CN109532845B - Control method and device of intelligent automobile and storage medium - Google Patents
Control method and device of intelligent automobile and storage medium Download PDFInfo
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- CN109532845B CN109532845B CN201811569881.3A CN201811569881A CN109532845B CN 109532845 B CN109532845 B CN 109532845B CN 201811569881 A CN201811569881 A CN 201811569881A CN 109532845 B CN109532845 B CN 109532845B
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a control method and device of an intelligent automobile and a storage medium, and belongs to the technical field of intelligent automobiles. The method comprises the following steps: when the intelligent automobile runs in an automatic driving mode, detecting a speed limit sign of a current running road, and acquiring road information of the current running road through a navigation system of the intelligent automobile; determining the automatic driving speed of the intelligent automobile based on the speed limit identification and/or the road information; and controlling the intelligent automobile to run according to the automatic driving speed. The invention can acquire the speed limit sign and the road information through the navigation system, and determine the automatic driving speed according to the speed limit sign and/or the road information. Because the automatic driving speed can be determined through the speed limit identification and/or the road information, the condition that the automatic driving speed is not timely acquired under the influence of extreme weather such as rain, snow, fog and the like is avoided, and the timeliness of acquiring the automatic driving speed and the driving safety of the intelligent automobile are improved.
Description
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a control method and device of an intelligent automobile and a storage medium.
Background
With the development of technology, people have higher and higher requirements on intellectualization and comfort of automobiles, and automatic driving systems in intelligent automobiles are gradually popularized more and more. After the intelligent automobile starts the automatic driving system to enter the automatic driving state, the intelligent automobile automatically keeps the speed without stepping on an accelerator pedal by a driver, so that the intelligent automobile runs at a fixed speed. The intelligent automobile may meet different road conditions in the driving process, and the intelligent automobile needs to be controlled to change the speed under the different road conditions.
At present, an intelligent automobile can identify roads by means of installed sensors such as a laser radar, a millimeter wave radar and a camera, so that the current road condition is determined, the automatic driving speed of the intelligent automobile is determined according to the current road condition, and then the intelligent automobile is controlled to run according to the automatic driving speed. Or, the intelligent automobile can also determine the current road condition through the road information stored by the navigation system, determine the automatic driving speed of the intelligent automobile according to the current road condition, and then control the intelligent automobile to run according to the automatic driving speed.
However, in the weather conditions of rain, snow and fog lights, the intelligent vehicle cannot timely identify the road conditions through sensors such as a laser radar, a millimeter wave radar and a camera, so that the intelligent vehicle cannot timely determine the automatic driving speed, the intelligent vehicle cannot be timely controlled to change the automatic driving speed, and the risk of traffic accidents is increased. In addition, navigation information is obtained from a navigation system, the navigation information is easily influenced by shelters such as weather, electromagnetic interference, tunnels and the like, signals are inaccurate, and wrong navigation instructions are easily provided when the navigation information is sometimes inconsistent with actual road condition information, so that traffic accidents are easily caused, the life safety of vehicles, members, property and pedestrians is seriously influenced, and meanwhile, the comfort of automatic driving is also influenced.
Disclosure of Invention
The embodiment of the invention provides a control method and device of an intelligent automobile and a storage medium, which are used for solving the problem that the determination of the automatic driving speed is easily influenced and is inaccurate when the automatic driving speed is determined, so that the risk of traffic accidents is high in the related art. The technical scheme is as follows:
in a first aspect, a method for controlling an intelligent vehicle is provided, the method comprising:
when the intelligent automobile runs in an automatic driving mode, detecting a speed limit sign of a current running road, and acquiring road information of the current running road through a navigation system of the intelligent automobile;
determining the automatic driving speed of the intelligent automobile based on the speed limit identification and/or the road information;
and controlling the intelligent automobile to run according to the automatic driving speed.
Optionally, the detecting the speed limit sign of the current driving road and obtaining the road information of the current driving road through the navigation system of the intelligent automobile includes:
when a camera arranged on the head of the intelligent automobile can detect a speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through a navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, acquiring the road information through the navigation system;
when the speed limit identification can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit identification is collected through the camera and the road information is obtained through the navigation system.
