CN109624961A - A kind of drive manner and system of vehicle - Google Patents
A kind of drive manner and system of vehicle Download PDFInfo
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- CN109624961A CN109624961A CN201710931074.0A CN201710931074A CN109624961A CN 109624961 A CN109624961 A CN 109624961A CN 201710931074 A CN201710931074 A CN 201710931074A CN 109624961 A CN109624961 A CN 109624961A
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- 230000003068 static effect Effects 0.000 claims description 6
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of drive manner of vehicle and systems, in the present invention, when the front preset of vehicle distance is interior not there is no relative vehicle, according to the lane line information and Maximum speed limit information of acquisition, travel speed and the driving direction angle of the vehicle are adjusted, so that the vehicle travels in pre-set velocity requires along the center line in the lane at place.When there are when relative vehicle apart from interior for the front preset of the vehicle, detect the relative distance of the vehicle Yu the relative vehicle, according to the relative distance, adjust the vehicle throttle depth and the driving direction angle, so that and the speed of the relative vehicle is identical and the traveling lane of the vehicle is identical as the traveling lane of the relative vehicle for the speed of the vehicle, and then it can be realized intelligent driving of the vehicle in tunnel.
Description
Technical field
The present invention relates to Control of Electric Vehicles fields, more specifically, being related to the drive manner and system of a kind of vehicle.
Background technique
With the continuous development of intelligent driving technology, more and more vehicles are used for intelligent driving technology, wherein
The functions such as basic follow the bus, lane holding, braking or acceleration may be implemented using intelligent driving technology.
Since structured road road conditions are relatively easy, intelligent driving of the vehicle on structured road is had been realized in, but
It is that due to light is darker, environment is relatively put under house arrest in tunnel etc., intelligent driving of the vehicle in tunnel is also not implemented at present.
Summary of the invention
In view of this, the present invention provides the drive manner and system of a kind of vehicle, existed with solving also unrealized vehicle at present
The problem of intelligent driving in tunnel.
In order to solve the above technical problems, present invention employs following technical solutions:
A kind of drive manner of vehicle is applied to vehicle, comprising:
When the vehicle is in intelligent driving state, the front preset distance for detecting the vehicle is interior with the presence or absence of opposite
Vehicle；Wherein, the lane where the relative vehicle is identical as the lane where the vehicle；
Not there is no relative vehicle when the front preset distance for detecting the vehicle is interior, according to the lane line information of acquisition with
And Maximum speed limit information, travel speed and the driving direction angle of the vehicle are adjusted, so that vehicle of the vehicle along place
The center line in road traveling in pre-set velocity requires；
When detecting the front preset of the vehicle, there are relative vehicles apart from interior, detect the vehicle and the opposite vehicle
Relative distance；
According to the relative distance, adjust the vehicle gas pedal depth and the driving direction angle so that institute
State the lane and relative vehicle place where the speed vehicle identical and described with the speed of the relative vehicle of vehicle
Lane it is identical.
Preferably, according to the lane line information of acquisition and Maximum speed limit information, adjust the travel speed of the vehicle with
And driving direction angle, comprising:
According to the positional relationship of the lane line in the lane line information of acquisition, the lane where the vehicle is calculated
The position of center line；
According to the position of the center line, travel speed and the driving direction angle of the vehicle are adjusted.
Preferably, further includes:
Receive the fiducial time that Cloud Server is sent；
According to the fiducial time, the time on the instrument board of the vehicle is adjusted, so that on the instrument board
Time it is synchronous with the fiducial time；
Receive the reference frame information that the Cloud Server is sent；
According to the reference frame information, the relative position for calculating the origin of the vehicle and the reference frame is believed
Breath；
Vehicle traveling information is sent to the Cloud Server；Wherein, the vehicle traveling information includes the vehicle of the vehicle
Mark, vehicle size, relative position information, car speed, vehicle front-and-rear vehicle distance from and vehicle driving state；
Receive and show the vehicle network topology diagram that the Cloud Server is sent.
Preferably, further includes:
When in the front distance to a declared goal for detecting the vehicle there are when stationary obstruction, according to the lane line information with
And the location information of the stationary obstruction detected, it is described to judge whether the vehicle can circumvent in the lane at place
Stationary obstruction；
When judging that the vehicle can circumvent the stationary obstruction in the lane at place, believed according to the lane line
The location information of the stationary obstruction for ceasing and detecting, adjusts the driving direction angle；
When judging that the vehicle can not circumvent the stationary obstruction in the lane at place, barrier early warning is sent
Information is to the security control terminal and issues information warning；
Receive the lane-change instruction that the security control terminal is sent；
Execute lane-change operation corresponding with lane-change instruction.
