformation period and generates the enabled instruction.
It is further preferred that the braking instruction, the deceleration instruction, it is described follow instruction and the enabled instruction in
Longitudinal acceleration data, in predetermined acceleration data threshold.
Travel control method provided in an embodiment of the present invention is carried out under automatic driving mode by transit equipment signal
Monitoring perception vehicle driving road ahead whether there is signal lamp, and determine the state of signal lamp, for vehicle according to recognizing
Signal lamp state and current vehicle speed determine the need for parking waiting signal lamp so that the vehicle under automatic driving mode
Can in the road conditions there are signal lamp safety, smoothly drive.Also, perception vehicle is monitored by transit equipment signal
It whether there is the mode of signal lamp in front of travel, it can more accurately marker lamp state.
Detailed description of the invention
Fig. 1 is the flow chart of travel control method provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Travel control method provided in an embodiment of the present invention, is implemented in automatic driving vehicle, for automatic identification and root
According to the Signalized control vehicle start-stop on road, method flow diagram is as shown in Figure 1, include the following steps:
Step 110, control unit for vehicle receives automatic Pilot conversion instruction, and is worked according to automatic Pilot conversion instruction；
Specifically, including control unit for vehicle, transit equipment communication unit and sension unit in automatic driving vehicle.Its
In, control unit for vehicle can be understood as the control module for controlling vehicle driving.Transit equipment communication unit is understood that
To be exclusively used in the module that basic means of transportation are communicated in road, transit equipment communication unit can be obtained according to communication protocol
Transit equipment signal within the scope of transit equipment signal radiation.Basic means of transportation in the road related generally in the present embodiment
For traffic lights.Sension unit can be understood as the module perceived to vehicle-periphery.Sension unit includes laser
Radar module, ultrasonic radar module and photographing module.Laser radar module and ultrasonic radar module are used for automobile body
Near object detected.Photographing module is used to carry out Image Acquisition to 360 ° of vehicle periphery of environmental aspect.
When control unit for vehicle receives the automatic Pilot conversion instruction of user's input, automatic driving vehicle enters to be driven automatically
Sail mode.Automatic Pilot conversion instruction can be user by the display screen input in automatic driving vehicle, be also possible to lead to
Cross server or other remote control device remote inputs.
It should be noted that the automatic driving vehicle in the embodiment of the present invention not only includes above-mentioned control unit for vehicle, friendship
Lead to equipment communication unit and sension unit, only lists each unit relevant to the technical program, this field in the present embodiment
Technical staff can according to need setting, and other realize the relevant apparatus or unit of automatic driving vehicle traveling.
Preferably, transit equipment signal radiation range is 500 meters of radius.
Step 120, control unit for vehicle by transit equipment communication unit to the transit equipment signal in monitoring range into
Row monitoring；
It can be to the device of external radiation transit equipment signal, vehicle control list specifically, having in signal lamp on road
Member can be monitored the transit equipment signal in monitoring range by transit equipment communication unit.When vehicle drives into signal lamp
When exporting in the radiation scope of transit equipment signal, transit equipment communication unit can receive the transit equipment of signal lamp output
Signal.
Further specifically, control unit for vehicle first obtains route or travel by vehicle information according to traveling task, that is, obtain
The implementation route that a needs of picking up the car follow, is then determining vehicle heading information according to route or travel by vehicle information, also
It is the driving direction of determining current vehicle, finally determines that the transit equipment signal in direction corresponding with vehicle heading information is
The transit equipment signal for needing control unit for vehicle to be further processed.This process can be understood as determining in crossing, multiple
That specific signal lamp in signal lamp is the process for the signal lamp that current vehicle needs to observe.
Transit equipment signal includes transit equipment status information and transit equipment transformation period.Transit equipment status information can
To be interpreted as the state of current signal light, indicate that current signal light is red light, amber light or green light.Transit equipment transformation period can be with
It is understood to mean that current signal light into the time needed for next state.For example, current signal light is red light, after 50 seconds
It can become green light, then the transit equipment status information in transit equipment signal that vehicle is got is " red light ", and transit equipment becomes
Changing the time is " 50 seconds ".
The transit equipment signal in monitoring range is monitored by transit equipment communication unit in control unit for vehicle
While, control unit for vehicle is by obtaining vehicle environmental information also by sension unit.Vehicle environmental information includes picture number
According to the data for reacting vehicle current ambient conditions of, forms such as video data, radar data.
