CN109017787B - Driving control method - Google Patents
Driving control method Download PDFInfo
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- CN109017787B CN109017787B CN201810901927.0A CN201810901927A CN109017787B CN 109017787 B CN109017787 B CN 109017787B CN 201810901927 A CN201810901927 A CN 201810901927A CN 109017787 B CN109017787 B CN 109017787B
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- 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
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- 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
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- 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
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- 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 embodiment of the invention relates to a driving control method, which comprises the following steps: the vehicle control unit monitors the traffic equipment signals in the monitoring range through the traffic equipment communication unit; when the traffic equipment communication unit receives a traffic equipment signal, the vehicle control unit obtains the predicted vehicle passing time according to the vehicle speed data and the distance to be passed, and compares the vehicle passing time with the traffic equipment change time; when the time that the vehicle passes through the traffic equipment is longer than the change time of the traffic equipment, and the traffic equipment signal is a first traffic equipment signal, or when the time that the vehicle passes through the traffic equipment is not longer than the change time of the traffic equipment, and the traffic equipment signal is a third traffic equipment signal, or when the traffic equipment signal is a second traffic equipment signal, the vehicle control unit generates virtual obstacle data according to the distance to be passed; and generating a braking instruction according to the virtual obstacle data and the vehicle speed data.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a driving control method.
Background
With the development of economy and the rise of artificial intelligence technology, the automatic driving automobile is more and more concerned by the market. The automatic driving of the automobile refers to that a computer can automatically and safely operate the motor vehicle without any active operation of human beings by means of cooperative cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system. The market forecast of the automatic driving automobile can realize the effects of reducing the occurrence rate of traffic accidents, reducing the degree of traffic jam, reducing the cost of investing in traffic infrastructure, reducing the pollution to the environment and the like.
However, the related art in the field of automatic driving is not mature at present, so that the automatic driving vehicle cannot run on an actual road. Particularly, how to effectively and accurately identify the signal lamp and realize the start and stop of the vehicle according to the change of the signal lamp in the automatic driving mode of the vehicle is called as the problem to be continuously solved in the current automatic driving field.
Disclosure of Invention
The invention aims to provide a driving control method aiming at the defects of the prior art, which is characterized in that in an automatic driving mode, whether a signal lamp exists in front of a driving road of a vehicle or not is monitored and sensed through a traffic equipment signal, and the state of the signal lamp is determined, so that the vehicle can determine whether the vehicle needs to stop to wait for the signal lamp or not according to the recognized state of the signal lamp and the current speed, and the vehicle in the automatic driving mode can be driven safely and stably in the road condition with the signal lamp. And whether a signal lamp exists in front of a running road of the vehicle or not is monitored and sensed through the traffic equipment signal, so that the state of the signal lamp can be identified more accurately.
In order to achieve the above object, an embodiment of the present invention provides a travel control method including:
a vehicle control unit in the vehicle receives an automatic driving conversion instruction and works according to the automatic driving conversion instruction;
the vehicle control unit monitors traffic equipment signals in a monitoring range through a traffic equipment communication unit in the vehicle; the traffic equipment signal comprises traffic equipment state information and traffic equipment change time;
when the traffic device communication unit receives the traffic device signal,
the vehicle control unit obtains the predicted vehicle passing time according to the vehicle speed data and the distance to be passed, and compares the vehicle passing time with the traffic equipment change time;
when the time that the vehicle passes through the traffic equipment is longer than the change time of the traffic equipment, and the traffic equipment signal is a first traffic equipment signal, or when the time that the vehicle passes through the traffic equipment is not longer than the change time of the traffic equipment, and the traffic equipment signal is a third traffic equipment signal, or when the traffic equipment signal is a second traffic equipment signal, the vehicle control unit generates the virtual obstacle data according to the distance to be passed;
and generating a braking instruction according to the virtual obstacle data and the vehicle speed data, so that the vehicle works according to the braking instruction.
Preferably, prior to the determining whether the traffic device signal is a first traffic device signal, the method further comprises:
the vehicle control unit determines vehicle driving direction information according to the vehicle driving route information;
determining the traffic device signal corresponding to the vehicle driving direction information.
Preferably, after the operation according to the automatic driving transition instruction, the method further includes:
the vehicle control unit acquires vehicle environment information through the sensing unit.
