CN109341713A - A kind of automated driving system, method and device - Google Patents
A kind of automated driving system, method and device Download PDFInfo
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- CN109341713A CN109341713A CN201811456334.4A CN201811456334A CN109341713A CN 109341713 A CN109341713 A CN 109341713A CN 201811456334 A CN201811456334 A CN 201811456334A CN 109341713 A CN109341713 A CN 109341713A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Abstract
This application provides a kind of automated driving systems, and wherein the system includes: Intelligent road sign and autonomous driving vehicle；The Intelligent road sign sends the real-time road condition information in guideboard authentication information and the communication range for the autonomous driving vehicle in the communication range to the Intelligent road sign；The autonomous driving vehicle, for receiving the guideboard authentication information and the real-time road condition information, authentication is carried out to the Intelligent road sign based on the guideboard authentication information, and in the case where authentication passes through, based on the real-time road condition information and the vehicle driving map prestored, the traveling strategy of autonomous driving vehicle is adjusted.The embodiment of the present application is in such a way that Intelligent road sign sends real-time road condition information to autonomous driving vehicle, autonomous driving vehicle is set to predict the real-time road that autonomous driving vehicle can not monitor, to adjust the traveling strategy of autonomous driving vehicle, and then the safety and flexibility of guarantee autonomous driving vehicle in the process of moving.
Description
Technical field
This application involves automatic Pilot technical fields, in particular to a kind of automated driving system, method and dress
It sets.
Background technique
Automatic driving vehicle is also known as automatic driving vehicle, computer drives vehicle or wheeled mobile robot, is that one kind passes through
Computer system realizes unpiloted intelligent vehicle.Autonomous driving vehicle is by artificial intelligence, vision calculating, radar, monitoring dress
Set with global positioning system cooperative cooperating, computer can be operated to automatic safe motor-driven in the case where no human manipulation
Vehicle.
Currently, autonomous driving vehicle in driving procedure, passes through the radar system or prison installed on autonomous driving vehicle
Control device acquires the point cloud charts of road conditions as information, the report control platform of autonomous driving vehicle according to point cloud chart as information, to manipulate
Autonomous driving vehicle traveling.But exist only by the point cloud information of radar system or monitoring device acquisition road conditions certain
Limitation, for example, the limitation due to radar system or monitoring device in coverage, causes autonomous driving vehicle can not
It runs at high speed, the flexibility of avoiding barrier is low, and when there is emergency, such as traffic accident, mud-rock flow, automatic Pilot vapour
Vehicle the case where it is easy to appear dangerous drivings.
Therefore, the demand of autonomous driving vehicle precognition road conditions can be made urgently to be resolved.
Summary of the invention
In view of this, the embodiment of the present application is designed to provide a kind of automated driving system, method and device, it can
The real-time road that precognition autonomous driving vehicle can not monitor to adjust the traveling strategy of autonomous driving vehicle, and then guarantees certainly
The safety and flexibility of dynamic driving in the process of moving.
In a first aspect, the embodiment of the present application provides a kind of automated driving system, wherein include: Intelligent road sign and from
Dynamic driving；
The Intelligent road sign sends guideboard certification letter for the autonomous driving vehicle in the communication range to the Intelligent road sign
Real-time road condition information in breath and the communication range；
The autonomous driving vehicle, for receiving the guideboard authentication information and the real-time road condition information, based on described
Guideboard authentication information carries out authentication to the Intelligent road sign, and in the case where authentication passes through, based on described real-time
Traffic information and the vehicle driving map prestored, adjust the traveling strategy of autonomous driving vehicle.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, in which:
The Intelligent road sign is specifically used for after the Intelligent road sign authentication passes through, and sends to the autonomous driving vehicle
Real-time road condition information；
The autonomous driving vehicle is used in the case where authentication passes through, and receives the real-time road condition information.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein institute
It states based on the real-time road condition information and the vehicle driving map prestored, adjusts the traveling strategy of autonomous driving vehicle, comprising:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign；
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information
Update the vehicle driving map；
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment from
The traveling strategy of dynamic driving.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein institute
It states autonomous driving vehicle and determines current location with specific reference to following step:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the current of autonomous driving vehicle
Position.
