CN109466563A - The control method and device of automatic driving vehicle - Google Patents
The control method and device of automatic driving vehicle Download PDFInfo
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- CN109466563A CN109466563A CN201811479962.4A CN201811479962A CN109466563A CN 109466563 A CN109466563 A CN 109466563A CN 201811479962 A CN201811479962 A CN 201811479962A CN 109466563 A CN109466563 A CN 109466563A
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- automatic driving
- driving vehicle
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- parking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The embodiment of the invention provides a kind of control method and device of automatic driving vehicle, belong to automatic driving vehicle technical field, this method by obtaining the driving parameters and obstacle information of automatic driving vehicle in the process of moving in real time, and obstacle information is shown by way of animation around the auto model at traveling interface, to carry out warning alert when determining that automatic driving vehicle is in dangerous driving state according to driving parameters and obstacle information.The control method and device of automatic driving vehicle provided in an embodiment of the present invention, the obstacle information around auto model is shown by way of animation, so that user intuitively knows the current traffic information of automatic driving vehicle, and when judging that automatic driving vehicle is in dangerous driving state, warning alert is carried out in time, it allows the user to handle in time, avoids the person and property loss, realize human-computer interaction.
Description
Technical field
The present invention relates to autonomous driving vehicle technical field more particularly to the control methods and dress of a kind of automatic driving vehicle
It sets.
Background technique
Autonomous driving vehicle is also known as pilotless automobile, by artificial intelligence, vision calculating, radar, monitoring device and complete
The cooperative cooperatings such as ball positioning system can operate motor vehicles to automatic safe in the case where nobody is the operation of active.
But existing autonomous driving vehicle is a kind of completely automatic drive manner, when there is emergency case, Yi Jilu
When condition information is indefinite, it is easy to happen traffic accident, and personal property is damaged.
Summary of the invention
The embodiment of the present invention provides a kind of control method and device of automatic driving vehicle, can be realized human-computer interaction, from
And when there is emergency case and traffic information is indefinite, warning alert is issued, in time for the row of user's control motor vehicles
Sail information.
In a first aspect, the embodiment of the invention provides a kind of control methods of automatic driving vehicle, comprising:
Automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time；
Auto model surrounding at traveling interface shows the obstacle information by way of animation；
Determine that the automatic driving vehicle is in dangerous driving according to the driving parameters information and the obstacle information
When state, warning alert is carried out.
Optionally, determine that the automatic driving vehicle is in danger according to the driving parameters information and the obstacle information
When dangerous driving condition, carrying out warning alert includes:
According to the driving parameters and the obstacle information, the phase between the automatic driving vehicle and barrier is determined
It adjusts the distance；
When the relative distance is less than default risk distance, judge that the automatic driving vehicle is in dangerous driving shape
State carries out warning alert.
Optionally, the driving parameters information include battery capacity, oil mass, speed, driving direction, road signs information,
At least one of the current position in the driving path of planning of automatic driving vehicle；
The obstacle information includes pedestrian information in pre-determined distance, information of vehicles, building information, traffic sign letter
At least one of breath.
Optionally, obtain in real time automatic driving vehicle driving parameters information in the process of moving and obstacle information it
Before, further includes:
Destination selection interface is provided；The destination selection interface shows purposefully input area, driving parameters letter
Breath, current time of day；
Obtain the destination information of user's input；
When obtaining destination confirmation instruction, travel route is planned according to the destination information, and shown；
It obtains the planning travel route of user's selection and controls the planning traveling that the automatic driving vehicle is selected in user
It is travelled on route.
Optionally, the method also includes:
When being less than or equal to the first pre-determined distance between the current location and destination of the automatic driving vehicle, determine
Up to destination and show interface of parking；The showing interface distance purposefully of parking, obstacle information, parking mark, when
Between date, the map in preset range, destination input area.
Optionally, the first pre-determined distance is less than or equal between the current location and destination of the automatic driving vehicle
When, after judgement arrives at the destination and shows and park interface, further includes:
After obtaining user and inputting instruction of parking, the parking position information in the preset range of current location is obtained, and open up
Show parking position interface, for selection by the user；The parking position showing interface has parking position information, driving parameters information, parking position
Selection region, current time of day.