Step 130, control unit for vehicle passes through the time according to vehicle speed data and to obtain predicted vehicle by distance；
Specifically, firstly, control unit for vehicle parses vehicle environmental information, according to the letter in vehicle environmental information
Breath determines distance to be passed through.To be that the distance between vehicle and signal lamp add reserved stopping distance or vehicle and stop by distance
The distance between fare.After control unit for vehicle parses vehicle environmental information, both obtained vehicle and signal lamp it
Between distance, also obtained the distance between vehicle and stop line, then by the distance between vehicle and stop line as wait pass through
Distance.After control unit for vehicle parses vehicle environmental information, the distance between vehicle and signal lamp have been had to, then
The distance between vehicle and signal lamp add reserved stopping distance as distance to be passed through.That is, working as vehicle environmental information institute
In the road ahead image of representative, when can not only recognize signal lamp, but also can recognize stop line, vehicle is needed in stop line
Rather than it stops before signal lamp, therefore the range data by the distance between vehicle and stop line as vehicle and transit equipment.
And work as in road ahead image representated by vehicle environmental information, when can only recognize signal lamp, vehicle is only needed in signal lamp
Preceding certain distance parking, it is therefore desirable to by the distance between vehicle and signal lamp along with preset reserved stopping distance is made
For distance to be passed through.
Then, control unit for vehicle needs to pass through according to current vehicle speed data and to obtain predicted vehicle by distance
Time.Predicted vehicle can be understood as vehicle by the time and pass through to by apart from required time.
Step 140, it determines the state of transit equipment signal, and determines whether vehicle is greater than traffic by the transit equipment time
The equipment variations time；
Specifically, transit equipment signal can be divided into according to transit equipment status information represent current signal light be it is " green
First transit equipment signal of lamp ", and represent the second transit equipment signal and represent that current signal light is " amber light "
Current signal light is the third transit equipment signal of " red light ".When transit equipment communication unit receives transit equipment signal,
Illustrate there is signal lamp in front of vehicle heading, vehicle is needed to make corresponding control reaction according to the state of signal lamp.Also,
When vehicle makes corresponding control reaction, it is also necessary in conjunction with current vehicle travel speed, determine the speed current with vehicle, if can
Pass through signal lamp to become in the lamp time in signal lamp.
Further specifically, when the first transit equipment signal that transit equipment signal is " green light ", and vehicle passes through traffic
When the equipment time is greater than transit equipment transformation period, illustrates the speed current with vehicle, can not be become in signal lamp from " green light "
By signal lamp in the change lamp time of " red light ", following step 150 is executed.
When transit equipment signal is the second transit equipment signal of " amber light ", illustrate that current signal light is that vehicle is needed to subtract
" amber light " of speed traveling, then equally execute following step 150.
When the third transit equipment signal that transit equipment signal is " red light ", and vehicle is not more than by the transit equipment time
When transit equipment transformation period, illustrate the speed current with vehicle, when before vehicle arriving signal lamp, signal lamp will not be by " red
Lamp " becomes " green light ", that is to say, that even if vehicle is with signal lamp stop line, there are also a distances, but when vehicle driving to parking
When before line, signal lamp is still that " red light " then equally executes following step 150.
In some preferred embodiments, control unit for vehicle determines the shape of signal lamp not only according to transit equipment signal
State also assists determining the state of signal lamp by the transit equipment image information in vehicle environmental information.
Further specifically, control unit for vehicle parsing passes through the vehicle environmental information of sension unit arrived, vehicle is determined
It whether include whether there is signal in transit equipment image information, that is, the road in determining current driving direction in environmental information
Lamp.When including transit equipment image information in vehicle environmental information, and transit equipment communication unit receives transit equipment signal
When, illustrate determine and work as by vehicle front image shown in vehicle environmental information, and the transit equipment signal received
There is signal lamp in the road of preceding driving direction.Then control unit for vehicle is according to transit equipment status information, and combines and recognize
Transit equipment image information in signal lamp color, determine whether transit equipment signal is to represent first traffic of " green light "
Device signal.
In some more preferably embodiments, to avoid blocking because of front vehicles, so that the sense of signal lamp originally can be taken
Know do not include transit equipment image information in vehicle environmental information accessed by unit, therefore vehicle needs to keep one with front truck
Set a distance, so as to vehicle observation signal lamp.