A kind of control loop of vehicle, including at least one vehicle and security control terminal；
The security control terminal, for sending the request of control vehicle to each vehicle；
The vehicle, for receiving the control vehicle request, the confirmation for receiving user's input receives the instruction of control, with
And the front preset distance of the detection vehicle is interior with the presence or absence of relative vehicle, when the front preset distance for detecting the vehicle
Not there is no relative vehicle inside, according to the lane line information and Maximum speed limit information of acquisition, adjusts the travel speed of the vehicle
And detection is worked as so that the vehicle travels in pre-set velocity requires along the center line in the lane at place in driving direction angle
There are relative vehicles apart from interior for the front preset of the vehicle out, detect the relative distance of the vehicle Yu the relative vehicle,
According to the relative distance, adjust the vehicle gas pedal depth and the driving direction angle so that the vehicle
The lane phase where lane and the relative vehicle where the speed vehicle identical and described with the speed of the relative vehicle
Together；
Wherein, the lane where the relative vehicle is identical as the lane where the vehicle.
Preferably, the vehicle is used for lane line information and Maximum speed limit information according to acquisition, adjusts the vehicle
Travel speed and when driving direction angle, be specifically used for:
According to the positional relationship of the lane line in the lane line information of acquisition, the lane where the vehicle is calculated
The position of center line；
According to the position of the center line, travel speed and the driving direction angle of the vehicle are adjusted.
Preferably, further includes:
Cloud Server；
The Cloud Server receives each for sending fiducial time and reference frame information to each vehicle
The vehicle traveling information that the vehicle is sent generates vehicle network and opens up according to the vehicle traveling information that each vehicle is sent
Structure chart is flutterred, and the vehicle network topology diagram is sent to the vehicle and the security control terminal；
The vehicle is also used to receive the fiducial time, according to the fiducial time, on the instrument board of the vehicle
Time be adjusted so that the time on the instrument board is synchronous with the fiducial time, receive the reference frame letter
Breath calculates the relative position information of the origin of the vehicle and the reference frame, hair according to the reference frame information
It send vehicle traveling information to the Cloud Server, and receives and show the vehicle network topology diagram；Wherein, the vehicle
Driving information includes the front and back vehicle of the vehicles identifications of the vehicle, vehicle size, relative position information, car speed, vehicle
Distance and vehicle driving state；
The security control terminal is also used to receive the vehicle network topology diagram that the Cloud Server is sent.
Preferably,
The vehicle, be also used to when in the front distance to a declared goal for detecting the vehicle there are when stationary obstruction, according to
Whether the location information of the lane line information and the stationary obstruction detected judges in the lane at place
The stationary obstruction is circumvented, when judging that the stationary obstruction can be circumvented in the lane at place, according to the lane
The location information of line information and the stationary obstruction detected adjusts the driving direction angle, when judging at place
Lane line can not circumvent the stationary obstruction, send barrier warning information to the security control terminal and sending
Information warning receives the lane-change instruction that the security control terminal is sent, and executes lane-change corresponding with lane-change instruction
Operation；
The security control terminal is also used to receive the barrier warning information, according to the vehicle network topology knot
Composition determines the blocking level of road where at least one vehicle for sending barrier warning information, when determining the blocking
When grade is the first predetermined level, according to the vehicle network topology diagram, generates and send barrier warning information extremely
The corresponding lane-change instruction of a vehicle less, and corresponding vehicle is sent by lane-change instruction.
Preferably, further includes:
Emergency flight control terminal；
The security control terminal is also used to send starting when determining the blocking grade is the second predetermined level
The starting emergency response instruction that emergency response message is sent to the emergency response terminal and the reception emergency response terminal,
According to the vehicle network topology diagram, generates lane-change corresponding at least one vehicle of barrier warning information is sent and refer to
It enables, and sends corresponding vehicle for lane-change instruction；
The emergency response terminal, for sending tunnel stopping state and the vehicle network topology diagram described in
The electronic display at a upper crossing in tunnel, so that tunnel stopping state and the vehicle described in the electronic display screen displays
Network topology structure figure, send information warning to staff mobile terminal, dial roadside assistance phone and transmission tunnel
Stopping state is to Traffic Announcement center.