Second aspect, the embodiment of the present application also provide a kind of automatic Pilot method, are applied to autonomous driving vehicle, comprising:
Receive the guideboard authentication information and the real-time road condition information；
Authentication is carried out to the Intelligent road sign based on the guideboard authentication information, and the case where authentication passes through
Under, based on the real-time road condition information and the vehicle driving map prestored, adjust the traveling strategy of autonomous driving vehicle；
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, the communication to the Intelligent road sign
Autonomous driving vehicle in range sends the real-time road condition information in guideboard authentication information and the communication range.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein institute
It states based on the real-time road condition information and the vehicle driving map prestored, the traveling strategy for adjusting autonomous driving vehicle includes:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign；
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information
Update the vehicle driving map；
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment from
The traveling strategy of dynamic driving.
In conjunction with second aspect, the embodiment of the present application provides second of possible embodiment of second aspect, wherein institute
The method of stating further includes the steps that the current location of determining autonomous driving vehicle:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the current of autonomous driving vehicle
Position.
The third aspect, the embodiment of the present application also provide a kind of automatic Pilot method, are applied to Intelligent road sign, wherein include:
Autonomous driving vehicle into the communication range of the Intelligent road sign sends guideboard authentication information and the communication range
Interior real-time road condition information；
Wherein, the guideboard authentication information carries out authentication to the Intelligent road sign for autonomous driving vehicle.
In conjunction with the third aspect, the embodiment of the present application provides the first possible embodiment of the third aspect, wherein
After the Intelligent road sign authentication passes through, real-time road condition information is sent to the autonomous driving vehicle.
Fourth aspect, the embodiment of the present application also provide a kind of servomechanism, are applied to autonomous driving vehicle, wherein wrapping
It includes:
Receiving module, for receiving the guideboard authentication information and the real-time road condition information；
Module is adjusted, for carrying out authentication to the Intelligent road sign based on the guideboard authentication information, and in identity
In the case that certification passes through, based on the real-time road condition information and the vehicle driving map prestored, autonomous driving vehicle is adjusted
Traveling strategy；
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, the communication to the Intelligent road sign
Autonomous driving vehicle in range sends the real-time road condition information in guideboard authentication information and the communication range.
5th aspect, the embodiment of the present application also provide a kind of electronic equipment, comprising: processor, memory and bus, it is described
Memory is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor with it is described
By bus communication between memory, the machine readable instructions executed when being executed by the processor it is above-mentioned in a first aspect, or
Step in first aspect in any possible embodiment.
6th aspect, the embodiment of the present application also provide a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, which executes above-mentioned in a first aspect, or in first aspect when being run by processor
Step in any possible embodiment.
A kind of automated driving system, method and device provided by the embodiments of the present application, are arrived using when autonomous driving vehicle
When in up to Intelligent road sign communication range, Intelligent road sign is to autonomous driving vehicle transmission guideboard authentication information and on intelligent road
Real-time road condition information in board communication range, the guideboard authentication information that autonomous driving vehicle is sent by Intelligent road sign is to intelligent road
Board carries out authentication, after autonomous driving vehicle passes through Intelligent road sign authentication, based on real-time road condition information and certainly
The vehicle driving map prestored in dynamic driving adjusts the mode of the traveling strategy of autonomous driving vehicle, and in the prior art
Due to the limitation of radar system or monitoring device in coverage, causes autonomous driving vehicle that can not run at high speed, hide
The flexibility of barrier is low, and when there is emergency, such as traffic accident, mud-rock flow, autonomous driving vehicle it is easy to appear
The case where dangerous driving, is compared, and the real-time road that autonomous driving vehicle can not monitor can be predicted, to adjust automatic Pilot
The traveling strategy of automobile, and then guarantee the safety and flexibility of autonomous driving vehicle in the process of moving.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram of automated driving system provided by the embodiment of the present application；
Fig. 2 shows a kind of flow charts of automatic Pilot method provided by the embodiment of the present application；
Fig. 3 is shown in a kind of automatic Pilot method provided by the embodiment of the present application, is based on the real-time road condition information
And the vehicle driving map prestored, adjust the flow chart of the tactful specific method of traveling of autonomous driving vehicle；
Fig. 4 shows a kind of structural schematic diagram of servomechanism provided by the embodiment of the present application；
Fig. 5 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
It illustrates:
101- Intelligent road sign, 102- autonomous driving vehicle, 401- receiving module, 402- adjustment module, 403- sending module,
1000- memory, 2000- processor, 33- bus.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
Currently, autonomous driving vehicle in driving procedure, passes through the radar system or prison installed on autonomous driving vehicle
Control device acquires the point cloud charts of road conditions as information, the report control platform of autonomous driving vehicle according to point cloud chart as information, to manipulate
Autonomous driving vehicle traveling.But exist only by the point cloud information of radar system or monitoring device acquisition road conditions certain
Limitation can not Accurate Prediction travel route for example, the limitation due to radar system or monitoring device in coverage
And traveling strategy, cause autonomous driving vehicle that can not run at high speed, the flexibility of avoiding barrier is low, and when the urgent shape of appearance
When condition, such as traffic accident, mud-rock flow, autonomous driving vehicle is easy to dangerous driving.It is provided by the present application a kind of automatic based on this
Control loop, method and device can predict the real-time road that autonomous driving vehicle can not monitor by Intelligent road sign, come
The traveling strategy of autonomous driving vehicle is adjusted, and then guarantees autonomous driving vehicle safety in the process of moving and flexibly
Property.
For convenient for understanding the present embodiment, first to a kind of automated driving system disclosed in the embodiment of the present application into
Row is discussed in detail, and which are mainly applied to autonomous driving vehicles.
It is shown in Figure 1, a kind of automated driving system provided by the embodiments of the present application, comprising: Intelligent road sign 101 and from
Dynamic driving 102；
The Intelligent road sign 101 is sent for the autonomous driving vehicle 102 into the communication range of the Intelligent road sign 101
Real-time road condition information in guideboard authentication information and the communication range.
When specific implementation, Intelligent road sign 101 refers to communicate with autonomous driving vehicle 102, and can be by
According to the guideboard of a certain distance range setting by the road, for example, each Intelligent road sign 101 can be set when setting
It is set to one Intelligent road sign of every 100 meters of settings, the distance between Intelligent road sign 101 is also possible to different.Each intelligent road
The all preset communication range of board 101 just can be received when autonomous driving vehicle 102 enters the communication range of Intelligent road sign 101
The information that Intelligent road sign 101 is sent.
Herein, when the distance between two Intelligent road signs 101 are not identical, then, the two Intelligent road signs 101 lead to
Letter range is also different, that is to say, that the communication range of two Intelligent road signs is wanted to cover between two Intelligent road signs
Distance.Herein it is worth noting that, can be in communication with each other between Intelligent road sign 101, so that autonomous driving vehicle is expert at
During sailing, the real-time road of distant location anticipated that.Information is sent to autonomous driving vehicle 102 in Intelligent road sign 101
When, it can be 102 active of autonomous driving vehicle and request real-time road condition information within the scope of pre-determined distance to Intelligent road sign 101,
It is also possible to 101 active of Intelligent road sign and sends real-time road condition information to autonomous driving vehicle 102, at this point, Intelligent road sign 101 is to certainly
The real-time road condition information that dynamic driving is sent can be the real-time road in communication range, be also possible to by other distant locations
The real-time road condition information of distant location that is sent to the Intelligent road sign of Intelligent road sign.
For example, having 50 Intelligent road signs, respectively A1, A2, A3 ... ..., A50, the position that autonomous driving vehicle is presently in
It sets in the communication range of Intelligent road sign A8, then, Intelligent road sign A8 can be by the real-time road in Intelligent road sign A8 communication range
Condition information is sent to autonomous driving vehicle, is also possible to autonomous driving vehicle and communicates to Intelligent road sign activly request Intelligent road sign A8
Real-time road in range, and road maintenance has occurred in the communication range of Intelligent road sign A12, cause vehicle impassable,
So Intelligent road sign A12 successively can be communicated Intelligent road sign A12 by Intelligent road sign A11, Intelligent road sign A10, Intelligent road sign A9
Real-time road in range is sent to Intelligent road sign A8, is sent to autonomous driving vehicle by Intelligent road sign A8.
The autonomous driving vehicle 102 is based on institute for receiving the guideboard authentication information and the real-time road condition information
It states guideboard authentication information and authentication is carried out to the Intelligent road sign 101, and in the case where authentication passes through, based on described
Real-time road condition information and the vehicle driving map prestored adjust the traveling strategy of autonomous driving vehicle 102.
When specific implementation, guideboard authentication information is to refer to make 102 identification intelligent guideboard body of autonomous driving vehicle
The true and false authentication information of part is ridden in order to prevent due to that may preserve the identity information of client by bus in autonomous driving vehicle
Client identity information is maliciously stolen, and therefore, autonomous driving vehicle 102 needs to carry out authentication to Intelligent road sign 101 in advance.
Autonomous driving vehicle is recognized in the guideboard that the real-time road condition information for receiving Intelligent road sign transmission can be reception Intelligent road sign 101 in advance
Demonstrate,prove information, autonomous driving vehicle 102 according to guideboard authentication information to 101 authentication of Intelligent road sign after, to Intelligent road sign 101
Authentication is sent by information, the authentication that Intelligent road sign 101 receives the transmission of autonomous driving vehicle 102 passes through information
Afterwards, real-time road condition information is sent to autonomous driving vehicle 102, is also possible to Intelligent road sign 101 to autonomous driving vehicle while sends out
Guideboard authentication information and real-time road condition information are sent, after autonomous driving vehicle 102 passes through the authentication of Intelligent road sign, then
The real-time road condition information sent using Intelligent road sign 101, if autonomous driving vehicle 102 to the authentication of Intelligent road sign not
Pass through, then the real-time road condition information sent Intelligent road sign 101 abandons.
It, can be by logical herein it is worth noting that, communication between autonomous driving vehicle 102 and Intelligent road sign 101
News agreement is communicated, such as: transmission control protocol (Transport Control Protocol/Internet
Protocol, TCP) etc. communication protocols, second generation mechanics of communication (2Generation, 2G) communication module, third also can be used
For in mechanics of communication (3Generation, 3G) communication module and the 4th 15 generation mechanics of communication (4Generation, 4G) extremely
It is a kind of less to be communicated.
Preserve vehicle driving map in autonomous driving vehicle 102, vehicle driving map be to the height of actual environment also
Former three-dimensional map, for example, building, road and the construction on road periphery etc., and vehicle driving map is static.
According to real-time road condition information and vehicle driving map that Intelligent road sign 101 is sent, the traveling strategy of autonomous driving vehicle is adjusted.
Specifically, the embodiment of the present application also provide it is a kind of based on the real-time road condition information and the vehicle driving prestored
Figure, adjusts the traveling strategy of autonomous driving vehicle, comprising:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign.
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information
Update the vehicle driving map.
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment from
The traveling strategy of dynamic driving.
When specific implementation, the traffic information that prestores in the communication range of Intelligent road sign 101 refers in vehicle driving
In map, road conditions in the communication range of Intelligent road sign 101, road conditions herein include the direction of road, the building around road
The traffic information of thick-and-thin building composition, the reality that Intelligent road sign 101 is sent to autonomous driving vehicle etc. around some roads
When traffic information include accurate station location marker, station location marker is for parsing in vehicle driving map real-time road condition information in vehicle
The position in map is travelled, road is prestored with acquisition communication range corresponding with the real-time road condition information that Intelligent road sign 101 is sent
Condition information, when the position for prestoring traffic information that the corresponding position of real-time road condition information that Intelligent road sign 101 is sent is obtained with parsing
When setting consistent, then the real-time road condition information that Intelligent road sign 101 is sent is matched with traffic information is prestored, then, then according to reality
When traffic information, by real-time road label on the vehicle driving map prestored, vehicle driving map is updated.According to more
Vehicle driving map after new, namely include real-time road condition information vehicle driving map and autonomous driving vehicle it is current
Position adjusts the traveling strategy of autonomous driving vehicle.
Herein, the embodiment of the present application also provides autonomous driving vehicles 102 to determine autonomous driving vehicle current location
Concrete mode, comprising:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the current of autonomous driving vehicle
Position.
When specific implementation, the point cloud data of 102 current location of autonomous driving vehicle is taken by radar, herein
Point cloud data is the three-dimensional traffic information of 102 current location surrounding road condition of autonomous driving vehicle, such as: building, around road
Environment etc., matched by the point cloud data of current location with vehicle driving map, by vehicle driving map with point
Current location of the highest position of cloud Data Matching degree as autonomous driving vehicle 102.
A kind of automated driving system, method and device provided by the embodiments of the present application, are arrived using when autonomous driving vehicle
When in up to Intelligent road sign communication range, Intelligent road sign is to autonomous driving vehicle transmission guideboard authentication information and on intelligent road
Real-time road condition information in board communication range, the guideboard authentication information that autonomous driving vehicle is sent by Intelligent road sign is to intelligent road
Board carries out authentication, after autonomous driving vehicle passes through Intelligent road sign authentication, based on real-time road condition information and certainly
The vehicle driving map prestored in dynamic driving adjusts the mode of the traveling strategy of autonomous driving vehicle, can predict automatic
Drive a car the real-time road that can not be monitored, and to adjust the traveling strategy of autonomous driving vehicle, and then guarantees automatic Pilot vapour
The safety and flexibility of vehicle in the process of moving.
After getting the current location information of autonomous driving vehicle, in conjunction with updated vehicle driving map, adjustment is automatic
The traveling strategy of driving, such as: travel route is planned again, adjusts travel speed of autonomous driving vehicle etc..
Based on the same inventive concept, automatic Pilot side corresponding with automated driving system is additionally provided in the embodiment of the present application
Method, since the principle that the method in the embodiment of the present application solves the problems, such as is similar to the above-mentioned automated driving system of the embodiment of the present application,
Because the implementation of the method may refer to the implementation of system, overlaps will not be repeated.
Shown in Figure 2, the another embodiment of the application also provides a kind of automatic Pilot method, is applied to automatic Pilot vapour
Vehicle characterized by comprising
S201: the guideboard authentication information and the real-time road condition information are received.
S202: authentication is carried out to the Intelligent road sign based on the guideboard authentication information, and is passed through in authentication
In the case where, based on the real-time road condition information and the vehicle driving map prestored, adjust the traveling plan of autonomous driving vehicle
Slightly.
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, the communication to the Intelligent road sign
Autonomous driving vehicle in range sends the real-time road condition information in guideboard authentication information and the communication range.
Specifically, shown in Figure 3, the embodiment of the present application especially by following step be based on the real-time road condition information with
And the vehicle driving map prestored, adjust the traveling strategy of autonomous driving vehicle:
S301: parsing the vehicle driving map, obtains prestoring traffic information in the communication range of the Intelligent road sign.
S302: the real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road
Vehicle driving map described in condition information update.
S303: according to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, tune
The traveling strategy of whole autonomous driving vehicle.
Automatic Pilot method provided by the embodiments of the present application further includes the steps that the current location of determining autonomous driving vehicle:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the current of autonomous driving vehicle
Position.
The another embodiment of the application also provides another automatic Pilot method, is applied to Intelligent road sign, which is characterized in that
Include:
Autonomous driving vehicle into the communication range of the Intelligent road sign sends guideboard authentication information and the communication range
Interior real-time road condition information；
Wherein, the guideboard authentication information carries out authentication to the Intelligent road sign for autonomous driving vehicle.
Automatic Pilot method provided by the embodiments of the present application further include:
After the Intelligent road sign authentication passes through, real-time road condition information is sent to the autonomous driving vehicle.
Based on the same inventive concept, automatic Pilot dress corresponding with automated driving system is additionally provided in the embodiment of the present application
It sets, since the principle that the device in the embodiment of the present application solves the problems, such as is similar to the above-mentioned automated driving system of the embodiment of the present application,
Therefore the implementation of device may refer to the implementation of system, and overlaps will not be repeated.
Shown in Figure 4, the another embodiment of the application also provides a kind of servomechanism, is applied to automatic Pilot vapour
Vehicle, comprising:
Receiving module 401, for receiving the guideboard authentication information and the real-time road condition information；
Module 402 is adjusted, for carrying out authentication to the Intelligent road sign based on the guideboard authentication information, and in body
In the case that part certification passes through, based on the real-time road condition information and the vehicle driving map prestored, automatic Pilot vapour is adjusted
The traveling strategy of vehicle；
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, the communication to the Intelligent road sign
Autonomous driving vehicle in range sends the real-time road condition information in guideboard authentication information and the communication range.
Optionally, the adjustment module 402 in servomechanism provided by the embodiments of the present application is specifically used for according to following
Step adjusts the traveling strategy of autonomous driving vehicle based on the real-time road condition information and the vehicle driving map prestored, packet
It includes:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign；
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information
Update the vehicle driving map；
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment from
The traveling strategy of dynamic driving.
Optionally, the adjustment module 402 in the servomechanism of offer provided by the embodiments of the present application is specifically also used to
Determine the current location of autonomous driving vehicle, comprising:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the current of autonomous driving vehicle
Position.
Shown in Figure 4, the another embodiment of the application also provides a kind of servomechanism, is applied to Intelligent road sign, packet
It includes:
Sending module 403 sends guideboard certification letter for the autonomous driving vehicle in the communication range to the Intelligent road sign
Real-time road condition information in breath and the communication range；
Wherein, the guideboard authentication information carries out authentication to the Intelligent road sign for autonomous driving vehicle.
Optionally, the sending module 403 in the servomechanism of offer provided by the embodiments of the present application is specifically used for
After the Intelligent road sign authentication passes through, real-time road condition information is sent to the autonomous driving vehicle.
Corresponding to the automatic Pilot method in above-described embodiment, the embodiment of the present application also provides a kind of electronic equipment, such as
Shown in Fig. 5, which includes memory 1000, processor 2000 and bus 33, and the memory 1000 is stored with the processing
The executable machine readable instructions of device 2000, when electronic equipment operation, the processor 2000 and the memory 1000 it
Between communicated by bus 33, the machine readable instructions execute above-mentioned automatic Pilot method when being executed by the processor 2000
Step.
Specifically, above-mentioned memory 1000 and processor 2000 can be general memory and processor, not do here
It is specific to limit, when the computer program of 2000 run memory 1000 of processor storage, it is able to carry out above-mentioned automatic Pilot side
Method causes automatic Pilot to solve the limitation due to radar system or monitoring device in coverage in the prior art
Automobile can not run at high speed, and the flexibility of avoiding barrier is low, and when there is emergency, such as traffic accident, mud-rock flow, from
The problem of driving a car the case where it is easy to appear dangerous drivings is moved, and then reaches what precognition autonomous driving vehicle can not monitor
Real-time road to adjust the traveling strategy of autonomous driving vehicle, and then guarantees the safety of autonomous driving vehicle in the process of moving
Property and the effect of flexibility.
Corresponding to the automatic Pilot method in above-described embodiment, computer-readable deposited the embodiment of the present application also provides a kind of
Storage media is stored with computer program on the computer readable storage medium, execution when which is run by processor
The step of above-mentioned automatic Pilot method.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, above-mentioned automatic Pilot method is able to carry out, to solve in the prior art due to radar system
Or limitation of the monitoring device in coverage, cause autonomous driving vehicle that can not run at high speed, avoiding barrier it is flexible
Property is low, and when there is emergency, such as traffic accident, mud-rock flow, it is easy to appear the feelings of dangerous driving for autonomous driving vehicle
The problem of condition, and then reach the real-time road that precognition autonomous driving vehicle can not monitor, to adjust the row of autonomous driving vehicle
It sails strategy, and then guarantees the effect of autonomous driving vehicle safety in the process of moving and flexibility.
The computer program product of automated driving system, method provided by the embodiment of the present application and device, including deposit
The computer readable storage medium of program code is stored up, the instruction that said program code includes can be used for executing previous methods implementation
Method described in example, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.In the application
In provided several embodiments, it should be understood that disclosed systems, devices and methods, it can be real by another way
It is existing.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic function
It can divide, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can collect
At another system is arrived, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling
Conjunction or direct-coupling or communication connection can be the indirect coupling or communication connection by some communication interfaces, device or unit,
It can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of automated driving system characterized by comprising Intelligent road sign and autonomous driving vehicle；
The Intelligent road sign, in autonomous driving vehicle from the communication range to the Intelligent road sign send guideboard authentication information and
Real-time road condition information in the communication range；
The autonomous driving vehicle is based on the guideboard for receiving the guideboard authentication information and the real-time road condition information
Authentication information carries out authentication to the Intelligent road sign, and in the case where authentication passes through, and is based on the real-time road
Information and the vehicle driving map prestored, adjust the traveling strategy of autonomous driving vehicle.
2. system according to claim 1, which is characterized in that the Intelligent road sign is specifically used in the Intelligent road sign identity
After certification passes through, real-time road condition information is sent to the autonomous driving vehicle；
The autonomous driving vehicle is used in the case where authentication passes through, and receives the real-time road condition information.
3. system according to claim 1, which is characterized in that described based on the real-time road condition information and the vehicle prestored
Traveling map, adjust the traveling strategy of autonomous driving vehicle, comprising:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign；
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information update
The vehicle driving map；
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment is driven automatically
Sail the traveling strategy of automobile.
4. system according to claim 1, which is characterized in that the autonomous driving vehicle is determined with specific reference to following step
The current location:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the present bit of autonomous driving vehicle
It sets.
5. a kind of automatic Pilot method is applied to autonomous driving vehicle characterized by comprising
Receive the guideboard authentication information and the real-time road condition information；
Authentication is carried out to the Intelligent road sign based on the guideboard authentication information, and in the case where authentication passes through,
Based on the real-time road condition information and the vehicle driving map prestored, the traveling strategy of autonomous driving vehicle is adjusted；
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, to the communication range of the Intelligent road sign
Interior autonomous driving vehicle sends the real-time road condition information in guideboard authentication information and the communication range.
6. according to the method described in claim 5, it is characterized in that, described based on the real-time road condition information and the vehicle prestored
Traveling map, the traveling strategy for adjusting autonomous driving vehicle includes:
The vehicle driving map is parsed, obtains prestoring traffic information in the communication range of the Intelligent road sign；
The real-time road condition information and it is described prestore the matched situation of traffic information under, according to the real-time road condition information update
The vehicle driving map；
According to the current location of autonomous driving vehicle, including the vehicle driving map of the real-time road condition information, adjustment is driven automatically
Sail the traveling strategy of automobile.
7. according to right want 5 described in method, which is characterized in that the method also includes determine autonomous driving vehicle present bit
The step of setting:
The point cloud data obtained using radar, determines the cartographic information of autonomous driving vehicle current location；
The determining cartographic information is matched with the vehicle driving map, determines the present bit of autonomous driving vehicle
It sets.
8. a kind of automatic Pilot method is applied to Intelligent road sign characterized by comprising
Autonomous driving vehicle into the communication range of the Intelligent road sign is sent in guideboard authentication information and the communication range
Real-time road condition information；
Wherein, the guideboard authentication information carries out authentication to the Intelligent road sign for autonomous driving vehicle.
9. according to the method described in claim 8, it is characterized in that, the method also includes:
After the Intelligent road sign authentication passes through, real-time road condition information is sent to the autonomous driving vehicle.
10. a kind of servomechanism is applied to autonomous driving vehicle characterized by comprising
Receiving module, for receiving the guideboard authentication information and the real-time road condition information；
Module is adjusted, for carrying out authentication to the Intelligent road sign based on the guideboard authentication information, and in authentication
In the case where, based on the real-time road condition information and the vehicle driving map prestored, the row of autonomous driving vehicle is adjusted
Sail strategy；
Wherein, the guideboard authentication information and the real-time road condition information are Intelligent road sign, to the communication range of the Intelligent road sign
Interior autonomous driving vehicle sends the real-time road condition information in guideboard authentication information and the communication range.
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| CN201811456334.4A CN109341713A (en) | 2018-11-30 | 2018-11-30 | A kind of automated driving system, method and device |
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| CN201811456334.4A CN109341713A (en) | 2018-11-30 | 2018-11-30 | A kind of automated driving system, method and device |
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Application publication date: 20190215 |