Further specifically, when having signal lamp in the road that control unit for vehicle determines current driving direction, and vehicle
When being less than default observed range with signal lamp distance or vehicle and 'STOP' line ahead, control unit for vehicle is to passing through sension unit
The vehicle environmental information got is parsed, and determines in vehicle environmental information whether include the first obstacle information.First barrier
Object information is hindered to can be understood as the vehicle present running route front vehicles in preset range.
When in vehicle environmental information including the first obstacle information, illustrate that there may be influence this in front of current vehicle
Vehicle is by the vehicle of signal lamp, then control unit for vehicle determines vehicle number at a distance from the first barrier according to vehicle environmental information
According to, that is, determine the distance between vehicle and front truck.When the range data of vehicle and the first barrier be less than default spacing away from
When from data, illustrate that the distance between this vehicle and front truck may influence whether this vehicle observation signal lamp, then vehicle control list
Member generates deceleration instruction, is worked to vehicle according to deceleration instruction, so that vehicle and front truck keep certain distance.
In some more preferably embodiments, determine whether transit equipment signal is the first transit equipment in control unit for vehicle
Before signal, it is thus necessary to determine that whether current road conditions are in the state waited in line through signal lamp.If current road conditions are in row
Team waits the state by signal lamp, then vehicle all can follow current line under the premise of keeping certain distance before stop line
The vehicle in front of route is sailed, waits in line to pass through signal lamp.And wait in line to pass through signal lamp if current road conditions are not in
State, then control unit for vehicle determines whether transit equipment signal is the first transit equipment signal.
Further specifically, when in vehicle environmental information including the first obstacle information, illustrating can before current vehicle
Can exist influences vehicle of this vehicle by signal lamp, then control unit for vehicle determines vehicle and the first barrier according to vehicle environmental information
Hinder the range data of object.Namely determine the distance between vehicle and front truck.Vehicle is being obtained at a distance from the first barrier
After data, control unit for vehicle combines default vehicle according to the range data and vehicle speed data of vehicle and the first barrier
Instruction is followed away from range data generation, that is, according to current vehicle at a distance from front vehicles, the travel speed of current vehicle
The safe distance kept with preset needs with front truck, which is generated, follows instruction for control current vehicle travel speed and direction,
To current vehicle according to front truck is followed at the appropriate speed, until before vehicle driving to stop line.How vehicle is determined whether
Before having driven to stop line, can there are the distance between vehicle and stop line to determine.And the distance between vehicle and stop line can
To be parsed to obtain to vehicle environmental information by control unit.It is specific to determine that method can refer to retouching in following step 130
It states.
Step 150, when vehicle cannot pass through signal lamp, control unit for vehicle is according to generate virtual obstacles by distance
Object data；
Specifically, when logical device signal is not the first transit equipment signal, that is, current signal light is that vehicle is needed to subtract
" amber light " of speed traveling or when needing " red light " of vehicle braking, or when vehicle is greater than transit equipment change by the transit equipment time
Change the time, that is, vehicle can not be when signal lamp becomes and passes through signal lamp in the lamp time, signal cannot be passed through by all representing vehicle
Lamp.Then control unit for vehicle can be handled signal lamp as a virtual barrier, so that vehicle stops before signal lamp.
Further specifically, control unit for vehicle will be to be generated in model, by virtual by distance input virtual obstacles
Barrier generates model according to generate virtual obstacles data by distance.Virtual obstacles data include virtual obstacles
Position data and size data.
In some preferred embodiments, when logical device signal is the third transit equipment for needing " red light " of vehicle braking
When signal, time when control unit for vehicle determines that signal lamp becomes " green light " from " red light " according to transit equipment transformation period,
And vehicle is compared by transit equipment time and transit equipment transformation period, determine whether vehicle is less than by the transit equipment time
Transit equipment transformation period.When vehicle by the transit equipment time be greater than transit equipment transformation period when, illustrate vehicle by
By being greater than the time that signal lamp becomes lamp apart from required time, that is to say, that with the current speed of vehicle, arrive at signal in vehicle
Before lamp stop line, signal lamp has just become " green light " via " red light ", therefore vehicle can continue to travel according to present speed
Pass through signal lamp.
Step 160, braking instruction is generated according to virtual obstacles data and vehicle speed data, to vehicle according to braking
Instruction works；
Specifically, position data and size data and current vehicle speed of the control unit for vehicle according to virtual obstacles
Data generate the braking instruction of control vehicle braking, and vehicle is stopped before designated position.