Optionally, after obtaining user and inputting instruction of parking, the parking position letter in the preset range of current location is obtained
Breath, and after showing parking position interface, further includes:
The parking position of user's selection is obtained, and controls the parking position that the automatic driving vehicle drives into user's selection.
Optionally, during the automatic driving vehicle drives into the parking position of user's selection, pass through animation
Mode shows that the automatic driving vehicle drives into the parking position of user's selection.
Optionally, the method also includes:
The obstacle information around the current parking position of the automatic driving vehicle in preset range is obtained, and shows and parks
Interface, the showing interface of parking have parking route planning region, driving parameters information, current time of day；
The pool for obtaining user's input goes out vehicle instruction；
The parking position is moored out according to the vehicle instruction control automatic driving vehicle of mooring out.
Second aspect, the embodiment of the invention provides a kind of control devices of automatic driving vehicle, comprising:
Data obtaining module, for obtaining automatic driving vehicle driving parameters information in the process of moving and obstacle in real time
Object information；
Information display module shows the barrier for the auto model surrounding at traveling interface by way of animation
Information；
Warning alert module, for determining the automatic Pilot according to the driving parameters information and the obstacle information
When vehicle is in dangerous driving state, warning alert is carried out.
The control method and device of automatic driving vehicle provided in an embodiment of the present invention, by obtaining automatic Pilot vehicle in real time
Driving parameters and obstacle information in the process of moving, and obstacle information is led to around the auto model at traveling interface
The form for crossing animation is shown, to determine that automatic driving vehicle is in dangerous driving according to driving parameters and obstacle information
When state, warning alert is carried out, emergency situations can not be coped with so as to solve automatic driving vehicle in the prior art, and to people
The technical issues of body and property cause damages, the embodiment of the present invention show the barrier around auto model by way of animation
Information so that user intuitively knows the current traffic information of automatic driving vehicle, and is judging that automatic driving vehicle is in
When dangerous driving state, warning alert is carried out in time, allows the user to handle in time, avoids the person and property loss, is realized
Human-computer interaction.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method for automatic driving vehicle that the embodiment of the present invention one provides；
Fig. 2 is the schematic diagram that the present invention is a kind of automatic driving vehicle traveling interface that embodiment provides；
Fig. 3 is the schematic diagram of the startup interface for the automatic driving vehicle control method that the embodiment of the present invention passes through；
Fig. 4 is a kind of flow chart of the control method of automatic driving vehicle provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of flow chart of the control method for autonomous driving vehicle that the embodiment of the present invention three provides；
Fig. 6 is a kind of signal of the destination selection interface of automatic driving vehicle control method provided in an embodiment of the present invention
Figure；
Fig. 7 is a kind of flow chart of the control method for automatic driving vehicle that the embodiment of the present invention four provides；
Fig. 8 is a kind of schematic diagram at the interface of parking of automatic driving vehicle control method provided in an embodiment of the present invention；
Fig. 9 is a kind of schematic diagram at the parking position interface of automatic driving vehicle control method provided in an embodiment of the present invention；
Figure 10 is a kind of schematic diagram at the interface of parking of automatic driving vehicle control method provided in an embodiment of the present invention；
Figure 11 is the schematic diagram of a kind of automatic driving vehicle control method provided in an embodiment of the present invention vertically parked；
Figure 12 is the schematic diagram that a kind of level of automatic driving vehicle control method provided in an embodiment of the present invention is parked；
Figure 13 is a kind of flow chart of the control method for automatic driving vehicle that the embodiment of the present invention five provides；
Figure 14 is a kind of schematic diagram of the control device for automatic driving vehicle that the embodiment of the present invention six provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
The control method for present embodiments providing a kind of automatic driving vehicle is applicable to traveling to automatic driving vehicle
It is controlled, this method is executed using the control device of automatic driving vehicle provided in an embodiment of the present invention, which can be by
Software and/or hardware composition, can be integrated in display terminal.Wherein, automatic driving vehicle for example can for pilotless automobile or
Wheeled mobile robot etc..Fig. 1 is a kind of flow chart of the control method for automatic driving vehicle that the embodiment of the present invention one provides.