Preferably, the security control terminal is used to generate according to the vehicle network topology diagram and send obstacle
When the corresponding lane-change of at least one vehicle of object warning information instructs, it is specifically used for:
According to the relative position of each vehicle in the vehicle network topology diagram, determines and send barrier early warning letter
The driving trace of at least one vehicle of breath；
According to the driving trace, generates lane-change corresponding at least one vehicle of barrier warning information is sent and refer to
It enables.
Compared to the prior art, the invention has the following advantages:
The present invention provides a kind of drive manner of vehicle and system, in the present invention, when the vehicle front preset away from
From it is interior there is no relative vehicle when, according to the lane line information and Maximum speed limit information of acquisition, adjust the traveling of the vehicle
Speed and driving direction angle, so that the vehicle travels in pre-set velocity requires along the center line in the lane at place.When
The front preset of the vehicle detects the relative distance of the vehicle Yu the relative vehicle there are when relative vehicle apart from interior,
According to the relative distance, adjust the vehicle throttle depth and the driving direction angle so that the speed of the vehicle
And the speed of the relative vehicle is identical and the traveling lane of the vehicle is identical as the traveling lane of the relative vehicle,
And then it can be realized intelligent driving of the vehicle in tunnel.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of method flow diagram of the drive manner of vehicle provided by the invention；
Fig. 2 is the method flow diagram of the drive manner of another vehicle provided by the invention；
Fig. 3 is the method flow diagram of the drive manner of another vehicle provided by the invention；
Fig. 4 is a kind of structural schematic diagram of the pilot instrument of vehicle provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of drive manner of vehicle, it is applied to vehicle, wherein vehicle driving state includes
Two kinds, one is intelligent driving states, and one is pilot steering states.
When being in intelligent driving state, vehicle can be realized automatic Pilot, and when being in pilot steering state, vehicle is needed
It manually to be driven, i.e., manually determine the speed and driving trace of vehicle.
It should be noted that security control terminal joins the communication technology by V2X (vehicle to X) intelligent network, pass through mark
Whether quasi- intelligence drives access interface, after vehicle drives into tunnel, send control vehicle request to vehicle, confirmed by driver's response
Whether by security control terminal adapter tube vehicle.When driver confirms by security control terminal adapter tube vehicle, vehicle enters intelligence
Driving condition, when driver confirms not by security control terminal adapter tube vehicle, vehicle enters pilot steering state.
Wherein, V2X intelligent network connection mechanics of communication be the following intelligent transport system key technology, it make vehicle with
Vehicle, vehicle can be communicated between base station, base station and base station, so that it is a series of to obtain real-time road, road, pedestrian, signal lamp etc.
Traffic information improves drive safety and traffic efficiency whereby and provides car entertainment information.Industry realizes V2X communication at present
Technology mainly have 2 kinds, i.e. dedicated short-range communication technology DSRC and LTE-V (LTE-Vehicle).
Referring to Fig.1, vehicle drive manner the following steps are included:
S11, when vehicle is in intelligent driving state, the front preset distance for detecting vehicle is interior with the presence or absence of opposite vehicle
?；Not there is no relative vehicle when the front preset distance for detecting vehicle is interior, step S12 is executed, when the front for detecting vehicle
There are relative vehicles in pre-determined distance, execute step S13.
Wherein, the lane where relative vehicle is identical as the lane where vehicle.Pre-determined distance is technical staff according to vehicle
What specific driving cycle was set.
The front preset distance for detecting vehicle is interior with the presence or absence of relative vehicle, i.e., whether the front in lane where detection vehicle
There are relative vehicles, wherein relative vehicle may be at driving status, also may be at dead ship condition.
S12, lane line information and Maximum speed limit information according to acquisition, adjust travel speed and the traveling side of vehicle
To angle, so that vehicle travels in pre-set velocity requires along the center line in the lane at place；
Wherein, lane line information is obtained by visual sensor measurement.It include road where vehicle in lane line information
Each lane line position.Maximum speed limit information is also to be obtained by visual sensor measurement, specifically, visual sensor energy
The direction board in tunnel is enough taken, with Maximum speed limit information in direction board, it is only necessary to the data acquired from visual sensor
Middle reading obtains Maximum speed limit information.Wherein, Maximum speed limit information is the highest traveling of the road in tunnel where vehicle
Speed.
Optionally, on the basis of the present embodiment, step S12 includes:
1) it according to the positional relationship of the lane line in the lane line information of acquisition, is calculated in the lane where vehicle
The position of heart line；
Specifically, the left-lane line and right-lane line in the lane where vehicle are determined, according to a left side from lane line information
Lane line and right-lane line determine the position of the center line in lane.