Further preferably, the determining whether the traffic device signal is the first traffic device signal specifically includes:
the vehicle control unit analyzes the vehicle environment information and determines whether the vehicle environment information comprises traffic equipment image information;
when the vehicle environment information comprises traffic equipment image information and the traffic equipment communication unit receives the traffic equipment signal, whether the traffic equipment signal is a first traffic equipment signal is determined according to the traffic equipment image information and the traffic equipment state information.
Further preferably, before the vehicle control unit analyzes the vehicle environment information and determines whether the vehicle environment information includes traffic device image information, the method further includes:
the vehicle control unit analyzes the vehicle environment information and determines whether the vehicle environment information comprises first obstacle information;
when the vehicle environment information comprises the first obstacle information, determining distance data between the vehicle and the first obstacle according to the vehicle environment information;
and when the distance data between the vehicle and the first obstacle is smaller than the preset vehicle distance data, the vehicle control unit generates a deceleration instruction for the vehicle to work according to the deceleration instruction.
Further preferably, when the first obstacle information is included in the vehicle environment information, the method further includes:
determining distance data between the vehicle and a first obstacle according to the vehicle environment information;
and generating a following instruction according to the distance data between the vehicle and the first obstacle and the vehicle speed data, so that the vehicle works according to the following instruction.
Further preferably, the vehicle control unit obtains the distance to be passed specifically as follows:
and determining the distance to be passed according to the vehicle environment information.
Further preferably, after the vehicle operates according to the braking instruction, the method further includes:
monitoring the traffic equipment signal;
when the traffic equipment signal is changed from the third traffic equipment signal to the first traffic equipment signal, the vehicle control unit generates a starting instruction for the vehicle to work according to the starting instruction;
or the vehicle control unit generates a starting instruction according to the change time of the traffic equipment so that the vehicle works according to the starting instruction.
Further preferably, before the vehicle control unit generates the start instruction according to the traffic device change time, the method further includes:
the vehicle control unit acquires vehicle environment information through the sensing unit;
the vehicle control unit analyzes the vehicle environment information and determines whether second obstacle information is included in the vehicle environment information;
when the vehicle environment information does not include the second obstacle information, the vehicle control unit generates the start instruction according to the traffic device change time.
Further preferably, longitudinal acceleration data in the braking command, the deceleration command, the following command and the starting command are within a preset acceleration data threshold.
According to the driving control method provided by the embodiment of the invention, in the automatic driving mode, whether a signal lamp exists in the front of a driving road of the vehicle or not is monitored and sensed through a traffic equipment signal, and the state of the signal lamp is determined, so that the vehicle determines whether the vehicle needs to stop to wait for the signal lamp or not according to the recognized state of the signal lamp and the current speed, and the vehicle in the automatic driving mode can be driven safely and stably in the road condition with the signal lamp. And whether a signal lamp exists in front of a running road of the vehicle or not is monitored and sensed through the traffic equipment signal, so that the state of the signal lamp can be identified more accurately.
Drawings
Fig. 1 is a flowchart of a driving control method according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The driving control method provided by the embodiment of the invention is realized in an unmanned vehicle and used for automatically identifying and controlling the start and stop of the vehicle according to signal lamps on a road, and the flow chart of the method is shown in figure 1 and comprises the following steps:
specifically, the unmanned vehicle comprises a vehicle control unit, a traffic equipment communication unit and a sensing unit. The vehicle control unit may be understood as a control module for controlling the vehicle to travel. The traffic device communication unit can be understood as a module dedicated to communication with the infrastructure in the road, and the traffic device communication unit can acquire traffic device signals within the radiation range of the traffic device signals according to the communication protocol. The basic traffic facilities in the road mainly involved in the embodiment are traffic lights. The sensing unit may be understood as a module that senses the surroundings of the vehicle. The perception unit comprises a laser radar module, an ultrasonic radar module and a camera module. The laser radar module and the ultrasonic radar module are used for detecting nearby objects of a vehicle body. The camera module is used for acquiring images of the environment conditions of 360 degrees around the vehicle.
When the vehicle control unit receives an automatic driving switching instruction input by a user, the unmanned vehicle enters an automatic driving mode. The automatic drive-over command may be entered by the user via a display screen in the unmanned vehicle or may be entered remotely via a server or other remote control device.