As the control method of Fig. 1, automatic driving vehicle provided in this embodiment include:
S110, automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time.
Specifically, automatic driving vehicle be one kind can automatic Pilot, without driver operation can automatic Pilot vehicle
?.But various traffic informations can be encountered in automatic driving vehicle driving process, so that automatic driving vehicle is difficult to various
Traffic information realizes the voluntarily control of safety.The present embodiment by that can obtain in automatic driving vehicle driving process in real time
Take the obstacle information around the driving parameters and automatic driving vehicle of automatic driving vehicle in certain distance.Wherein, the traveling
Parameter for example can currently planned for battery capacity, oil mass, speed, driving direction, road signs information, automatic driving vehicle
Driving path in position etc. at least one.The obstacle information can be for example the pedestrian information in pre-determined distance, vehicle
At least one of information, building information, road signs information etc..
Illustratively, to travel vehicle and pedestrian according to certain rules, corresponding traffic sign can be set on road,
The traffic sign can be for example traffic lights, traffic signboard etc..When automatic driving vehicle on road when driving, can be real
When obtain the current position of automatic driving vehicle, travel speed, remaining cruise duration etc., certain distance model on current driving road
Stationary object within the scope of certain distance on the position of pedestrian and vehicle in enclosing, change in displacement rate and current driving road
Information, such as roadside guardrail, building, traffic marking board and the situation of change of traffic lights etc..
S120, the auto model surrounding at traveling interface show the obstacle information by way of animation.
Specifically, the traffic information moment variation of autonomous driving vehicle in the process of moving, the barrier encountered include
Moving object and stationary object change with the traveling of autonomous driving vehicle.For convenient for user's timely learning current line
The obstacle information on road is sailed, it can be after obtaining the obstacle information in preset range, by what is actually encountered on travel
Obstacle information is modeled as animation, i.e., shows the information of acquired barrier using display frame by frame and continuously broadcasting form and exist
Around auto model.
Illustratively, Fig. 2 is the schematic diagram that the present invention is a kind of automatic driving vehicle traveling interface that embodiment provides.Such as
Fig. 2 is provided with the sensing devices such as sensor, radar, camera on automatic driving vehicle.Pass through the inductor of automatic driving vehicle
Part can obtain the obstacle information on the automatic driving vehicle travel in real time.Acquired obstacle information is with vehicle
Traveling and change, picture one by one is generated by the obstacle information that will change, and around automatic driving vehicle
It is continuously played, is shown on the traveling interface of automatic driving vehicle, so that user can intuitively know automatic Pilot vehicle
Obstacle information in driving process.
S130, determine that the automatic driving vehicle is in danger according to the driving parameters information and the obstacle information
When driving condition, warning alert is carried out.
Specifically, may meet in automatic driving vehicle driving process in estimated automatic driving vehicle and barrier
When situation, which is likely to be at dangerous driving state.Pass through the driving parameters information and barrier of automatic driving vehicle
Hinder the information of object, can judge whether current automatic driving vehicle is in dangerous driving state, at the automatic driving vehicle
When dangerous driving state, warning alert is issued in time.The warning alert for example can be dangerous on sound prompting, traveling interface
Drive at least one of mark prompting etc..
Illustratively, front is encountered in automatic driving vehicle driving process and is provided with traffic lights, and is driven automatically
Vehicle is sailed by the position of acquisition current position and traffic lights, calculates the position of current position and traffic lights
When in pre-determined distance, automatic driving vehicle is calculated according to current position, the position of traffic lights and current speed
The estimated required time for reaching traffic lights out, then the running time currently shown by traffic lights or waiting time, sentence
Break and whether current speed can break rules and regulations to pass through.When the current vehicle speed of automatic driving vehicle is expected to violating the regulations pass through, judge
Current automatic driving vehicle is in dangerous driving state, shows dangerous warning, on traveling interface in time with warning alert user
It is currently dangerous driving state.
The present embodiment shows the obstacle information around auto model by way of animation, so that user is intuitively known
The current traffic information of automatic driving vehicle, and when judging that automatic driving vehicle is in dangerous driving state, it carries out in time
Warning alert allows the user to handle in time, avoids the person and property loss, realizes human-computer interaction.