2) according to the position of center line, travel speed and the driving direction angle of vehicle are adjusted.
Specifically, after determining the position of center line, send driving speed information and arrive throttle, transmission driving direction angle to
Steering control system, and then gas pedal depth and driving direction angle can be constantly adjusted, so that vehicle is along center line
Position travels in the speed required in Maximum speed limit information.Wherein it is preferred to speed can be adjusted in tunnel most
High speed limit.
It should be noted that the purpose of adjustment gas pedal depth is exactly the travel speed in order to adjust vehicle.
In addition, adjusting travel speed and the driving direction angle of vehicle according to the position of center line, can be realized vehicle
Transverse direction controls in speed and lane, maintains lane center traveling.Vehicle in the present embodiment can either be in straight vehicle
It is travelled in road, it also can be in the road conditions such as turn traveling.
S13, the relative distance for detecting vehicle and relative vehicle；
Specifically, the first relative distance of vehicle and relative vehicle is obtained by visual sensor measurement, using laser thunder
The second relative distance of vehicle and relative vehicle is obtained up to sensor measurement, and then to the first relative distance and the second relative distance
It is compared and integrates, obtain relative distance.
It should be noted that the first relative distance and the second relative distance are compared and are integrated, relative distance is obtained,
It is to reduce relative distance caused by the one of measurement appearance mistake of visual sensor either laser radar sensor
Calculate the probability of mistake.
S14, according to relative distance, throttle depth and the driving direction angle of vehicle are adjusted, so that the speed of vehicle and phase
Lane where and vehicle identical to the speed of vehicle is identical as the lane where relative vehicle.
Wherein, due to relative vehicle, i.e. front truck, travel speed it is indefinite, may accelerate or slow down, in addition, front truck is also
It may carry out lane change at any time, in the present embodiment, be exactly the relative distance according to this vehicle and front truck, adjust the oil of this vehicle in real time
Door tread depths, so that this vehicle is identical with the travel speed of front truck, in addition, the driving direction angle of this vehicle is adjusted in real time, with
Keep this vehicle identical as the traveling lane of vehicle in front, i.e., front truck lane change when, the lane change therewith of this vehicle.
Specifically, vehicle is maintained a certain distance with front truck within the scope of road speed limit, when front truck gives it the gun, this
Vehicle acceleration follows front truck, maintains fixed relative distance, and when front truck slows down, this vehicle slows down therewith, when front truck is decelerated to
When static, this vehicle is static therewith (brake is stopped), when front truck left/right lane-change, this vehicle left/right lane-change therewith.
In the present embodiment, when the front preset of vehicle distance is interior not there is no relative vehicle, believed according to the lane line of acquisition
Breath and Maximum speed limit information, adjust travel speed and the driving direction angle of vehicle, so that lane of the vehicle along place
Center line traveling in pre-set velocity requires.When the front preset of vehicle apart from interior there are when relative vehicle, detect vehicle and phase
Throttle depth and the driving direction angle of vehicle are adjusted, so that the speed of vehicle according to relative distance to the relative distance of vehicle
And the speed of relative vehicle is identical and the traveling lane of vehicle and the traveling lane of relative vehicle it is identical, and then can be realized
Intelligent driving of the vehicle in tunnel.
Optionally, on the basis of the above embodiments, referring to Fig. 2, further includes:
S21, the fiducial time that Cloud Server is sent is received；
Wherein, the time on the instrument board of each vehicle travelled in tunnel may be identical, may not be identical, in order to protect
The time reference for demonstrate,proving the vehicle network topology diagram that Cloud Server generates is identical, is needed at this time to each vehicle in tunnel
Time is calibrated.
S22, according to fiducial time, the time on the instrument board of vehicle is adjusted so that the time on instrument board with
Fiducial time is synchronous；
Specifically, using the time of the synchronous Cloud Server of Time synchronization algorithm and the time of vehicle, both guarantee when
Between consistency.
S23, the reference frame information that Cloud Server is sent is received；
Wherein, it in order to which the benchmark for guaranteeing the position of vehicle network topology diagram is identical, is needed at this time to each in tunnel
It is calibrated the position of a vehicle.
Specifically, tunnel portal center configuration has locating module, using locating module position as in reference frame
Heart coordinate, i.e. origin, be set as G (x-axis direction: direct north, y-axis direction: due west direction, z-axis direction: day to), locating module
The reference frame that will acquire is sent to Cloud Server, and then reference frame is sent to each vehicle in tunnel by Cloud Server
?.