It should be noted that, the unmanned vehicle in the embodiment of the present invention includes not only the vehicle control unit, the transportation device communication unit, and the sensing unit, but also only the units related to the present technical solution in this embodiment, and a person skilled in the art may set other related devices or units for implementing the driving of the unmanned vehicle according to needs.
Preferably, the signal radiation range of the traffic equipment is five hundred meters in radius.
specifically, the signal lamps on the road are provided with devices capable of radiating traffic equipment signals outwards, and the vehicle control unit can monitor the traffic equipment signals in the monitoring range through the traffic equipment communication unit. The traffic device communication unit may receive the traffic device signal output from the signal lamp when the vehicle enters a radiation range of the traffic device signal output from the signal lamp.
More specifically, the vehicle control unit first obtains vehicle driving route information according to the driving task, that is, obtains an implementation route that the vehicle needs to follow, then determines vehicle driving direction information according to the vehicle driving route information, that is, determines the driving direction of the current vehicle, and finally determines that the traffic equipment signal in the direction corresponding to the vehicle driving direction information is the traffic equipment signal that needs to be further processed by the vehicle control unit. This process may be understood as a process of determining which particular one of a plurality of signal lights in the intersection is the signal light that the current vehicle needs to observe.
The traffic device signal includes traffic device status information and a traffic device change time. The traffic device status information may be understood as the status of the current signal light, indicating whether the current signal light is a red light, a yellow light, or a green light. The traffic device change time can be understood to mean the time required for the current signal light to enter the next state. For example, if the current signal light is a red light and turns to a green light after fifty seconds, the traffic equipment state information in the traffic equipment signal acquired by the vehicle is "red light", and the traffic equipment change time is "fifty seconds".
The vehicle control unit monitors the traffic equipment signals in the monitoring range through the traffic equipment communication unit, and meanwhile, the vehicle control unit obtains vehicle environment information through the sensing unit. The vehicle environment information includes data reflecting the current environment state of the vehicle in the form of image data, video data, radar data, and the like.
specifically, first, the vehicle control unit analyzes the vehicle environment information, and determines the distance to be passed according to the information in the vehicle environment information. The passing distance is the distance between the vehicle and the signal lamp plus the reserved parking distance or the distance between the vehicle and the parking line. When the vehicle control unit analyzes the vehicle environment information, the distance between the vehicle and the signal lamp and the distance between the vehicle and the stop line are obtained, and the distance between the vehicle and the stop line is used as the distance to be passed. After the vehicle control unit analyzes the vehicle environment information, only the distance between the vehicle and the signal lamp is obtained, and the distance between the vehicle and the signal lamp plus the reserved parking distance is used as the distance to be passed. That is, when both a traffic light and a stop line can be recognized in the front road image represented by the vehicle environment information, the vehicle needs to stop before the stop line instead of the traffic light, and thus the distance between the vehicle and the stop line is taken as the distance data between the vehicle and the traffic equipment. When only the signal lamp can be identified in the front road image represented by the vehicle environment information, the vehicle only needs to stop at a certain distance in front of the signal lamp, and therefore the distance between the vehicle and the signal lamp and the preset reserved stopping distance are required to be used as the passing distance.
Then, the vehicle control unit needs to obtain the predicted vehicle passing time from the current vehicle speed data and the to-be-passed distance. The predicted vehicle passing time may be understood as a time required for the vehicle to pass the to-be-passed distance.
specifically, the traffic device signals may be classified according to the traffic device status information into a first traffic device signal representing that the current signal light is "green light", a second traffic device signal representing that the current signal light is "yellow light", and a third traffic device signal representing that the current signal light is "red light". When the traffic equipment communication unit receives the traffic equipment signal, it is indicated that a signal lamp is arranged in front of the vehicle driving direction, and the vehicle is required to make a corresponding control response according to the state of the signal lamp. And, when the vehicle makes corresponding control response, still need to combine current vehicle speed, confirm with vehicle current speed whether can pass the signal lamp in the time of signal lamp change light.
More specifically, when the traffic device signal is the first traffic device signal of "green light" and the time for the vehicle to pass through the traffic device is longer than the traffic device change time, it indicates that the vehicle cannot pass through the traffic light at the current speed within the change time for the traffic light to change from "green light" to "red light", and the following step 150 is executed.
When the traffic device signal is the second traffic device signal of "yellow light", which indicates that the current signal light is "yellow light" requiring the vehicle to run at a reduced speed, the following step 150 is also performed.