Optionally, Fig. 3 is the schematic diagram of the startup interface for the automatic driving vehicle control method that the embodiment of the present invention passes through.
As Fig. 3 can show startup interface, show welcome signs before automatic driving vehicle traveling by the open command of acquisition user
Etc. information.
Embodiment two
The present embodiment is optimized on the basis of the above embodiments, provides the basis preferably in above-described embodiment
On the method for determining that automatic driving vehicle is in dangerous driving state according to driving parameters information and obstacle information is carried out
Embody, specifically: according to the driving parameters and the obstacle information, determine the automatic driving vehicle and barrier it
Between relative distance；When the relative distance is less than default risk distance, judge that the automatic driving vehicle is driven in danger
State is sailed, warning alert is carried out.Fig. 4 is a kind of process of the control method of automatic driving vehicle provided by Embodiment 2 of the present invention
Figure.As the method for Fig. 4, the present embodiment include:
S210, automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time；
S220, the auto model surrounding at traveling interface show the obstacle information by way of animation；
S230, according to the driving parameters and the obstacle information, determine the automatic driving vehicle and barrier it
Between relative distance.
Specifically, automatic driving vehicle obtains driving parameters and obstacle information in real time in the process of moving, and by the barrier
Object information is hindered to be shown by way of animation around the auto model at traveling interface.To ensure that automatic driving vehicle is expert at
In safety traffic state during sailing, can be determined automatic by the driving parameters and obstacle information of automatic driving vehicle
Whether the relative distance driven between vehicle and obstacle information is safe distance.
Illustratively, in automatic driving vehicle driving process, equally pedestrian and vehicle driving on the road can be encountered.It is logical
The position for obtaining the current position of automatic driving vehicle and pre-determined distance one skilled in the art and/or vehicle is crossed, automatic Pilot vehicle is calculated
With the distance between pedestrian and/or vehicle, then by obtaining automatic driving vehicle current vehicle speed and preset time one skilled in the art
And/or the change in displacement rate of vehicle, obtain the relative distance between automatic driving vehicle and pedestrian and/or vehicle.
S240, when the relative distance is less than default risk distance, judge that the automatic driving vehicle is driven in danger
State is sailed, warning alert is carried out.
Specifically, by the relative distance and being preset after determining the relative distance between automatic driving vehicle and barrier
Risk distance is compared.When the relative distance between automatic driving vehicle and barrier is less than preset risk distance, sentence
Disconnected automatic driving vehicle out is in dangerous driving state, issues warning alert in time, so that user is to automatic driving vehicle reality
Corresponding control is applied, avoids the loss of the person and property in time.Due to the pedestrian on the road that automatic driving vehicle travels and its
The uncertainty of the traveling change in displacement rate of its vehicle, even if the relative distance between automatic driving vehicle and barrier is not less than
Preset risk distance, can not directly judge automatic driving vehicle be safety traffic state, by traveling interface on
The form of animation shows the obstacle information around automatic driving vehicle model, so that user intuitively judges current driving shape
Whether state is dangerous driving state, when user judges that current driving condition is dangerous driving state, can be controlled in time
Automatic driving vehicle time update driving parameters.
The present embodiment passes through the driving parameters and obstacle information of automatic driving vehicle, determines automatic driving vehicle and obstacle
Relative distance between object, and when the relative distance is less than default risk distance, judge that automatic driving vehicle processing is dangerous
Driving condition, while warning alert is carried out, so as to notify related personnel to handle in time, avoid the damage of personal property
Evil realizes the interaction between automatic driving vehicle and user.
Embodiment three
The present embodiment is optimized on the basis of the above embodiments, provides the basis preferably in above-described embodiment
On increase destination input and route planning specific method, specifically: provide destination selection interface；The destination choosing
Select showing interface purposefully input area, driving parameters information, current time of day；Obtain the destination letter of user's input
Breath；When obtaining destination confirmation instruction, travel route is planned according to the destination information, and shown；Obtain user's choosing
The planning travel route selected simultaneously controls the automatic driving vehicle and travels on the planning travel route that user selects.Fig. 5 is this
A kind of flow chart of the control method for autonomous driving vehicle that inventive embodiments three provide.Such as Fig. 5, method provided in this embodiment
Include:
S310, destination selection interface is provided；The destination selection interface shows purposefully input area, traveling ginseng
Number information, current time of day；
Specifically, Fig. 6 is a kind of destination selection circle of automatic driving vehicle control method provided in an embodiment of the present invention
The schematic diagram in face.As Fig. 6 needs to know the destination of its traveling before automatic driving vehicle sets out.By providing destination choosing
Select interface, and show in the interface Xuan Ze of the destination destination input area, automatic driving vehicle current driving parameter,
Current time of day and the cartographic information of preset range etc..
S320, the destination information for obtaining user's input；
Specifically, user can input corresponding destination in destination input area after showing destination selection interface,
The input mode of the destination can be on voice input mode, pinyin input mode, imputting Chinese characters or direct map
Select position etc..
When S330, the confirmation instruction of acquisition destination, travel route is planned according to the destination information, and shown；
Specifically, corresponding destination is shown after getting the destination information of user's input, so that user's confirmation is
No is correct destination.When user confirms that destination is correct, corresponding destination confirmation instruction can be inputted.Getting use
After the destination confirmation instruction of family input, according to the current location information of the destination information and automatic driving vehicle, phase is planned
The travel route answered.The travel route wherein planned can be shown, and mark out each rule to be multiple in a recommended manner
The advantage of travel route is drawn, such as can be most timesaving travel route, preferable apart from shortest travel route, traffic information
Travel route etc., for selection by the user.
S340, the planning travel route for obtaining user's selection simultaneously control the planning that the automatic driving vehicle is selected in user
It is travelled on travel route.
Specifically, user can travel road according to the planning of the information selection predicted travel of shown planning travel route
Line.After the planning travel route for getting user's selection, control automatic driving vehicle travels road in the selected planning of user
It is travelled on line.Such as shortest travel route the time required to being selected according to their needs for user, then it can obtain user's choosing
The shortest travel routes information of the required time selected, and automatic driving vehicle is controlled the time required to this on shortest travel route
Traveling.
S350, automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time.
S360, the auto model surrounding at traveling interface show the obstacle information by way of animation.
S370, determine that the automatic driving vehicle is in danger according to the driving parameters information and the obstacle information
When driving condition, warning alert is carried out.
The present embodiment is by providing destination selection interface, for user's input, and confirms in the destination for obtaining user
When instruction, the travel route of planning is shown, for selection by the user, after the planning travel route for obtaining user's selection, control is certainly
The dynamic vehicle that drives travels on the planning travel route that user selects, so as to input destination and selection traveling road for user
Line provides convenience, realizes the human-computer interaction of automatic driving vehicle and user.
Example IV
The present embodiment is optimized on the basis of the above embodiments, provides preferably, in the base of above-described embodiment
The method parked is provided on plinth, specifically: it is less than or equal between the current location and destination of the automatic driving vehicle
When the first pre-determined distance, judgement arrives at the destination and shows interface of parking；The showing interface of parking has parking route planning region
Domain, driving parameters information, current time of day.Fig. 7 is a kind of control for automatic driving vehicle that the embodiment of the present invention four provides
The flow chart of method.Such as Fig. 7, method provided in this embodiment includes:
S410, automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time.
S420, the auto model surrounding at traveling interface show the obstacle information by way of animation.
S430, determine that the automatic driving vehicle is in danger according to the driving parameters information and the obstacle information
When driving condition, warning alert is carried out.
S440, between the current location and destination of the automatic driving vehicle be less than or equal to the first pre-determined distance when,
Judgement arrives at the destination and shows interface of parking；Showing interface purposefully distance, obstacle information, the stop sign of parking
Knowledge, Time of Day, the map in preset range, destination input area.
Specifically, Fig. 8 is a kind of showing for the interface of parking of automatic driving vehicle control method provided in an embodiment of the present invention
It is intended to.Such as Fig. 8, automatic driving vehicle in the process of moving, obtain the current driving parameters of automatic driving vehicle in real time, according to
The driving parameters can judge the distance between automatic driving vehicle current location and destination, and the distance is pre- with first
If distance is compared, when the distance is less than the first pre-determined distance, judge that automatic driving vehicle arrives at the destination, display is parked
Whether interface parks for selection by the user, or continues to travel.The distance of shown interface destination of parking, obstacle information,
Stop mark, Time of Day, the map in preset range, destination input area etc..
S450, it parks after instruction obtaining user's input, obtains the parking position information in the preset range of current location,
And show parking position interface, for selection by the user；The parking position showing interface has parking position information, driving parameters information, pool
Parking stall selection region, current time of day.
Specifically, user can choose whether to park according to the information for interface display of parking.Fig. 9 is that the embodiment of the present invention provides
A kind of automatic driving vehicle control method parking position interface schematic diagram.Such as Fig. 9, in the finger of parking for getting user's input
After order, the parking position information in the preset range of current location is obtained, such as what can be stopped park as position, and the pool that can be stopped
Parking stall and the relative position of automatic driving vehicle etc., and it is shown in parking position interface.Wherein, also parking can show for interface
Parking position information, driving parameters information, parking position selection region, current time of day.User can be according to parking position interface institute
The information of displaying selects corresponding parking position.
S460, the parking position for obtaining user's selection, and control the pool that the automatic driving vehicle drives into user's selection
Parking stall.
Specifically, user selects phase according to the parking position information currently shown after parking position showing interface parking position information
The parking position answered.After the parking position for getting user's selection, control automatic driving vehicle drives into the parking position of user's selection.?
During parking, automatic driving vehicle can voluntarily park, it can also be parked by user's control.
Illustratively, Figure 10 is a kind of interface of parking of automatic driving vehicle control method provided in an embodiment of the present invention
Schematic diagram.Such as Figure 10, before automatic driving vehicle is parked, the selection moored into and moored out by interface display of parking is identified, for
User further confirms which kind of driving status current automatic driving vehicle will enter.When the park a vehicle for getting user's selection
Instruction when, mode selection interface of parking is provided, by automatic driving vehicle moor the selected parking position of access customer.Figure 11 is this
The schematic diagram of a kind of automatic driving vehicle control method that inventive embodiments provide vertically parked.Such as Figure 11, when user selects
Parking position when being the parking position of reversing storage, show and vertically park interface, user can be by Interface Control of vertically parking
Moving direction, travel speed of automatic driving vehicle etc., so that automatic driving vehicle drives into the parking position of reversing storage.Figure 12 is
The schematic diagram that a kind of level of automatic driving vehicle control method provided in an embodiment of the present invention is parked.Such as Figure 12, when user selects
When the parking position selected is the parking position of side parking, the level of showing is parked interface, and user can be by controlling at level interface of parking
Moving direction, travel speed of automatic driving vehicle processed etc., so that automatic driving vehicle drives into the parking position of side parking.
It optionally, can also be by way of animation during automatic driving vehicle drives into the parking position of user's selection
It shows that automatic driving vehicle drives into the parking position of user's selection, allows the user to intuitively know the barrier during parking
Information and driving parameters.
The present embodiment by the current location in automatic driving vehicle between destination at a distance from it is default less than first away from
From when, display is parked interface, after the instruction of parking for obtaining user's input, corresponding parking position interface is shown, for user's choosing
It selects, after user selects parking position, control automatic driving vehicle drives into corresponding parking position, thus in the premise of human-computer interaction
Under, realize the function of parking of automatic driving vehicle, the control parked in order to user to automatic driving vehicle.