Step 170, when signal lamp becomes " green light " from " red light ", control unit for vehicle generates enabled instruction, to vehicle
It is worked according to enabled instruction；
Specifically, after vehicle works according to braking instruction, that is, after vehicle stops according to signal lamp, work as letter
When signal lamp becomes " green light " from " red light ", in the case where vehicle front does not interfere with, vehicle should with the variation of signal lamp and
Starting.
Further specifically, control unit for vehicle determines that signal lamp is become by " red light " according to transit equipment transformation period first
Time when for " green light ".When system time arriving signal lamp becomes the time of " green light " from " red light ", control unit for vehicle
Vehicle environmental information is parsed, determines in vehicle environmental information whether include the second obstacle information.Second barrier letter
Breath can be understood as interference barrier of the vehicle by signal lamp, such as still in the pedestrian jaywalked when red light.When vehicle ring
When not including the second obstacle information in the information of border, illustrate that vehicle front road meets vehicle launch requirement, control unit for vehicle
Enabled instruction is generated according to transit equipment transformation period, so that vehicle is started according to the variation of signal lamp.When vehicle environmental information
In when including the second obstacle information, illustrate there is the case where interference vehicle driving in front of current vehicle, vehicle needs to wait dry
After disturbing object disappearance, that is, after not including the second obstacle information in vehicle environmental information, control unit for vehicle can just be generated
Enabled instruction, so that vehicle is started according to the variation of signal lamp.
Alternatively, after transit equipment communication unit receives transit equipment signal, that is, before vehicle observes for the first time
In Fang Daolu have signal lamp when, vehicle can persistently be monitored transit equipment signal, and determine whether there is signal lamp by
" red light " becomes the case where " green light ".When transit equipment communication unit monitors transit equipment signal by third transit equipment signal
When becoming the first transit equipment signal, illustrate in road ahead that signal lamp becomes " green light " from " red light ", then control unit for vehicle
Vehicle environmental information is parsed, determines in vehicle environmental information whether include the second obstacle information, and execute above-mentioned vehicle
It whether include the second obstacle information in environmental information, it is determined whether the step of generating enabled instruction.
In some preferred embodiments, above-mentioned braking instruction, deceleration instruction follow longitudinal direction in instruction and enabled instruction
Acceleration information, in predetermined acceleration data threshold.Predetermined acceleration data threshold is -2.5m/s2To+1.5m/s2。
It is understood that during the automatic Pilot of above-mentioned steps 120-170 realization and entire vehicle.
A kind of travel control method provided in an embodiment of the present invention passes through transit equipment signal under automatic driving mode
Perception vehicle driving road ahead is monitored with the presence or absence of signal lamp, and determines the state of signal lamp, for vehicle according to knowledge
The state and current vehicle speed for the signal lamp being clipped to determine the need for parking waiting signal lamp, so that under automatic driving mode
Vehicle can in the road conditions there are signal lamp safety, smoothly drive.Also, sense is monitored by transit equipment signal
Know that vehicle driving road ahead whether there is the mode of signal lamp, it can more accurately marker lamp state.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, the control of CD-ROM dynamical system
In any other form of storage medium well known in method or technical field.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of travel control method, which is characterized in that the described method includes:
Control unit for vehicle in vehicle receives automatic Pilot conversion instruction, and is worked according to the automatic Pilot conversion instruction；
The control unit for vehicle believes the transit equipment in monitoring range by the transit equipment communication unit in the vehicle
It number is monitored；The transit equipment signal includes transit equipment status information and transit equipment transformation period；
When the transit equipment communication unit receives the transit equipment signal, the control unit for vehicle is according to the vehicle
Speed data and to obtain predicted vehicle by the time by distance, and compare the vehicle and pass through transit equipment time and institute
State transit equipment transformation period；
When the vehicle is greater than the transit equipment transformation period by the transit equipment time, and the transit equipment signal is the
When one transit equipment signal or when the vehicle is not more than the transit equipment transformation period, and institute by the transit equipment time
It states when transit equipment signal is third transit equipment signal or when the transit equipment signal is the second transit equipment signal,
The control unit for vehicle is according to described to generate the virtual obstacles data by distance；
Braking instruction is generated according to the virtual obstacles data and vehicle speed data, to the vehicle according to the braking
Instruction works.
2. travel control method according to claim 1, which is characterized in that be in the determination transit equipment signal
It is no be the first transit equipment signal before, the method also includes:
The control unit for vehicle determines vehicle heading information according to route or travel by vehicle information；
Determine the transit equipment signal corresponding with the vehicle heading information.