When the traffic device signal is the third traffic device signal of "red light" and the time that the vehicle passes through the traffic device is not longer than the traffic device change time, it means that the signal light is not changed from "red light" to "green light" when the vehicle reaches the signal light at the current speed of the vehicle, that is, even if the vehicle has a distance from the signal light stop line, the signal light is still "red light" when the vehicle travels to the stop line, and the following step 150 is also performed.
In some preferred embodiments, the vehicle control unit not only determines the state of the signal light from the traffic device signal, but also assists in determining the state of the signal light by traffic device image information in the vehicle environment information.
More specifically, the vehicle control unit analyzes the vehicle environment information received through the sensing unit, and determines whether the vehicle environment information includes traffic equipment image information, that is, determines whether a signal lamp is present on a road in the current driving direction. When the vehicle environment information comprises the traffic equipment image information and the traffic equipment communication unit receives the traffic equipment signal, the fact that the signal lamp is arranged in the road in the current driving direction can be determined according to the image in front of the vehicle shown by the vehicle environment information and the received traffic equipment signal. The vehicle control unit determines whether the traffic device signal is the first traffic device signal representing a "green light" based on the traffic device status information in combination with the color of the signal light in the identified traffic device image information.
In some preferred embodiments, in order to avoid the shielding of the vehicle in front, the vehicle environment information acquired by the sensing unit that can capture the signal lamp does not include the traffic equipment image information, and therefore the vehicle needs to keep a certain distance from the vehicle in front so that the vehicle can observe the signal lamp.
Further specifically, when the vehicle control unit determines that a signal lamp is arranged on a road in the current driving direction, and the distance between the vehicle and the signal lamp or the distance between the vehicle and a parking line is smaller than a preset observation distance, the vehicle control unit analyzes the vehicle environment information acquired through the sensing unit, and determines whether the vehicle environment information includes first obstacle information. The first obstacle information may be understood as a vehicle ahead of the current travel route of the vehicle within a preset range.
When the vehicle environment information includes first obstacle information, which indicates that there may be a vehicle in front of the current vehicle that affects the own vehicle to pass through the signal lamp, the vehicle control unit determines distance data between the vehicle and the first obstacle, that is, determines the distance between the vehicle and the preceding vehicle, based on the vehicle environment information. When the distance data between the vehicle and the first obstacle is smaller than the preset vehicle distance data, which indicates that the distance between the vehicle and the front vehicle may affect the observation signal lamp of the vehicle, the vehicle control unit generates a deceleration instruction, so that the vehicle works according to the deceleration instruction, and the vehicle and the front vehicle keep a certain distance.
In some preferred embodiments, it is determined whether the current road condition is in a state of waiting in line for passing the signal light before the vehicle control unit determines whether the traffic device signal is the first traffic device signal. If the current road condition is in a state of waiting to pass the signal lamp in line, the vehicle can follow the vehicle in front of the current driving route to wait to pass the signal lamp in line on the premise of keeping a certain distance before the stop line. And if the current road condition is not in a state of waiting for passing the signal lamp in line, the vehicle control unit determines whether the traffic equipment signal is the first traffic equipment signal.
More specifically, when the vehicle environment information includes first obstacle information, which indicates that there may be a vehicle in front of the current vehicle that affects the own vehicle to pass through the signal lamp, the vehicle control unit determines distance data between the vehicle and the first obstacle according to the vehicle environment information. I.e. determining the distance between the vehicle and the preceding vehicle. After obtaining the distance data of the vehicle and the first obstacle, the vehicle control unit generates a following instruction according to the distance data of the vehicle and the first obstacle and the vehicle speed data and combining with the preset vehicle distance data, namely, generates a following instruction for controlling the running speed and the running direction of the current vehicle according to the distance between the current vehicle and the front vehicle, the running speed of the current vehicle and the preset safe distance required to be kept with the front vehicle, so that the current vehicle follows the front vehicle at a proper speed until the vehicle runs in front of a stop line. How to determine whether the vehicle has traveled ahead of the stop line may be a determination of the distance between the vehicle and the stop line. And the distance between the vehicle and the stop line can be obtained by analyzing the vehicle environment information by the vehicle control unit. The specific determination method may refer to the description in step 130 described below.