Embodiment five
The present embodiment is optimized on the basis of the above embodiments, provides the basis preferably in above-described embodiment
On increase the method that automatic driving vehicle is moored out from parking position, specifically: obtain the automatic driving vehicle currently park
Obstacle information in the surrounding preset range of position, and show interface of parking, the showing interface of parking has parking route planning region
Domain, driving parameters information, current time of day；The pool for obtaining user's input goes out vehicle instruction；Vehicle instruction is moored out according to described
It controls the automatic driving vehicle and moors out the parking position.Figure 13 is a kind of automatic driving vehicle that the embodiment of the present invention five provides
Control method flow chart.As the control method of Figure 13, automatic driving vehicle provided in this embodiment include:
S510, obstacle information around the current parking position of the automatic driving vehicle in preset range is obtained, and opened up
Show interface of parking, the showing interface of parking has parking route planning region, driving parameters information, current time of day；
It, need to should specifically, the automatic driving vehicle rests on corresponding parking stall before automatic driving vehicle sets out
Automatic driving vehicle is driven out to the parking position.Such as Figure 10, user can identify in the selection moored into and moored out by interface display of parking,
So that user further confirms which kind of driving status current automatic driving vehicle will enter.When the pool for getting user's selection goes out
When the instruction of vehicle, mode selection interface of parking is provided, automatic driving vehicle is moored out from parking position.It is driven automatically by obtaining
The obstacle information of the berthed parking stall of vehicle is sailed, which for example can be automatic driving vehicle berthed parking stall week
The information of vehicles of parking position is enclosed, automatic driving vehicle is driven out to information of vehicles, pedestrian information, the isolation information in direction etc., and will
The information of acquisition is directly displayed at interface of parking, or is modeled as picture one by one, and parking, interface is continuously shown.Its
In park interface parking route planning region, driving parameters information, current time of day and the auto model etc..
S520, the pool for obtaining user's input go out vehicle instruction.
Specifically, when showing interface of parking goes out parking route planning region, driving parameters information, current time of day etc.
When, in conjunction with the obstacle information around automatic driving vehicle, user can input the instruction for mooring out vehicle.The input of the instruction of parking
Mode can be for example the manual touch-control input in vehicle interface on the berth, voice input, gesture input etc..
S530, the parking position is moored out according to the vehicle instruction control automatic driving vehicle of mooring out.
Specifically, control automatic driving vehicle moors out parking position after getting the instruction for mooring out vehicle of user's input, it should
Moor out the mode of parking position for example can according to automatic driving vehicle currently berthed parking stall, automatic driving vehicle parking side
To and predicted travel direction, selection level moor out or vertically moor out.It is current to automatic driving vehicle when acquisition such as Figure 11
Parking position when being the parking position of reversing storage, show and vertically park interface, user can be by Interface Control of vertically parking
Moving direction, travel speed of automatic driving vehicle etc., so that automatic driving vehicle moors out the parking position for storage of moving backward.Such as figure
12, when acquisition is to the parking position that the current parking position of automatic driving vehicle is side parking, the level of showing is parked interface,
User can be by moving direction, the travel speed etc. in horizontal Interface Control automatic driving vehicle of parking, so that automatic Pilot vehicle
Moor out the parking position of side parking.
S540, automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time.
S550, the auto model surrounding at traveling interface show the obstacle information by way of animation.
S560, determine that the automatic driving vehicle is in danger according to the driving parameters information and the obstacle information
When driving condition, warning alert is carried out.
The present embodiment shows the boundary that parks by obtaining the obstacle information around the current parking position of automatic driving vehicle
Face controls the automatic driving vehicle and moors out parking position, thus man-machine friendship when getting the instruction for mooring out vehicle of user's input
Under the premise of mutually, realizes that the pool of automatic driving vehicle goes out function, automatic driving vehicle is moored out from parking position in order to user
Control.
Embodiment six
The embodiment of the invention also provides a kind of control device of automatic driving vehicle, the device be applicable to be suitable for pair
The traveling of automatic driving vehicle is controlled, which can be made of software and/or hardware, can be integrated in display terminal.Wherein,
Automatic driving vehicle can be for example pilotless automobile or wheeled mobile robot etc..Figure 14 is that the embodiment of the present invention six provides
A kind of automatic driving vehicle control device schematic diagram.Such as Figure 14, the control of automatic driving vehicle provided in this embodiment
Device includes: data obtaining module 61, information display module 62 and warning alert module 63.
The data obtaining module 61, for obtaining the driving parameters information of automatic driving vehicle in the process of moving in real time
And obstacle information；
The information display module 62, described in being shown by way of animation in the auto model surrounding at traveling interface
Obstacle information；
The warning alert module 63, for described certainly according to the driving parameters information and obstacle information judgement
When dynamic driving vehicle is in dangerous driving state, warning alert is carried out.
The present embodiment shows the obstacle information around auto model by way of animation, so that user is intuitively known
The current traffic information of automatic driving vehicle, and when judging that automatic driving vehicle is in dangerous driving state, it carries out in time
Warning alert allows the user to handle in time, avoids the person and property loss, realizes human-computer interaction.