3. travel control method according to claim 1, which is characterized in that referred to described according to automatic Pilot conversion
After enabling work, the method also includes:
The control unit for vehicle obtains vehicle environmental information by the sension unit.
4. travel control method according to claim 3, which is characterized in that whether the determination transit equipment signal
For the first transit equipment signal specifically:
The control unit for vehicle parses the vehicle environmental information, determines whether set including traffic in the vehicle environmental information
Standby image information；
When including transit equipment image information in the vehicle environmental information, and the transit equipment communication unit receive it is described
When transit equipment signal, the transit equipment is determined according to transit equipment image information and the transit equipment status information
Whether signal is the first transit equipment signal.
5. travel control method according to claim 4, which is characterized in that parse the vehicle in the control unit for vehicle
Environmental information, determine whether include transit equipment image information in the vehicle environmental information before, the method also includes:
The control unit for vehicle parses the vehicle environmental information, determine in the vehicle environmental information whether include
First obstacle information；
When in the vehicle environmental information including first obstacle information, vehicle is determined according to the vehicle environmental information
With the range data of the first barrier；
When the range data of the vehicle and the first barrier is less than default spacing range data, the control unit for vehicle is raw
At deceleration instruction, worked to the vehicle according to the deceleration instruction.
6. travel control method according to claim 5, which is characterized in that described in including in the vehicle environmental information
When the first obstacle information, the method also includes:
The range data of vehicle and the first barrier is determined according to the vehicle environmental information；
Instruction is followed according to the range data and the vehicle speed data of the vehicle and the first barrier and generation, to institute
It states vehicle and follows instruction works according to.
7. travel control method according to claim 3, which is characterized in that the control unit for vehicle obtain to by away from
From specifically:
The distance to be passed through is determined according to the vehicle environmental information.
8. travel control method according to claim 1, which is characterized in that in the vehicle according to the braking instruction work
After work, the method also includes:
The transit equipment signal is monitored；
When the transit equipment signal becomes the first transit equipment signal from the third transit equipment signal, the vehicle
Control unit generates enabled instruction, is worked to the vehicle according to the enabled instruction；
Or the control unit for vehicle according to the transit equipment transformation period generate enabled instruction, to the vehicle according to
The enabled instruction work.
9. travel control method according to claim 8, which is characterized in that in the control unit for vehicle according to the friendship
Before the logical equipment variations time generates enabled instruction, the method also includes:
The control unit for vehicle obtains vehicle environmental information by sension unit；
The control unit for vehicle parses the vehicle environmental information, determine in the vehicle environmental information whether include
Second obstacle information；
When not including second obstacle information in the vehicle environmental information, the control unit for vehicle is according to the friendship
The logical equipment variations time generates the enabled instruction.
10. -9 any travel control method according to claim 1, which is characterized in that the braking instruction, the deceleration
Instruction, the longitudinal acceleration data followed in instruction and the enabled instruction, in predetermined acceleration data threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901927.0A CN109017787B (en) | 2018-08-09 | 2018-08-09 | Driving control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810901927.0A CN109017787B (en) | 2018-08-09 | 2018-08-09 | Driving control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109017787A true CN109017787A (en) | 2018-12-18 |
| CN109017787B CN109017787B (en) | 2020-08-07 |
Family
ID=64633389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810901927.0A Active CN109017787B (en) | 2018-08-09 | 2018-08-09 | Driving control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109017787B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808693A (en) * | 2019-02-19 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle amber light decision-making technique, device and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010247703A (en) * | 2009-04-16 | 2010-11-04 | Toyota Motor Corp | Vehicle speed control device |
