CN109116843A - Vehicle follows line running method - Google Patents
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- CN109116843A CN109116843A CN201810902379.3A CN201810902379A CN109116843A CN 109116843 A CN109116843 A CN 109116843A CN 201810902379 A CN201810902379 A CN 201810902379A CN 109116843 A CN109116843 A CN 109116843A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The present invention relates to a kind of vehicles to follow line running method, comprising: server receives the vehicle reservation information that user terminal is sent；The corresponding cartographic information of vehicle mission bit stream is obtained, the run routing information of vehicle is generated；It determines travel speed, and run routing information and travel speed is sent to vehicle；Vehicle obtains lane line position information and road markings information；Determine the traveling lane in travel；The traffic information of traveling lane is obtained, and traffic information is parsed, obtains the position and speed of the front vehicles of vehicle；When traveling lane is rectilinear stretch, the relative distance of vehicle and front vehicles is calculated according to the position of vehicle and the position of front vehicles；The longitudinally controlled instruction of travel speed is generated according to the speed of relative distance and front vehicles, vehicle is travelled according to longitudinally controlled instruction according to traveling lane；It is less than preset first distance threshold value according to the lateral position deviation of crosswise joint state modulator vehicle and lane line.
Description
Technical field
The present invention relates to technical field of vehicle safety more particularly to a kind of vehicle to follow line running method.
Background technique
Autonomous driving vehicle is also known as pilotless automobile, is a kind of to realize unpiloted intelligence vapour by computer system
Vehicle.Autonomous driving vehicle relies on artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, allows electricity
Brain can operate motor vehicles to automatic safe under the operation of nobody class active.
Autonomous driving vehicle reaches designated position from initial position according to the wheelpath of planning.In the process of moving, it needs
Traffic rules traveling is followed according to identification information, the lane line etc. in road, otherwise, it is possible to create traffic safety problem is
The generation for avoiding accident, improves the safety of vehicle driving, a kind of effective vehicle is needed to follow line running method.
Summary of the invention
The purpose of the present invention is in view of the deficiencies in the prior art, provide a kind of vehicle to follow line running method.
To achieve the above object, the present invention provides a kind of vehicles to follow line running method, comprising:
Server receives the vehicle reservation information that user terminal is sent, and the vehicle reservation information includes vehicle mission bit stream
And task time；
The corresponding cartographic information of the vehicle mission bit stream is obtained, is generated according to the vehicle mission bit stream and cartographic information
The run routing information of the vehicle；The run routing information includes the operating range of a plurality of travel, road speed limit；
Travel speed is determined according to the operating range, the task time and the road speed limit row, and by the row
It sails routing information and the travel speed is sent to the vehicle, to the vehicle according to the run routing information and described
Travel speed traveling；
The vehicle obtains lane line position information and road markings information；
The traveling lane in travel is determined according to the road markings information；
The traffic information of the traveling lane is obtained, and the traffic information is parsed, before obtaining the vehicle
The position and speed of square vehicle；
When the traveling lane is rectilinear stretch, calculated according to the position of the vehicle and the position of the front vehicles
The relative distance of the vehicle and the front vehicles；
The longitudinally controlled instruction of the travel speed, institute are generated according to the speed of the relative distance and the front vehicles
It states vehicle and is travelled according to the longitudinally controlled instruction according to the traveling lane；
It is less than preset first according to the lateral position deviation of vehicle described in crosswise joint state modulator and the lane line
Distance threshold.
Further, the run routing information that the vehicle is generated according to the vehicle mission bit stream and cartographic information
It specifically includes:
The vehicle mission bit stream is parsed, task start position and task final position are obtained；
The task start position and task final position are inquired in the cartographic information；
According in the cartographic information the task start position and the task final position generate the traveling road
Diameter information.
Further, determine that the traveling lane in travel specifically includes according to the road markings information:
Vehicle type information is compared the vehicle with the road markings information, and the road markings information includes
Bus zone mark, car lane mark, non-motorized lane mark, Emergency Vehicle Lane mark；
The traveling lane in travel is determined according to comparison result.