The control device of automatic driving vehicle provided in an embodiment of the present invention can be driven automatically by provided in an embodiment of the present invention
The control method of vehicle is sailed to execute, the control method phase of technical principle and automatic driving vehicle provided in an embodiment of the present invention
Together.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of control method of automatic driving vehicle characterized by comprising
Automatic driving vehicle driving parameters information in the process of moving and obstacle information are obtained in real time；
Auto model surrounding at traveling interface shows the obstacle information by way of animation；
Determine that the automatic driving vehicle is in dangerous driving state according to the driving parameters information and the obstacle information
When, carry out warning alert.
2. the method according to claim 1, wherein according to the driving parameters information and the obstacle information
When determining that the automatic driving vehicle is in dangerous driving state, carrying out warning alert includes:
According to the driving parameters and the obstacle information, determine between the automatic driving vehicle and barrier it is opposite away from
From；
When the relative distance is less than default risk distance, judge that the automatic driving vehicle is in dangerous driving state, into
Row warning alert.
3. the method according to claim 1, wherein the driving parameters information includes battery capacity, oil mass, vehicle
At least one of the current position in the driving path of planning of speed, driving direction, road signs information, automatic driving vehicle；
The obstacle information includes pedestrian information in pre-determined distance, information of vehicles, building information, road signs information
It is at least one.
4. the method according to claim 1, wherein obtaining automatic driving vehicle in the process of moving in real time
Before driving parameters information and obstacle information, further includes:
Destination selection interface is provided；The destination selection interface show purposefully input area, driving parameters information, when
Preceding date-time；
Obtain the destination information of user's input；
When obtaining destination confirmation instruction, travel route is planned according to the destination information, and shown；
It obtains the planning travel route of user's selection and controls the planning travel route that the automatic driving vehicle is selected in user
Upper traveling.
5. the method according to claim 1, wherein further include:
When being less than or equal to the first pre-determined distance between the current location and destination of the automatic driving vehicle, determine to reach mesh
Ground and displaying park interface；The showing interface distance purposefully of parking, obstacle information, parking mark, when every other day
Map, destination input area in phase, preset range.
6. according to the method described in claim 5, it is characterized in that, in the current location and destination of the automatic driving vehicle
Between when being less than or equal to the first pre-determined distance, after judgement arrives at the destination and shows and park interface, further includes:
After obtaining user and inputting instruction of parking, the parking position information in the preset range of current location is obtained, and show pool
Parking stall interface, for selection by the user；The parking position showing interface has parking position information, driving parameters information, parking position selection
Region, current time of day.
7. according to the method described in claim 6, it is characterized in that, obtaining distance after obtaining user and inputting instruction of parking and working as
Parking position information in the preset range of front position, and after showing parking position interface, further includes:
The parking position of user's selection is obtained, and controls the parking position that the automatic driving vehicle drives into user's selection.
8. the method according to the description of claim 7 is characterized in that driving into user's selection in the automatic driving vehicle
During parking position, show that the automatic driving vehicle drives into the parking position of user's selection by way of animation.
9. the method according to claim 1, wherein further include:
The obstacle information around the current parking position of the automatic driving vehicle in preset range is obtained, and shows the boundary that parks
Face, the showing interface of parking have parking route planning region, driving parameters information, current time of day；
The pool for obtaining user's input goes out vehicle instruction；
The parking position is moored out according to the vehicle instruction control automatic driving vehicle of mooring out.
10. a kind of control device of automatic driving vehicle characterized by comprising
Data obtaining module, for obtaining automatic driving vehicle driving parameters information in the process of moving and barrier letter in real time
Breath；
Information display module shows the barrier letter for the auto model surrounding at traveling interface by way of animation
Breath；
Warning alert module, for determining the automatic driving vehicle according to the driving parameters information and the obstacle information
When in dangerous driving state, warning alert is carried out.
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| CN112000092A (en) * | 2020-07-10 | 2020-11-27 | 嘉善新石器智牛科技有限公司 | Unmanned roadblock vehicle and control method, scheduling method and control system thereof |
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Application publication date: 20190315 |