| CN102582619A (en) * | 2012-02-28 | 2012-07-18 | 浙江吉利汽车研究院有限公司 | Automobile starting/stopping system with traffic light identifying function and control method thereof |
| CN103544844A (en) * | 2013-10-12 | 2014-01-29 | 浙江吉利控股集团有限公司 | Driver assistance method and system for avoiding violation of traffic lights |
| CN105261224A (en) * | 2015-09-02 | 2016-01-20 | 奇瑞汽车股份有限公司 | Intelligent vehicle control method and apparatus |
| CN106710271A (en) * | 2016-12-28 | 2017-05-24 | 深圳市赛格导航科技股份有限公司 | Automobile driving assistance method and device |
| CN107146440A (en) * | 2017-06-26 | 2017-09-08 | 奇瑞汽车股份有限公司 | Start-up and shut-down control method and apparatus for automatic driving vehicle |
| CN107170262A (en) * | 2017-06-23 | 2017-09-15 | 深圳市盛路物联通讯技术有限公司 | A kind of crossing traffic lamp intelligent control method and device |
| CN107336668A (en) * | 2017-01-26 | 2017-11-10 | 问众智能信息科技（北京）有限公司 | Automobile intelligent auxiliary drives traffic lights safety prompt function method |
-
2018
- 2018-08-09 CN CN201810901927.0A patent/CN109017787B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010247703A (en) * | 2009-04-16 | 2010-11-04 | Toyota Motor Corp | Vehicle speed control device |
| CN102582619A (en) * | 2012-02-28 | 2012-07-18 | 浙江吉利汽车研究院有限公司 | Automobile starting/stopping system with traffic light identifying function and control method thereof |
| CN103544844A (en) * | 2013-10-12 | 2014-01-29 | 浙江吉利控股集团有限公司 | Driver assistance method and system for avoiding violation of traffic lights |
| CN105261224A (en) * | 2015-09-02 | 2016-01-20 | 奇瑞汽车股份有限公司 | Intelligent vehicle control method and apparatus |
| CN106710271A (en) * | 2016-12-28 | 2017-05-24 | 深圳市赛格导航科技股份有限公司 | Automobile driving assistance method and device |
| CN107336668A (en) * | 2017-01-26 | 2017-11-10 | 问众智能信息科技（北京）有限公司 | Automobile intelligent auxiliary drives traffic lights safety prompt function method |
| CN107170262A (en) * | 2017-06-23 | 2017-09-15 | 深圳市盛路物联通讯技术有限公司 | A kind of crossing traffic lamp intelligent control method and device |
| CN107146440A (en) * | 2017-06-26 | 2017-09-08 | 奇瑞汽车股份有限公司 | Start-up and shut-down control method and apparatus for automatic driving vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808693A (en) * | 2019-02-19 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle amber light decision-making technique, device and storage medium |
| CN109808693B (en) * | 2019-02-19 | 2021-04-30 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle yellow light decision method, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109017787B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210124956A1 (en) | Information processing apparatus, information processing method, and program | |
| US10286907B2 (en) | Vehicle and lane change timing determination method | |
| US20210101594A1 (en) | Vehicle driving guarantee method, apparatus, device and readable storage medium | |
| WO2022007655A1 (en) | Automatic lane changing method and apparatus, and device and storage medium | |
| WO2019157193A1 (en) | Controlling autonomous vehicles using safe arrival times | |
| WO2022095446A1 (en) | Endogenic protection method for function security and network security of sensing and decision-making module of intelligent connected vehicle | |
| CN111580522A (en) | Control method for unmanned vehicle, and storage medium | |
| CN109460042B (en) | Automatic driving control method and system | |
| CN107993487A (en) | Avoid the method and device of emergency vehicle | |
| CN108202669B (en) | Bad weather vision enhancement driving auxiliary system and method based on vehicle-to-vehicle communication | |
| CN112124326B (en) | Automatic driving method, device, electronic equipment and storage medium | |
| JPWO2019077999A1 (en) | Image pickup device, image processing device, and image processing method | |
| CN109318899B (en) | Curve driving method, device, equipment and storage medium for automatic driving vehicle | |
| CN109398226A (en) | The outer reminding method of the vehicle of vehicle parking state and device | |
| US20200139991A1 (en) | Electronic device for vehicle and operating method of electronic device for vehicle | |
| US20220095086A1 (en) | Method and apparatus for indicating, obtaining, and sending automated driving information | |
| JP2019194782A (en) | Traffic management device | |
| JPWO2020110915A1 (en) | Information processing equipment, information processing system, and information processing method | |
| EP4296990A1 (en) | Assisted driving method, stop recess, chip, electronic device, and storage medium | |
| WO2022246860A1 (en) | Performance test method for autonomous driving system | |
| CN114212108A (en) | Automatic driving method, device, vehicle, storage medium and product | |
| CN106985818A (en) | A kind of motor vehicle intelligent drive assist system based on cloud computing | |
| CN110271417A (en) | Full liquid crystal instrument system based on ADAS and AR technology | |
| CN109017787A (en) | A kind of travel control method | |
| CN114822083B (en) | Intelligent vehicle formation auxiliary control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 100096 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |