CN109358629A - Automatic Pilot roading method - Google Patents
Automatic Pilot roading method Download PDFInfo
- Publication number
- CN109358629A CN109358629A CN201811359384.0A CN201811359384A CN109358629A CN 109358629 A CN109358629 A CN 109358629A CN 201811359384 A CN201811359384 A CN 201811359384A CN 109358629 A CN109358629 A CN 109358629A
- Authority
- CN
- China
- Prior art keywords
- roading
- automatic pilot
- lane
- cut
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 4
Classifications
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention discloses automatic Pilot roading method, comprising: step 1, presets multiple sensors；Step 2, traveling object is travelled according to default programme path, step 3, barrier obstruction is collected in the case where travelling on the road in object driving direction in multiple sensors, pass through following two ways carry out roading: by change lane can cut-through object in the case where, control traveling object changes lane, and continues to travel according to default programme path；By change lane also can not cut-through object in the case where, control centre issue instruction control traveling object according to the route running planned again.The automatic Pilot roading method overcomes encounter barrier in the prior art after do not know the problem of how handling, navigation can voluntarily be switched after encountering barrier by realizing.
Description
Technical field
The present invention relates to automatic Pilot fields, and in particular, to automatic Pilot roading method.
Background technique
Navigation is a certain equipment of guidance, from the method for a little moving to another point of advertised route.Navigation is divided to two classes: autonomous
Formula navigation: it is navigated with the equipment on aircraft or ship, there is inertial navigation, Doppler navigation and celestial navigation etc.；Non-autonomous formula
Navigation: navigation is matched with related ground or aerial device for transit equipments such as aircraft, ship, automobiles, there is radio
Navigation, satellite navigation.
At this stage for automatic Pilot field, the planning of road how is carried out, such as where after encountering barrier
Reason is always a problem.
Summary of the invention
The object of the present invention is to provide a kind of automatic Pilot roading method, which overcomes
The problem of how handling is not known after encountering barrier in the prior art, is realized voluntarily switch after encountering barrier and is led
Boat.
To achieve the goals above, the present invention provides a kind of automatic Pilot roading method, automatic Pilot road rule
Draw method include:
Step 1, multiple sensors are preset；
Step 2, traveling object is travelled according to default programme path,
Step 3, situation of the barrier obstruction on the road in traveling object driving direction is collected in multiple sensors
Under, roading is carried out by following two ways:
By change lane can cut-through object in the case where, control traveling object change lane, and continue according to
Default programme path traveling；
By change lane also can not cut-through object in the case where, control centre issue instruction control traveling object according to
Again the route running planned.
Preferably, in step 3, judge whether that the method that can be capable of cut-through object by changing lane includes:
By sensor and image capture module, judge whether there is barrier on the lane changed in advance, and judges to travel object
Whether can be by the lane that changes in advance.
Preferably, and judge travel object whether can include: by the lane changed in advance
Judge whether lane change meets traffic rules and judge that can the wide section in the lane changed in advance accommodate traveling object.
Preferably, in step 1, preset multiple sensors include: multiple range sensors and multiple barriers sensing
Device.
Preferably, automatic Pilot roading method further include: be sent to image capture module acquired image
Control centre.
Preferably, image capture module acquired image is sent to control centre by wifi module.
It preferably, include wireless transfer channel in the wifi module, to carry out multichannel parallel transmission.
Through the above technical solutions, the roading of automatic Pilot may be implemented, for the automatic driving vehicle on road
Programme path again can be automatically selected after encountering barrier or by changing Lane avoiding obstacles, such side
The running efficiency of traveling object can be improved in formula, when barrier can be evaded, without programme path again, it is ensured that
Traveling object is travelled with best efficiency speed.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the automatic Pilot roading method of preferred embodiment of the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
The present invention provides a kind of automatic Pilot roading method, which includes:
Step 1, multiple sensors are preset；
Step 2, traveling object is travelled according to default programme path,
Step 3, situation of the barrier obstruction on the road in traveling object driving direction is collected in multiple sensors
Under, roading is carried out by following two ways:
By change lane can cut-through object in the case where, control traveling object change lane, and continue according to
Default programme path traveling；
By change lane also can not cut-through object in the case where, control centre issue instruction control traveling object according to
Again the route running planned.
Through the above technical solutions, the roading of automatic Pilot may be implemented, for the automatic driving vehicle on road
Programme path again can be automatically selected after encountering barrier or by changing Lane avoiding obstacles, such side
The running efficiency of traveling object can be improved in formula, when barrier can be evaded, without programme path again, it is ensured that
Traveling object is travelled with best efficiency speed.Utilize the two schemes of design, it can be ensured that cut-through object, and can be with
Ensure to be travelled in an optimal manner.
In the preferred embodiment of the present invention, in step 3, judge whether can by change lane can
The method of cut-through object includes:
By sensor and image capture module, judge whether there is barrier on the lane changed in advance, and judges to travel object
Whether can be by the lane that changes in advance.
By above-mentioned mode, reason sensor can measure the distance apart from barrier, and can measure distance two
The distance on side line road judges within limited distance, can cut-through object at such speeds, in addition, for remaining vehicle
Or barrier for can or can not have an impact, be all to be measured by sensor, image capture module can be for next
Step processing, and the size of image capture module disturbance of analysis object and the type of barrier can be passed through.
In a kind of specific embodiment of the invention, and judge to travel whether object can be wrapped by the lane changed in advance
It includes:
Judge whether lane change meets traffic rules and judge that can the wide section in the lane changed in advance accommodate traveling object.
Whether may determine that by above-mentioned mode can be by changing lane in advance
In a kind of specific embodiment of the invention, in step 1, preset multiple sensors include: multiple distances
Sensor and multiple obstacle sensors.
In this embodiment, it in order to realize the feedback of image, is collected convenient for control centre, automatic Pilot road rule
The method of drawing further include: image capture module acquired image is sent to control centre.
In this embodiment, image capture module acquired image is sent in control by wifi module
The heart.
By above-mentioned mode, the transmission of data may be implemented, passed again after in addition being encrypted data
It is defeated, it is ensured that the safety of data and effectively.
In this embodiment, include wireless transfer channel in the wifi module, passed in parallel with carrying out multichannel
It is defeated.
Pass through above-mentioned mode, it can be ensured that the channel transmission of data will not influence the timeliness of data.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (7)
1. a kind of automatic Pilot roading method, which is characterized in that the automatic Pilot roading method includes:
Step 1, multiple sensors are preset；
Step 2, traveling object is travelled according to default programme path,
Step 3, barrier obstruction is collected in the case where travelling on the road in object driving direction in multiple sensors, lead to
It crosses following two ways and carries out roading:
By change lane can cut-through object in the case where, control traveling object changes lane, and continues according to default
Programme path traveling；
By change lane also can not cut-through object in the case where, control centre issue instruction control traveling object according to again
The route running of planning.
2. automatic Pilot roading method according to claim 1, which is characterized in that in step 3, judge whether energy
Enough include: by the method that cut-through object is capable of in change lane
By sensor and image capture module, judge whether there is barrier on the lane changed in advance, and judge whether travel object
It can be by the lane that changes in advance.
3. automatic Pilot roading method according to claim 2, which is characterized in that and judge that travelling object whether can
Include: by the lane changed in advance
Judge whether lane change meets traffic rules and judge that can the wide section in the lane changed in advance accommodate traveling object.
4. automatic Pilot roading method according to claim 1, which is characterized in that in step 1, preset multiple
Sensor includes: multiple range sensors and multiple obstacle sensors.
5. automatic Pilot roading method according to claim 2, which is characterized in that the automatic Pilot roading side
Method further include: image capture module acquired image is sent to control centre.
6. automatic Pilot roading method according to claim 5, which is characterized in that acquired image capture module
Image control centre is sent to by wifi module.
7. automatic Pilot roading method according to claim 6, which is characterized in that include in the wifi module
Wireless transfer channel, to carry out multichannel parallel transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359384.0A CN109358629A (en) | 2018-11-15 | 2018-11-15 | Automatic Pilot roading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359384.0A CN109358629A (en) | 2018-11-15 | 2018-11-15 | Automatic Pilot roading method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109358629A true CN109358629A (en) | 2019-02-19 |
Family
ID=65345195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811359384.0A Withdrawn CN109358629A (en) | 2018-11-15 | 2018-11-15 | Automatic Pilot roading method |
Country Status (1)
| Country | Link |
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| CN (1) | CN109358629A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109631929A (en) * | 2019-02-20 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Heavy air navigation aid, device and storage medium based on blacklist |
| CN111554093A (en) * | 2020-05-15 | 2020-08-18 | 无锡北斗星通信息科技有限公司 | Real-time analysis system and method for traffic reference data |
| CN112130548A (en) * | 2019-06-05 | 2020-12-25 | 奥迪股份公司 | Obstacle coping system and method for automatic driving vehicle |
| CN112180912A (en) * | 2019-07-01 | 2021-01-05 | 百度（美国）有限责任公司 | Hierarchical path decision system for planning a path for an autonomous vehicle |
-
2018
- 2018-11-15 CN CN201811359384.0A patent/CN109358629A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109631929A (en) * | 2019-02-20 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Heavy air navigation aid, device and storage medium based on blacklist |
| US11687080B2 (en) | 2019-02-20 | 2023-06-27 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Blacklist-based re-navigation method and apparatus, and storage medium |
| CN112130548A (en) * | 2019-06-05 | 2020-12-25 | 奥迪股份公司 | Obstacle coping system and method for automatic driving vehicle |
| CN112180912A (en) * | 2019-07-01 | 2021-01-05 | 百度（美国）有限责任公司 | Hierarchical path decision system for planning a path for an autonomous vehicle |
| CN111554093A (en) * | 2020-05-15 | 2020-08-18 | 无锡北斗星通信息科技有限公司 | Real-time analysis system and method for traffic reference data |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190219 |
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