Further, the speed according to the relative distance and the front vehicles generates the vertical of the travel speed
It is specifically included to control instruction:
When the speed of the front vehicles is less than the travel speed of the vehicle, deceleration instruction is generated；
The vehicle is according to the deceleration instruction Reduced Speed Now；
When the relative distance is less than preset second distance threshold value, braking instruction is generated；
The vehicle stops according to the braking instruction.
Further, the run routing information further includes lane line position information and road markings information；The vehicle
It obtains lane line position information and road markings information specifically includes:
The vehicle parses the run routing information, obtains lane line position information and road markings information.
Further, the vehicle obtains lane line position information and road markings information specifically includes:
The vehicle obtains the lane line position information and road markings by image capture module and sensor module
Information.
Further, the longitudinally controlled instruction specifically includes:
Assisted instruction, deceleration instruction, enabled instruction, braking instruction.
Further, the crosswise joint parameter includes lateral velocity and transverse acceleration；The lateral velocity is no more than
Preset first threshold；The transverse acceleration is no more than preset second threshold.
Vehicle provided by the invention follows line running method, and the driving path and travel speed sent according to server travels,
And lane line position information and road markings information are obtained, traveling lane is determined according to road markings information, when lane is straight
When line lane, according to the longitudinally controlled travel speed of speed of the relative distance and front vehicles with front vehicles, and according to cross
The lateral position deviation for controlling vehicle and lane line to control parameter is less than preset first distance threshold value.Vehicle provided by the invention
Line running method is followed, vehicle can be controlled along lane line and follow line traveling, while lateral deviation can be controlled, improve vehicle row
The safety sailed.
Detailed description of the invention
Fig. 1 is the schematic diagram of Vehicular system framework provided in an embodiment of the present invention；
Fig. 2 is the flow chart that vehicle provided in an embodiment of the present invention follows line running method.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Vehicle in technical solution of the present invention is automatic driving vehicle, by car-mounted terminal realize the control of modules with
And information exchange is carried out with other terminals, ambient enviroment can be perceived and realize automatic Pilot, according to preset traveling ground
Figure drives to designated place.User terminal specifically can be the terminal device with processing capacity, for example, desktop computer, notes
This computer, tablet computer, smart phone etc..
Fig. 1 is the schematic diagram of Vehicular system framework provided in an embodiment of the present invention.As shown in Figure 1, system include server,
((user terminal 1, user terminal 2 ... user are whole for vehicle 1, vehicle 2 ... vehicle n), multiple user terminals for multiple automatic driving vehicles
End is n).
Wherein, server is automatic driving vehicle management server, can be individual server, is also possible to multiple services
The server cluster of device composition, if it is individual server, then the individual server manages all automatic driving vehicles, Ke Yihe
All vehicles carry out instruction transmission and data interaction；It is if it is the server cluster of multiple servers composition, then total by one
The multiple child servers of server admin, director server are that each child servers set permission, and each child servers are according to total service
The vehicle of the rights management corresponding number of device setting, and there is the vehicle of administration authority to carry out instruction and data interaction.Server is
Each user terminal sets administration authority, each user terminal according to the rights management one or more vehicles of server settings,
User terminal carries out instruction transmission and data interaction by server and all vehicles.
Vehicle first passes through car-mounted terminal in advance and is registered to server, and at any time by vehicle remaining capacity, travel condition of vehicle
The car status informations such as (normal operation, failure etc.), vehicle position information are reported to server.Car-mounted terminal have 4G,
The wireless communication modules such as WIFI receive the instruction and data that server is sent.
Fig. 2 is the flow chart that vehicle provided in an embodiment of the present invention follows line running method.As shown in Fig. 2, specifically include as
Lower step:
Step 201, server receives the vehicle reservation information that user terminal is sent, and vehicle reservation information includes vehicle task
Information and task time；
Vehicle reservation information includes user terminal ID, task start position, task final position, stop off point, task
Time etc..User terminal ID is the unique identification information of user terminal, such as the phone of the sequence number of user terminal, mobile terminal
Number etc..User can send vehicle reservation information to server by the application APP of user terminal.