150, when the vehicle cannot pass through the signal lamp, the vehicle control unit generates virtual obstacle data according to the distance to be passed;
specifically, when the traffic signal is not the first traffic signal, that is, the current signal light is a "yellow light" requiring the vehicle to run at a reduced speed or a "red light" requiring the vehicle to brake, or when the time for the vehicle to pass through the traffic signal is longer than the time for the vehicle to change, that is, the vehicle cannot pass through the signal light within the time for the signal light to change, the vehicle cannot pass through the signal light. The vehicle control unit treats the signal light as a virtual obstacle so that the vehicle stops in front of the signal light.
More specifically, the vehicle control unit inputs the distance to be passed into the virtual obstacle generating model, and the virtual obstacle generating model generates virtual obstacle data according to the distance to be passed. The virtual obstacle data includes position data and size data of the virtual obstacle.
In some preferred embodiments, when the traffic device signal is a third traffic device signal of "red light" requiring vehicle braking, the vehicle control unit determines a time when the signal light is changed from "red light" to "green light" according to the traffic device change time, and compares the vehicle passing traffic device time and the traffic device change time to determine whether the vehicle passing traffic device time is less than the traffic device change time. When the time for the vehicle to pass through the traffic equipment is longer than the change time of the traffic equipment, the time required for the vehicle to pass through the distance to be passed is longer than the time for changing the signal lamp into the signal lamp, that is, at the current speed of the vehicle, the signal lamp is changed from 'red lamp' into 'green lamp' before the vehicle reaches the stop line of the signal lamp, so that the vehicle can continuously pass through the signal lamp according to the current speed.
specifically, the vehicle control unit generates a brake instruction that controls braking of the vehicle so that the vehicle can be stopped before a specified position, based on the position data and the size data of the virtual obstacle and the current vehicle speed data.
specifically, after the vehicle operates according to a braking command, that is, after the vehicle stops at a traffic light, when the traffic light is changed from "red light" to "green light", the vehicle should start with the change of the traffic light without interference in front of the vehicle.
More specifically, the vehicle control unit first determines the time when the signal lamp changes from "red light" to "green light" according to the traffic equipment change time. When the system time reaches the time when the signal lamp is changed from the red lamp to the green lamp, the vehicle control unit analyzes the vehicle environment information and determines whether the second obstacle information is included in the vehicle environment information. The second obstacle information may be understood as an obstacle that disturbs the vehicle passing the signal light, for example a pedestrian that is still crossing the road at a red light. When the vehicle environment information does not include the second obstacle information, the condition that a road in front of the vehicle meets a vehicle starting requirement is indicated, and the vehicle control unit generates a starting instruction according to the change time of the traffic equipment, so that the vehicle is started according to the change of the signal lamp. When the vehicle environment information includes the second obstacle information, it is described that there is a situation of interfering with the driving of the vehicle in front of the current vehicle, and the vehicle needs to wait for the disappearance of the interfering object, that is, after the vehicle environment information does not include the second obstacle information, the vehicle control unit will generate a start instruction, so that the vehicle starts according to the change of the signal lamp.
Alternatively, after the traffic device communication unit receives the traffic device signal, that is, when the vehicle first observes that there is a traffic light on the road ahead, the vehicle may continuously monitor the traffic device signal and determine whether there is a situation where the traffic light changes from "red light" to "green light". When the traffic equipment communication unit monitors that the traffic equipment signal is changed from a third traffic equipment signal to a first traffic equipment signal, the traffic equipment communication unit indicates that a signal lamp in a road in front is changed from a red lamp to a green lamp, the vehicle control unit analyzes the vehicle environment information, determines whether the vehicle environment information comprises second obstacle information, executes whether the vehicle environment information comprises the second obstacle information, and determines whether a starting instruction is generated.
In some preferred embodiments, the longitudinal acceleration data in the braking command, the deceleration command, the following command and the starting command are all within the preset acceleration data threshold. The preset acceleration data threshold value is-2.5 m/s2To +1.5m/s2。
It is understood that the above-mentioned step 120-170 is implemented in the automatic driving process of the whole vehicle.