Optionally, the determining the automatic driving speed of the intelligent automobile based on the speed limit sign and/or the road information includes:
when the speed limit sign is detected by the camera and road information is not acquired by the navigation system, identifying the speed limit sign detected by the camera to obtain the speed marked by the speed limit sign;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit identification is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed limit sign is the same as the speed of the speed described by the speed limit information, determining the speed of the speed limit sign or the speed of the speed described by the speed limit information as the automatic driving speed;
and if the speed identified by the speed limit identifier is not the same as the speed described by the speed limit information, determining the automatic driving speed according to the road condition information of the current position and a fusion algorithm.
Optionally, the road information includes gradient information and speed limit information of the current running road;
the control the intelligent automobile drives according to the automatic driving speed, and the control method comprises the following steps:
when the automatic driving vehicle speed is determined based on the vehicle speed described by the speed limit information and/or the vehicle speed identified by the speed limit identification, if the gradient described by the gradient information is greater than or equal to a gradient threshold value, acquiring corresponding engine torque based on the automatic driving vehicle speed and the gradient information;
and controlling the intelligent automobile to run according to the automatic driving speed based on the engine torque.
Optionally, the controlling the smart car to run according to the automatic driving speed based on the engine torque includes:
determining the acceleration corresponding to the engine torque and the current running speed of the intelligent automobile;
and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed.
In a second aspect, there is provided a control apparatus for an intelligent vehicle, the apparatus comprising:
the intelligent automobile speed limiting system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for detecting a speed limiting mark of a current driving road and acquiring road information of the current driving road through a navigation system of an intelligent automobile when the intelligent automobile drives in an automatic driving mode;
the determining module is used for determining the automatic driving speed of the intelligent automobile based on the speed limit identification and/or the road information;
and the control module is used for controlling the intelligent automobile to run according to the automatic driving speed.
Optionally, the obtaining module is configured to:
when a camera arranged on the head of the intelligent automobile can detect a speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through a navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, acquiring the road information through the navigation system;
when the speed limit identification can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit identification is collected through the camera and the road information is obtained through the navigation system.
Optionally, the determining module is configured to:
when the speed limit sign is detected by the camera and road information is not acquired by the navigation system, identifying the speed limit sign detected by the camera to obtain the speed marked by the speed limit sign;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit identification is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed limit sign is the same as the speed of the speed described by the speed limit information, determining the speed of the speed limit sign or the speed of the speed described by the speed limit information as the automatic driving speed;
and if the speed identified by the speed limit identifier is not the same as the speed described by the speed limit information, determining the automatic driving speed according to the road condition information of the current position and a fusion algorithm.
Optionally, the road information includes gradient information and speed limit information of the current running road;
the control module includes:
the obtaining submodule is used for obtaining corresponding engine torque based on the automatic driving vehicle speed and the gradient information if the gradient described by the gradient information is larger than or equal to a gradient threshold value when the automatic driving vehicle speed is determined based on the vehicle speed described by the speed limit information and/or the vehicle speed identified by the speed limit identification;
and the control submodule is used for controlling the intelligent automobile to run according to the automatic driving speed based on the engine torque.
Optionally, the control sub-module is configured to include:
determining the acceleration corresponding to the engine torque and the current running speed of the intelligent automobile;
and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed.
In a third aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of the above-mentioned first aspects.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, the speed limit sign can be acquired, the road information can be acquired through the navigation system, the automatic driving speed can be determined according to the speed limit sign/or the road information, and the intelligent automobile can be controlled to run according to the automatic driving speed. Because the automatic driving speed can be determined through the speed limit identification and/or the road information, the situations of untimely and inaccurate automatic driving speed acquisition under the influence of extreme weather such as rain, snow, fog and the like are avoided, and the timeliness and the accuracy of automatic driving speed acquisition and the driving safety of the intelligent automobile are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a control method for an intelligent vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a control method for an intelligent vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control device of an intelligent vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a control module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present invention in detail, an application scenario related to the embodiments of the present invention is explained.
First, an application scenario related to the embodiment of the present invention is described.
With the development of the technology, the automatic driving system in the intelligent automobile is more and more popular, after the intelligent automobile starts the automatic driving system and enters an automatic driving state, the intelligent automobile can be controlled to run according to a fixed speed, when different road conditions are met, such as different speed-limiting road sections, the intelligent automobile needs to run according to different speed-limiting speeds, and at the moment, the intelligent automobile needs to be controlled to change the speed. However, at present, a laser radar, a millimeter wave radar, a camera, and other sensors installed in the smart car are used to identify a road, so as to determine a current road condition, determine an automatic driving speed of the smart car according to the current road condition, and then control the smart car to drive according to the automatic driving speed. Because under rain, snow, fog lamp weather conditions, the intelligent automobile can't in time discern the road conditions through sensors such as laser radar, millimeter wave radar, camera, lead to the intelligent automobile can't in time confirm the autopilot speed to can't in time control intelligent automobile and change autopilot speed, lead to the risk improvement that takes place the traffic accident.
Based on such a scene, the embodiment of the invention provides a control method of an intelligent automobile, which can improve driving safety.
Fig. 1 is a flowchart of a control method for an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 1, the method is applied to the intelligent vehicle, and includes the following steps.
Step 101: when the intelligent automobile runs in the automatic driving mode, the speed limit identification of the current running road is detected, and the road information of the current running road is obtained through a navigation system of the intelligent automobile.
Step 102: and determining the automatic driving speed of the intelligent automobile based on the speed limit sign and/or the road information.
Step 103: and controlling the intelligent automobile to run according to the automatic driving speed.
In the embodiment of the invention, the speed limit sign can be acquired, the road information can be acquired through the navigation system, the automatic driving speed can be determined according to the speed limit sign/or the road information, and the intelligent automobile can be controlled to run according to the automatic driving speed. Because the automatic driving speed can be determined through the speed limit identification and/or the road information, the situations of untimely and inaccurate automatic driving speed acquisition under the influence of extreme weather such as rain, snow, fog and the like are avoided, and the timeliness and the accuracy of automatic driving speed acquisition and the driving safety of the intelligent automobile are improved.
Optionally, detecting a speed limit sign of a current driving road, and acquiring road information of the current driving road through a navigation system of the intelligent vehicle, including:
when the camera arranged on the head of the intelligent automobile can detect the speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through the navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, the road information is acquired through the navigation system;
when the speed limit sign can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit sign is collected through the camera and the road information is obtained through the navigation system.
Optionally, determining an automatic driving speed of the intelligent automobile based on the speed limit sign and/or the road information includes:
when the speed limit sign is detected by the camera and road information is not acquired by the navigation system, identifying the speed limit sign detected by the camera to obtain the speed marked by the speed limit sign;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit sign is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed identified by the speed limit sign is the same as the speed described by the speed limit information, determining the speed identified by the speed limit sign or the speed described by the speed limit information as the automatic driving speed;
and if the speed identified by the speed limit identifier is not the same as the speed described by the speed limit information, determining the automatic driving speed according to the road condition information of the current position and a fusion algorithm.
Optionally, the road information includes gradient information and speed limit information of the current driving road;
control this intelligent automobile and go according to this autopilot speed of a motor vehicle, include:
when the automatic driving vehicle speed is determined based on the vehicle speed described by the speed limit information and/or the vehicle speed identified by the speed limit identification, if the gradient described by the gradient information is greater than or equal to a gradient threshold value, acquiring corresponding engine torque based on the automatic driving vehicle speed and the gradient information;
and controlling the intelligent automobile to run according to the automatic driving speed based on the engine torque.
Optionally, controlling the smart car to run according to the automatic driving speed based on the engine torque comprises:
determining the acceleration corresponding to the engine torque and the current running speed of the intelligent automobile;
and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described in detail herein.
Fig. 2 is a flowchart of a control method of an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 2, the method includes the following steps.
Step 201: when the intelligent automobile runs in the automatic driving mode, the speed limit identification of the current running road is detected, and the road information of the current running road is obtained through a navigation system of the intelligent automobile.
The intelligent automobile may encounter different road conditions in the driving process, for example, the intelligent automobile may drive at different speed-limiting road sections, the intelligent automobile needs to change the speed of the intelligent automobile at different speed-limiting road sections, otherwise, the intelligent automobile may violate traffic rules, and even cause traffic accidents. Therefore, in order to avoid the intelligent automobile from violating the traffic rules in the driving process and avoid traffic accidents, the intelligent automobile can detect the speed limit sign of the current driving road and acquire the road information of the current driving road through the navigation system of the intelligent automobile when the intelligent automobile drives in the automatic driving mode.
The operation of detecting the speed limit sign of the current driving road by the intelligent automobile and acquiring the road information of the current driving road by the navigation system of the intelligent automobile can be as follows: when the camera arranged on the head of the intelligent automobile can detect the speed limit sign and the navigation system of the intelligent automobile cannot acquire road information, acquiring the speed limit sign through the camera; when the road information can be acquired through a navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, acquiring the road information through the navigation system; when the speed limit sign can be detected through the camera and the navigation device of the automobile can provide road information, the speed limit sign is collected through the camera and the road information is obtained through the navigation system.
In a possible implementation mode, due to the fact that network signals are poor in some places, a navigation system can not acquire road information, or the navigation system can not acquire the road information when damaged, at the moment, the intelligent automobile can acquire visual data through a camera installed at the head of the intelligent automobile, and image recognition is carried out on the acquired visual data, so that the speed limit identification in the visual data is recognized.
In another possible implementation manner, the camera may be damaged sometimes and the visual data cannot be collected, or the lens of the camera cannot collect the visual data due to the shielding of the obstacle, and at this time, the intelligent vehicle may acquire the road information through a navigation system installed in the intelligent vehicle.
In another possible implementation manner, because both the camera and the navigation system can work normally, the intelligent automobile can simultaneously acquire the speed limit sign through the camera and acquire the road information through the navigation system.
It should be noted that the speed limit sign may include at least one of a variable speed limit sign, a speed limit cancellation sign, a zone speed limit sign, a multiple speed limit value sign, a ramp speed limit sign, and the like. The road information may include: at least one of gradient information, curvature information, highest speed limit or lowest speed limit information of a current lane, positioning information, navigation information, information of road maintenance state and the like of the current driving road.
In addition, in the embodiment of the invention, the intelligent automobile can acquire the speed limit signs and/or the road information in real time in the driving process, and also can acquire the speed limit signs and/or the road information at specified time intervals. The specified time interval may be set in advance, for example, the specified time interval may be 10 minutes, 5 minutes, or the like.
Step 202: the intelligent automobile determines the automatic driving speed of the intelligent automobile based on the speed limit identification and/or the road information.
The speed limit sign can reflect the speed limit condition of the current road of the intelligent automobile, the speed limit information contained in the road information can also reflect the speed limit condition of the current road, and the speed limit conditions reflected by the speed limit sign and the road information can be the same or different. Therefore, in order to accurately control the intelligent vehicle to run, the intelligent vehicle needs to determine the automatic driving speed of the intelligent vehicle based on the speed limit sign and/or the road information.
The operation of determining the automatic driving speed of the intelligent automobile based on the speed limit identifier and/or the road information by the intelligent automobile can be as follows: when the speed limit sign is detected through the camera and road information is not acquired through the navigation system, the speed limit sign detected by the camera is recognized, and the vehicle speed marked by the speed limit sign is obtained; determining the speed identified by the speed limit identification as an automatic driving speed; when the road information is acquired through the navigation system and the speed limit identification is not acquired through the camera, if the road information comprises the speed limit information, determining the speed described by the speed limit information as the automatic driving speed; when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed marked by the speed limit sign is the same as the speed described by the speed limit information, determining the speed marked by the speed limit sign or the speed described by the speed limit information as the automatic driving speed; and if the speed identified by the speed limit identifier is not the same as the speed described by the speed limit information, determining the automatic driving speed according to the road condition information of the current position and a fusion algorithm.
When the speed limit sign is acquired through the camera and the road information is not acquired through the navigation system, only the speed limit condition reflected by the speed limit sign is acquired at the moment, so that the intelligent automobile can determine the speed identified by the speed limit sign acquired through the camera as the automatic driving speed. Similarly, when the road information is acquired through the navigation system, the road information comprises the speed limit information, and the speed limit sign is not acquired through the camera, the intelligent automobile can determine the speed described by the speed limit information acquired through the navigation system as the automatic driving speed because only the speed described by the speed limit information is acquired. When the speed limit sign is acquired through the camera and the speed limit information is acquired through the navigation system, if the speed marked by the speed limit sign acquired through the camera is the same as the speed described by the speed limit information acquired through the navigation device, the two acquired speeds are both the speeds meeting the speed limit condition of the current road section, so that the speed marked by the speed limit sign or the speed described by the speed limit information can be determined as the automatic driving speed; if the speed marked by the speed limit identifier is different from the speed described by the speed limit information, the fact that the speed which does not accord with the speed limit condition of the current road section exists in the acquired speeds is shown. At this time, the automatic driving speed can be determined according to the road condition information of the current position and the fusion algorithm.
It should be noted that, when the intelligent vehicle is driving in living areas such as an urban area, there are many roads in the urban area, and the speed limit signs are dense, and the speed limit signs detected by the intelligent vehicle may be the speed limit signs of other roads and are not the speed limit signs of the current road. When the intelligent automobile runs in living environments such as urban areas and the like, network signals are usually good, and the speed limit information acquired by the navigation system is usually accurate speed limit information. Therefore, the smart car can determine the vehicle speed described by the speed limit information as the automatic driving vehicle speed.
In addition, the road condition of the current position of the intelligent automobile may include a road condition of road maintenance and a road condition that the speed limit sign is not removed after the road maintenance is finished. Therefore, the operation of determining the automatic driving speed according to the road condition information of the current position and the fusion algorithm by the intelligent automobile can be as follows: and if the road is maintained, the speed marked by the speed limit sign is taken as the automatic driving speed, and if the road maintenance is finished but the speed limit sign is not removed, the speed described by the speed limit information is taken as the automatic driving speed.
The information on the road maintenance is stored in the navigation system. The intelligent automobile can determine the road condition information of the current position from the navigation system.
Step 203: and controlling the intelligent automobile to run according to the automatic driving speed.
After the road condition of the road where the intelligent automobile is located changes, in order to avoid traffic accidents of the intelligent automobile, the intelligent automobile needs to run according to the automatic driving speed.
Under the normal condition, the intelligent automobile can run on a flat road, and at the moment, the intelligent automobile can be directly controlled to adjust the current speed to the automatic driving speed and then run according to the automatic driving speed. However, since the road condition may be changed by changing the road gradient, the speed of the smart car may be changed by the engine speed when the road gradient is changed. Therefore, in order to accurately control the intelligent automobile to run according to the automatic driving speed, when the intelligent automobile determines the automatic driving speed based on the speed described by the speed limit information and/or the speed identified by the speed limit identification, if the gradient described by the gradient information is greater than or equal to the gradient threshold value, the corresponding engine torque is obtained based on the automatic driving speed and the gradient information; and controlling the intelligent automobile to run according to the automatic driving speed based on the engine torque.
Because the intelligent automobile needs to run according to the automatic driving speed, when the road slope is large, the engine torque of the intelligent automobile changes, and the speed of the intelligent automobile cannot reach the automatic driving speed, the intelligent automobile can automatically drive the speed and the slope information so that the speed of the intelligent automobile can reach the automatic driving speed on the road with a large slope, and the corresponding transmitter torque can be obtained from the corresponding relation among the automatic driving speed, the slope information and the engine torque.
Wherein, the operation that intelligent automobile goes according to the autopilot speed based on engine torque, control intelligent automobile can be: determining the acceleration corresponding to the engine torque and the current running speed of the intelligent automobile; and the speed of the intelligent automobile is converted from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed.
It should be noted that the gradient threshold may be set in advance, for example, the gradient threshold may be 5 degrees, 10 degrees, and so on.
In addition, when the gradient described by the gradient information is smaller than the gradient threshold value, the gradient of the road where the intelligent automobile is located is smaller, and when the gradient is smaller, the engine torque and the speed of the intelligent automobile cannot be influenced, so that the intelligent automobile does not need to determine the engine torque and can directly adjust the automobile speed to the automatic driving automobile speed.
Further, after the intelligent automobile determines the automatic driving speed, if other automobiles exist in the driving direction of the intelligent automobile, in order to avoid collision, the intelligent automobile can also determine the distance between the intelligent automobile and the other automobiles, when the distance is greater than a distance threshold value, the intelligent automobile is controlled to drive according to the automatic driving speed, and when the distance is less than or equal to the distance threshold value, the intelligent automobile is controlled to decelerate.
It should be noted that the distance threshold may be set in advance, for example, the distance threshold may be 50 meters, 100 meters, and so on.
Step 204: the intelligent automobile carries out speed limit reminding based on the automatic driving speed.
The intelligent automobile is switched from the automatic driving mode to the manual driving mode because the driver may be switched to the manual driving halfway when the intelligent automobile runs in the automatic driving mode. When the driving mode is switched to the manual driving mode, the driving speed of the intelligent automobile needs to be controlled by the driver, and at this time, if the driver does not notice the speed limit condition of the current road, the intelligent automobile is likely to violate the traffic rules, and even traffic accidents are caused by the speed of the intelligent automobile. Therefore, in order to improve driving safety, the intelligent automobile can also perform speed limit reminding when the automobile is adjusted to the automatic driving speed for driving. Or when the intelligent automobile detects that the automatic driving mode is switched to the manual driving mode, speed limit reminding is carried out based on the automatic driving speed.
The intelligent automobile can directly display the automatic driving speed through an instrument of the automobile after the automatic driving speed is determined so as to carry out speed limit reminding, and/or carries out voice broadcasting on the automatic driving speed so as to carry out speed limit reminding.
In the embodiment of the invention, the intelligent automobile can obtain the speed limit sign and the road information through the navigation system, determine the automatic driving speed according to the speed limit sign/or the road information, and control the intelligent automobile to run according to the automatic driving speed. Because the automatic driving speed can be determined through the speed limit identification and/or the road information, the situations of untimely and inaccurate automatic driving speed acquisition under the influence of extreme weather such as rain, snow, fog and the like are avoided, and the timeliness and the accuracy of automatic driving speed acquisition and the driving safety of the intelligent automobile are improved.
After explaining the control method of the intelligent vehicle according to the embodiment of the present invention, a control apparatus of the intelligent vehicle according to the embodiment of the present invention will be described.
Fig. 3 is a block diagram of a control device of an intelligent vehicle according to an embodiment of the present disclosure, and referring to fig. 3, the control device may be implemented by software, hardware, or a combination of the two. The device includes: an acquisition module 301, a determination module 302, and a control module 303.
The acquiring module 301 is configured to detect a speed limit identifier of a current driving road when the intelligent vehicle is driving in an automatic driving mode, and acquire road information of the current driving road through a navigation system of the intelligent vehicle;
a determining module 302, configured to determine an automatic driving speed of the smart car based on the speed limit sign and/or the road information;
and the control module 303 is used for controlling the intelligent automobile to run according to the automatic driving speed.
Optionally, the obtaining module 301 is configured to:
when the camera arranged on the head of the intelligent automobile can detect the speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through the navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, the road information is acquired through the navigation system;
when the speed limit sign can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit sign is collected through the camera and the road information is obtained through the navigation system.
Optionally, the determining module 302 is configured to:
when the speed limit sign is detected by the camera and road information is not acquired by the navigation system, identifying the speed limit sign detected by the camera to obtain the speed marked by the speed limit sign;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit sign is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed identified by the speed limit sign is the same as the speed described by the speed limit information, determining the speed identified by the speed limit sign or the speed described by the speed limit information as the automatic driving speed;
and if the speed identified by the speed limit identifier is not the same as the speed described by the speed limit information, determining the automatic driving speed according to the road condition information of the current position and a fusion algorithm.
Optionally, the road information includes gradient information and speed limit information of the current driving road;
referring to fig. 4, the control module 303 includes:
an obtaining submodule 3031, configured to, when the automatic driving vehicle speed is determined based on the vehicle speed described by the speed limit information and/or based on the vehicle speed identified by the speed limit identifier, obtain a corresponding engine torque based on the automatic driving vehicle speed and the gradient information if the gradient described by the gradient information is greater than or equal to a gradient threshold value;
and a control submodule 3032 for controlling the smart car to run according to the automatic driving speed based on the engine torque.
Optionally, the control submodule 3032 is configured to include:
determining the acceleration corresponding to the engine torque and the current running speed of the intelligent automobile;
and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed.
In summary, in the embodiment of the invention, the intelligent vehicle can obtain the speed limit sign and the road information through the navigation system, determine the automatic driving speed according to the speed limit sign and/or the road information, and control the intelligent vehicle to run according to the automatic driving speed. Because the automatic driving speed can be determined through the speed limit identification and/or the road information, the situations of untimely and inaccurate automatic driving speed acquisition under the influence of extreme weather such as rain, snow, fog and the like are avoided, and the timeliness and the accuracy of automatic driving speed acquisition and the driving safety of the intelligent automobile are improved.
It should be noted that: in the control device of the intelligent vehicle provided in the above embodiment, when the intelligent vehicle is controlled, only the division of the above functional modules is taken as an example, and in practical application, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the above described functions. In addition, the control device of the intelligent vehicle provided by the above embodiment and the control method embodiment of the intelligent vehicle belong to the same concept, and the specific implementation process thereof is described in detail in the method embodiment and is not described herein again.
Fig. 5 shows a block diagram of an intelligent vehicle 500 according to an exemplary embodiment of the present invention.
In general, the smart car 500 includes: a processor 501 and a memory 502.
The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 501 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
In some embodiments, the smart car 500 may further optionally include: a peripheral interface 503 and at least one peripheral. The processor 501, memory 502 and peripheral interface 503 may be connected by a bus or signal lines. Each peripheral may be connected to the peripheral interface 503 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 504, touch screen display 505, camera 506, audio circuitry 507, positioning components 508, and power supply 509.
The peripheral interface 503 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 501 and the memory 502. In some embodiments, the processor 501, memory 502, and peripheral interface 503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 501, the memory 502, and the peripheral interface 503 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 504 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 504 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 504 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 504 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 505 is a touch display screen, the display screen 505 also has the ability to capture touch signals on or over the surface of the display screen 505. The touch signal may be input to the processor 501 as a control signal for processing. At this point, the display screen 505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 505 may be one, providing the front panel of the smart car 500; in other embodiments, the number of the display screens 505 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the smart car 500 or are in a folding design; in still other embodiments, the display 505 may be a flexible display disposed on a curved surface or on a folding surface of the smart car 500. Even more, the display screen 505 can be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 505 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 506 is used to capture images or video. Optionally, camera assembly 506 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions.
The positioning component 508 is used to locate the current geographic Location of the smart car 500 for navigation or LBS (Location Based Service). The Positioning component 508 may be a Positioning component based on the united states GPS (Global Positioning System), the chinese beidou System, the russian graves System, or the european union's galileo System.
The power supply 509 is used to power the various components in the smart car 500. The power source 509 may be alternating current, direct current, disposable or rechargeable. When power supply 509 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the smart car 500 also includes one or more sensors 510. The one or more sensors 510 include, but are not limited to: and an acceleration sensor 511.
The acceleration sensor 511 may detect the magnitude of acceleration on three coordinate axes of the coordinate system established with the smart car 500. For example, the acceleration sensor 511 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 501 may control the touch screen 505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 511. The acceleration sensor 511 may also be used for acquisition of motion data of a game or a user.
That is, not only is an embodiment of the present invention provide an intelligent vehicle including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the method in the embodiment shown in fig. 1 and 2, but also an embodiment of the present invention provides a computer-readable storage medium having a computer program stored therein, and the computer program can implement the intelligent vehicle control method in the embodiment shown in fig. 1 and 2 when being executed by the processor.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A control method of an intelligent automobile is characterized by comprising the following steps:
when an intelligent automobile runs in an automatic driving mode, detecting a speed limit sign of a current running road, and acquiring road information of the current running road through a navigation system of the intelligent automobile, wherein the road information comprises gradient information and speed limit information of the current running road;
determining the automatic driving speed of the intelligent automobile based on the speed limit sign and/or the road information, wherein when the speed marked by the speed limit sign is different from the speed described by the speed limit information, if the road is being maintained, the speed marked by the speed limit sign is taken as the automatic driving speed, and if the road maintenance is finished but the speed limit sign is not removed, the speed described by the speed limit information is taken as the automatic driving speed;
when the automatic driving speed is determined based on the speed described by the speed limit information and/or the speed identified by the speed limit identification, if the gradient described by the gradient information is smaller than a gradient threshold value and the distance between the intelligent automobile and other automobiles is larger than a distance threshold value, controlling the intelligent automobile to run according to the automatic driving speed; if the gradient described by the gradient information is smaller than a gradient threshold value and the distance between the intelligent automobile and other automobiles is smaller than or equal to the distance threshold value, controlling the intelligent automobile to run at a reduced speed;
if the grade described by the grade information is greater than or equal to the grade threshold, obtaining a corresponding engine torque based on the autonomous vehicle speed and the grade information; determining an acceleration corresponding to the engine torque and the current running speed of the intelligent automobile, and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed;
and when the automatic driving mode is switched to the manual driving mode, carrying out speed limit reminding based on the automatic driving speed.
2. The method of claim 1, wherein the detecting the speed limit sign of the current driving road and the obtaining the road information of the current driving road through the navigation system of the intelligent automobile comprise:
when a camera arranged on the head of the intelligent automobile can detect a speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through a navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, acquiring the road information through the navigation system;
when the speed limit identification can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit identification is collected through the camera and the road information is obtained through the navigation system.
3. The method according to claim 1 or 2, wherein the determining the automatic driving speed of the intelligent automobile based on the speed limit sign and/or the road information comprises:
when the speed limit sign is detected through the camera and road information is not acquired through the navigation system, the speed limit sign detected by the camera is recognized, and the vehicle speed identified by the speed limit sign is obtained;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit identification is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed limit sign is the same as the speed of the speed described by the speed limit information, the speed of the speed identified by the speed limit sign or the speed of the speed described by the speed limit information is determined as the automatic driving speed.
4. A control apparatus of an intelligent automobile, the apparatus comprising:
the intelligent automobile speed limiting system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for detecting a speed limiting mark of a current driving road when an intelligent automobile runs in an automatic driving mode, and acquiring road information of the current driving road through a navigation system of the intelligent automobile, wherein the road information comprises gradient information and speed limiting information of the current driving road;
the determining module is used for determining the automatic driving speed of the intelligent automobile based on the speed limit identifier and/or the road information, wherein when the speed identified by the speed limit identifier is different from the speed described by the speed limit information, if the road is maintained, the speed identified by the speed limit identifier is taken as the automatic driving speed, and if the road maintenance is finished but the speed limit identifier is not removed, the speed described by the speed limit information is taken as the automatic driving speed;
the control module is used for controlling the intelligent automobile to run according to the automatic driving speed if the gradient described by the gradient information is smaller than a gradient threshold value and the distance between the intelligent automobile and other automobiles is larger than a distance threshold value when the automatic driving speed is determined based on the speed described by the speed limit information and/or the speed identified by the speed limit identification; if the gradient described by the gradient information is smaller than a gradient threshold value and the distance between the intelligent automobile and other automobiles is smaller than or equal to the distance threshold value, controlling the intelligent automobile to run at a reduced speed; if the grade described by the grade information is greater than or equal to the grade threshold, obtaining a corresponding engine torque based on the autonomous vehicle speed and the grade information; determining an acceleration corresponding to the engine torque and the current running speed of the intelligent automobile, and converting the speed of the intelligent automobile from the running speed to the automatic driving speed according to the acceleration so as to control the intelligent automobile to run according to the automatic driving speed;
the device is also used for carrying out speed limit reminding based on the automatic driving speed when the automatic driving mode is switched to the manual driving mode.
5. The apparatus of claim 4, wherein the acquisition module is to:
when a camera arranged on the head of the intelligent automobile can detect a speed limit sign and the navigation system of the intelligent automobile cannot acquire the road information, acquiring the speed limit sign through the camera;
when the road information can be acquired through a navigation system of the intelligent automobile and the speed limit sign cannot be detected through the camera, acquiring the road information through the navigation system;
when the speed limit identification can be detected through the camera and the navigation device of the automobile can provide the road information, the speed limit identification is collected through the camera and the road information is obtained through the navigation system.
6. The apparatus of claim 4 or 5, wherein the determination module is to:
when the speed limit sign is detected through the camera and road information is not acquired through the navigation system, the speed limit sign detected by the camera is recognized, and the vehicle speed identified by the speed limit sign is obtained;
determining the speed identified by the speed limit identification as the automatic driving speed;
when the road information is acquired through the navigation system and the speed limit identification is not acquired through the camera, if the road information comprises speed limit information, determining the speed described by the speed limit information as the automatic driving speed;
when the speed limit sign is acquired through the camera and the road information is acquired through the navigation system, if the road information comprises the speed limit information and the speed of the speed limit sign is the same as the speed of the speed described by the speed limit information, the speed of the speed identified by the speed limit sign or the speed of the speed described by the speed limit information is determined as the automatic driving speed.
7. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-3.
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| CN110962596B (en) * | 2019-12-20 | 2022-04-08 | 奇瑞汽车股份有限公司 | Vehicle speed control method and device of automobile and storage medium |
| US11623662B2 (en) * | 2020-05-08 | 2023-04-11 | Baidu Usa Llc | Planning system for speed limit changes for autonomous vehicles |
| CN111845743B (en) * | 2020-07-14 | 2021-10-19 | 肇庆小鹏汽车有限公司 | Vehicle cruise control method, device, vehicle and storage medium |
| CN112319504B (en) * | 2020-10-30 | 2022-12-13 | 广州小鹏汽车科技有限公司 | Control method, control device, vehicle, and storage medium |
| CN116133923A (en) * | 2020-11-30 | 2023-05-16 | 浙江吉利控股集团有限公司 | Vehicle driving method, device, computer storage medium and system |
| CN114684143B (en) * | 2020-12-28 | 2023-10-20 | 观致汽车有限公司 | Electric vehicle and power-limited control method and system thereof |
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