Before the vehicle reservation information that server receives that user terminal is sent, user terminal and vehicle corresponding vehicle-mounted end
End needs to be registered to server and server establishes a connection.Specific implementation is as follows:
Server receives the first registration information that user terminal is sent, and the first registration information includes user terminal ID；According to
User terminal ID registers user terminal.
Server receives the second registration information that car-mounted terminal is sent, and the second registration information includes car-mounted terminal ID；According to
Car-mounted terminal ID registers car-mounted terminal.
Step 202, the corresponding cartographic information of vehicle mission bit stream is obtained, is generated according to vehicle mission bit stream and cartographic information
The run routing information of vehicle；
Optionally, after the vehicle reservation information that server sends the user terminal received, safety verification is carried out, it can
To be verified by Hash codes etc., after being verified, the information that just can confirm that user terminal is sent is safe.If clothes
The information that business device finds that received user terminal is sent is dangerous, then server sends rejection information to user terminal, refuses
Non-safety information is received absolutely, and is generated information warning and be sent to the terminal device of security maintenance personnel and remind.
After safety verification passes through, server parses the vehicle reservation information received, obtains task and plays point
It sets, task final position, task time etc.；The corresponding area map information of vehicle mission bit stream is called in map data base,
Query task start position and task final position in cartographic information；Task start position and task in information according to the map
Final position generates run routing information.Run routing information includes the operating range of a plurality of travel, road speed limit etc..
Step 203, travel speed is determined according to operating range, task time and road speed limit row, and driving path is believed
Breath and travel speed are sent to vehicle；
The operating range of every road of a plurality of road that vehicle passes through according to vehicle driving task in driving path obtains this
Total operating range of secondary driving task is calculated when vehicle executes traveling task according to total operating range and task time and is directed to
The travel speed of different sections of highway, wherein also to meet the speed limit requirement of road.Server is by run routing information and travel speed
It is sent to the car-mounted terminal of vehicle, server is by realizing the control to vehicle, vehicle with the communication of the car-mounted terminal of vehicle
It is travelled on driving path according to the travel speed that server is sent.
Step 204, vehicle obtains lane line position information and road markings information；
Vehicle obtains lane line position information and road markings information can be by following two mode, and one is pass through clothes
The high definition cartographic information in driving path that business device is sent determines lane line position and road markings, and vehicle believes driving path
Breath is parsed, and lane line position information and road markings information are obtained.
Another way is that vehicle passes through the image capture module installed on car body, such as camera and sensor die
Block, for example, laser radar, ultrasonic radar, millimetre-wave radar etc., detect lane line position, the road markings on traveling lane
Information and vehicle-periphery information.
Step 205, the traveling lane in travel is determined according to road markings information；
It include a plurality of traveling lane in every travel, for example, bus zone, car lane, non-motorized lane, emergency
Lane etc., different types of vehicle correspond to different traveling lanes.Vehicle obtains preset vehicle type information with step 204
The road markings information got is compared, and road markings information includes bus zone mark, car lane mark, non-motor vehicle
Road mark, Emergency Vehicle Lane mark etc., the traveling lane in travel is determined according to comparison result.
For example, this vehicle is the taxi of automatic Pilot, then preset vehicle type information is motor vehicle, to multiple road road signs
After the image of knowledge is identified, determines that left several Article 2 lanes are car lane, then control vehicle in left several Article 2 lanes row
It sails.
Step 206, the traffic information of traveling lane is obtained, and traffic information is parsed, obtains the front vehicle of vehicle
Position and speed；
Car-mounted terminal is corresponding according to the driving path and different sections of highway of servers' layout by control module control vehicle
Travel speed traveling, in the process of moving, vehicle termination passes through laser radar, ultrasonic radar, millimetre-wave radar, Image Acquisition
Module obtains the traffic information on driving path, the position of other vehicles, pedestrian, barrier etc. including present road traveling and
Speed and relevant all road informations, vehicle pass through these data perception ambient enviroments.