According to the driving control method provided by the embodiment of the invention, in the automatic driving mode, whether a signal lamp exists in the front of a driving road of the vehicle or not is monitored and sensed through a traffic equipment signal, and the state of the signal lamp is determined, so that the vehicle can determine whether the vehicle needs to stop to wait for the signal lamp or not according to the recognized state of the signal lamp and the current speed, and the vehicle in the automatic driving mode can be driven safely and stably in the road condition with the signal lamp. And whether a signal lamp exists in front of a running road of the vehicle or not is monitored and sensed through the traffic equipment signal, so that the state of the signal lamp can be identified more accurately.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM powertrain control method, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A running control method, characterized by comprising:
a vehicle control unit in the vehicle receives an automatic driving conversion instruction and works according to the automatic driving conversion instruction;
the vehicle control unit monitors traffic equipment signals in a monitoring range through a traffic equipment communication unit in the vehicle; the traffic equipment signal comprises traffic equipment state information and traffic equipment change time;
when the traffic equipment communication unit receives the traffic equipment signal, the vehicle control unit obtains the predicted vehicle passing time according to the vehicle speed data and the distance to be passed, and compares the vehicle passing time with the traffic equipment change time;
when the time that the vehicle passes through the traffic equipment is longer than the change time of the traffic equipment, and the traffic equipment signal is a first traffic equipment signal, or when the time that the vehicle passes through the traffic equipment is not longer than the change time of the traffic equipment, and the traffic equipment signal is a third traffic equipment signal, or when the traffic equipment signal is a second traffic equipment signal, the vehicle control unit generates virtual obstacle data according to the distance to be passed; wherein the first traffic equipment signal is a green light, the second traffic equipment signal is a yellow light, and the third traffic equipment signal is a red light;
generating a braking instruction according to the virtual obstacle data and the vehicle speed data, so that the vehicle works according to the braking instruction;
wherein after the vehicle operates according to the braking command, the method further comprises:
monitoring the traffic equipment signal;
when the traffic equipment signal is changed from the third traffic equipment signal to the first traffic equipment signal, the vehicle control unit generates a starting instruction for the vehicle to work according to the starting instruction;
or the vehicle control unit generates a starting instruction according to the change time of the traffic equipment so that the vehicle works according to the starting instruction;
wherein before the vehicle control unit generates a start instruction according to the traffic device change time, the method further comprises:
the vehicle control unit acquires vehicle environment information through the sensing unit;
the vehicle control unit analyzes the vehicle environment information and determines whether second obstacle information is included in the vehicle environment information;
when the vehicle environment information does not include the second obstacle information, the vehicle control unit generates the start instruction according to the traffic device change time.
2. The travel control method of claim 1, wherein prior to determining whether the traffic device signal is a first traffic device signal, the method further comprises:
the vehicle control unit determines vehicle driving direction information according to the vehicle driving route information;
determining the traffic device signal corresponding to the vehicle driving direction information.
3. The running control method according to claim 2, characterized in that after the operation according to the automatic driving changeover instruction, the method further comprises:
the vehicle control unit acquires vehicle environment information through the sensing unit.
4. The travel control method according to claim 3, wherein the determining whether the traffic device signal is a first traffic device signal is specifically:
the vehicle control unit analyzes the vehicle environment information and determines whether the vehicle environment information comprises traffic equipment image information;
when the vehicle environment information comprises traffic equipment image information and the traffic equipment communication unit receives the traffic equipment signal, whether the traffic equipment signal is a first traffic equipment signal is determined according to the traffic equipment image information and the traffic equipment state information.
5. The travel control method according to claim 4, before the vehicle control unit analyzes the vehicle environment information, and determines whether traffic device image information is included in the vehicle environment information, the method further comprising:
the vehicle control unit analyzes the vehicle environment information and determines whether the vehicle environment information comprises first obstacle information;
when the vehicle environment information comprises the first obstacle information, determining distance data between the vehicle and the first obstacle according to the vehicle environment information;
and when the distance data between the vehicle and the first obstacle is smaller than the preset vehicle distance data, the vehicle control unit generates a deceleration instruction for the vehicle to work according to the deceleration instruction.
6. The running control method according to claim 5, wherein when the first obstacle information is included in the vehicle environment information, the method further comprises:
determining distance data between the vehicle and a first obstacle according to the vehicle environment information;
and generating a following instruction according to the distance data between the vehicle and the first obstacle and the vehicle speed data, so that the vehicle works according to the following instruction.
7. The travel control method according to claim 3, wherein the vehicle control unit acquires the to-be-passed distance specifically as:
and determining the distance to be passed according to the vehicle environment information.
8. The running control method according to claim 6, wherein longitudinal acceleration data in the braking command, the deceleration command, the following command, and the start command is within a preset acceleration data threshold.
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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. |