Wherein, image capture module specifically can be the image capture devices such as camera, can acquire 360 ° of vehicle periphery
Environmental information.Laser radar, ultrasonic radar, millimetre-wave radar are set to before and after vehicle and four angles, for obtaining vehicle
The range information of surrounding objects.
Step 207, when traveling lane is rectilinear stretch, vehicle is calculated according to the position of vehicle and the position of front vehicles
With the relative distance of front vehicles；
Vehicle obtains ambient condition information, so that it is determined that the lane of vehicle driving is by parsing to traffic information
Rectilinear stretch or curved lanes control vehicle along straight-line travelling, determine front vehicles when the lane of traveling is rectilinear stretch
The position and speed of traveling, vehicle determine this truck position by locating module, according to this truck position, the position of speed, front vehicles
It sets, speed determines this vehicle and the relative distance of front vehicles.Determine that the purpose of relative distance is to ensure that this vehicle in the process of moving,
It is not less than safe distance with the relative distance of front vehicles, avoids colliding with front vehicles.
Step 208, the longitudinally controlled instruction of travel speed, vehicle root are generated according to the speed of relative distance and front vehicles
It is travelled according to longitudinally controlled instruction according to traveling lane；
Vehicle the speed and Ben Che and front vehicles that when driving, need to consider front vehicles along rectilinear stretch away from
From to adjust the longitudinal driving speed of this vehicle according to the driving condition of front vehicles.Vehicle is according to the speed of front vehicles
And the relative distance of Ben Che and front vehicles generates longitudinally controlled instruction, vehicle adjusts according to the longitudinally controlled instruction of generation
This vehicle speed, longitudinally controlled instruction includes: assisted instruction, deceleration instruction, enabled instruction, braking instruction.
When the speed of front vehicles is less than the travel speed of vehicle, deceleration instruction is generated；Vehicle subtracts according to deceleration instruction
Speed traveling；When relative distance is less than preset second distance threshold value, braking instruction is generated；Vehicle stops according to braking instruction.
Wherein, second distance threshold value is set according to the safe distance of vehicle and front vehicles.
Step 209, it is less than preset first according to the lateral position deviation of crosswise joint state modulator vehicle and lane line
Distance threshold.
Vehicle in the process of moving, also needs to carry out crosswise joint while longitudinally controlled.Crosswise joint guarantees vehicle edge
Driving path follows strictly lane line position while traveling, lateral deviation controls in a certain range, avoids vehicle and other
Vehicle on lane occurs laterally to scratch.First distance threshold value is set according to the lateral deviation range of permission.Crosswise joint
Parameter includes lateral velocity and transverse acceleration；Lateral velocity is no more than preset first threshold；Transverse acceleration is no more than pre-
If second threshold.The range of lateral velocity and transverse acceleration is according to Vehicle Speed, the width of travel, and works as
The factors such as quantity, the speed of vehicle on other lanes of preceding travel are set.
In a specific embodiment, according to 3.5 meters of standard lane, intersection 2.3-2.5 meters, common vehicle width about 2
Rice, setting lateral direction of car position deviation are no more than 0.2 meter, and lateral velocity is no more than 0.5 meter per second, and transverse acceleration is no more than 1
Meter per second2。
Vehicle provided by the invention follows line running method, and the driving path and travel speed sent according to server travels,
And lane line position information and road markings information are obtained, traveling lane is determined according to road markings information, when lane is straight
When line lane, according to the longitudinally controlled travel speed of speed of the relative distance and front vehicles with front vehicles, and according to cross
The lateral position deviation for controlling vehicle and lane line to control parameter is less than preset first distance threshold value.Vehicle provided by the invention
Line running method is followed, vehicle can be controlled along lane line and follow line traveling, while lateral deviation can be controlled, improve vehicle row
The safety sailed.
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, CD-ROM or technical field
In any other form of storage medium well known to interior.
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 (8)
1. a kind of vehicle follows line running method, which is characterized in that the described method includes:
Server receives the vehicle reservation information that user terminal is sent, and the vehicle reservation information includes vehicle mission bit stream and appoints
It is engaged in the time；
The corresponding cartographic information of the vehicle mission bit stream is obtained, according to the vehicle mission bit stream and cartographic information generation
The run routing information of vehicle；The run routing information includes the operating range of a plurality of travel, road speed limit；
Travel speed is determined according to the operating range, the task time and the road speed limit row, and by the traveling road
Diameter information and the travel speed are sent to the vehicle, to the vehicle according to the run routing information and the traveling
Speed traveling；
The vehicle obtains lane line position information and road markings information；
The traveling lane in travel is determined according to the road markings information；
The traffic information of the traveling lane is obtained, and the traffic information is parsed, obtains the front vehicle of the vehicle
Position and speed；
When the traveling lane is rectilinear stretch, according to the position of the vehicle and the calculating of the position of the front vehicles
The relative distance of vehicle and the front vehicles；
The longitudinally controlled instruction of the travel speed, the vehicle are generated according to the speed of the relative distance and the front vehicles
According to it is described it is longitudinally controlled instruction according to the traveling lane travel；
It is less than preset first distance according to the lateral position deviation of vehicle described in crosswise joint state modulator and the lane line
Threshold value.
2. the method according to claim 1, wherein described raw according to the vehicle mission bit stream and cartographic information
It is specifically included at the run routing information of the vehicle:
The vehicle mission bit stream is parsed, task start position and task final position are obtained；
The task start position and task final position are inquired in the cartographic information；
According to the task start position and the task final position generation driving path letter in the cartographic information
Breath.
3. the method according to claim 1, wherein being determined in travel according to the road markings information
Traveling lane specifically includes:
Vehicle type information is compared the vehicle with the road markings information, and the road markings information includes public transport
Lane markings, car lane mark, non-motorized lane mark, Emergency Vehicle Lane mark；
The traveling lane in travel is determined according to comparison result.
4. the method according to claim 1, wherein described according to the relative distance and the front vehicles
The longitudinally controlled instruction that speed generates the travel speed specifically includes:
When the speed of the front vehicles is less than the travel speed of the vehicle, deceleration instruction is generated；
The vehicle is according to the deceleration instruction Reduced Speed Now；
When the relative distance is less than preset second distance threshold value, braking instruction is generated；
The vehicle stops according to the braking instruction.
5. the method according to claim 1, wherein the run routing information further includes lane line position information
With road markings information；The vehicle obtains lane line position information and road markings information specifically includes:
The vehicle parses the run routing information, obtains lane line position information and road markings information.
6. the method according to claim 1, wherein the vehicle obtains lane line position information and road markings
Information specifically includes:
The vehicle obtains the lane line position information and road markings information by image capture module and sensor module.
7. the method according to claim 1, wherein the longitudinally controlled instruction specifically includes:
Assisted instruction, deceleration instruction, enabled instruction, braking instruction.
8. the method according to claim 1, wherein the crosswise joint parameter includes lateral velocity and laterally adds
Speed；The lateral velocity is no more than preset first threshold；The transverse acceleration is no more than preset second threshold.
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| CN201810902379.3A CN109116843A (en) | 2018-08-09 | 2018-08-09 | Vehicle follows line running method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111352418A (en) * | 2020-02-24 | 2020-06-30 | 李斯特技术中心（上海）有限公司 | Automatic vehicle control method and device based on ultrasonic sensor and electronic equipment |
| WO2020249121A1 (en) * | 2019-06-14 | 2020-12-17 | 华为技术有限公司 | Vehicle following method and apparatus |
| CN113415273A (en) * | 2021-06-28 | 2021-09-21 | 东风汽车集团股份有限公司 | System and method for automobile to intelligently pass through obstacles |
| CN113753073A (en) * | 2021-01-12 | 2021-12-07 | 京东鲲鹏(江苏)科技有限公司 | Vehicle speed control method, device, equipment and storage medium |
| CN114364943A (en) * | 2019-09-05 | 2022-04-15 | 株式会社电装 | Vehicle position specifying device and vehicle position specifying method |
| CN114771571A (en) * | 2022-05-06 | 2022-07-22 | 中国第一汽车股份有限公司 | Method and device for adjusting vehicle position |
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