S24, according to reference frame information, calculate the relative position information of the origin of vehicle and reference frame；
Specifically, after each vehicle receives reference frame information, by the bodywork reference frame and reference coordinate of this vehicle
System is converted, and bodywork reference frame is converted into reference frame, can determine position of the vehicle in reference frame, in turn
The relative position of the origin of vehicle and reference frame can be calculated, relative position information can be accessed.
S25, vehicle traveling information is sent to Cloud Server；
Wherein, vehicle traveling information includes vehicles identifications, vehicle size, relative position information, car speed, the vehicle of vehicle
Front-and-rear vehicle distance from and vehicle driving state.
Wherein, the front-and-rear vehicle distance of vehicle from refer to this vehicle at a distance from front truck, this vehicle is at a distance from rear car.In addition,
Vehicle traveling information can also be sent to security control terminal and be backed up.
Vehicle driving state includes intelligent driving state and pilot steering state.
It should be noted that car speed is obtained by the velocity sensor measurement of vehicle, the front-and-rear vehicle distance of vehicle is from being
It is obtained by visual sensor and laser radar sensor measurement.
It, can be according to all vehicles when Cloud Server receives the vehicle traveling information of each vehicle in tunnel
Driving information generates vehicle network topology diagram.
Wherein, in vehicle network topology diagram, the vehicle in intelligent driving state can be indicated with blue mark,
Vehicle in pilot steering state can be identified with yellow and be indicated, the stationary obstruction in lane can identify table with red
Show, vehicle network topology diagram is capable of the driving status of each vehicle in real-time display tunnel.
In addition, the log recording of intelligent driving can be also sent to Cloud Server by vehicle, so as to when accident occurs for vehicle,
Reason can be analyzed according to log recording.
S26, reception simultaneously show the vehicle network topology diagram that Cloud Server is sent.
Specifically, the display interface in the instrument board of vehicle shows vehicle network topology diagram.
In the present embodiment, the vehicle network topology diagram of Cloud Server generation can be received, and then vehicle can be made
Driver understands the driving status of each vehicle in tunnel.
Optionally, based on any of the above embodiments, referring to Fig. 3, further includes:
S31, judge whether vehicle can circumvent stationary obstruction in the lane at place；When judging vehicle at place
It can circumvent stationary obstruction in lane, execute step S32, it is static when judging vehicle in the lane at place and can not circumvent
Barrier executes step S33.
Specifically, when in the front distance to a declared goal for detecting vehicle there are when stationary obstruction, according to lane line information with
And the location information of the stationary obstruction detected, judge whether vehicle can circumvent stationary obstruction in the lane at place.
Wherein, distance to a declared goal refers to what technical staff was set according to the specific driving cycle in tunnel.Static obstacle
Object can be the barriers such as tapered pile, fault car.It should be noted that the left and right sides lane in the lane where vehicle can at this time
With normal pass.
Specifically, judging vehicle at place according to the location information of lane line information and the stationary obstruction detected
Lane in whether can circumvent stationary obstruction, comprising:
According to the location information of lane line information and the stationary obstruction detected, analyze in the lane where vehicle
Whether the remaining access position for being in the lane of same parallel lines with stationary obstruction is greater than the length and current affluence of this vehicle
The sum of length.Wherein, current rich length is to guarantee that vehicle does not collide other vehicles either stationary obstruction.
It is greater than the length of this vehicle and the sum of current rich length when remaining access position, illustrates that there are static barriers in lane
Hindering the remaining access position of object can also pass through, when remaining access position no more than the length of this vehicle and current rich length it
And when, illustrate that there are the rest positions of stationary obstruction to pass through in lane.
S32, according to the location information of lane line information and the stationary obstruction detected, adjust driving direction angle；
Specifically, the side of remaining access position is lane line, side is stationary obstruction, according to visual sensor and is swashed
The relative position of lane line and stationary obstruction that optical radar sensor measurement obtains, calculates in lane line and stationary obstruction
Heart line, and then according to the position of center line, the driving direction angle of vehicle is constantly adjusted, so that vehicle passes through stationary obstruction
Region.
S33, barrier warning information is sent to security control terminal and issues information warning；
Specifically, sending barrier warning information to security control terminal, to inform that security control terminal vehicle encounters
Barrier failure.
In addition, sending warning sound, the voice prompting driver either display reminding information on instrument board can be.Hair
The purpose for warning sound out is prompt driver manually adapter tube vehicle.
S34, the lane-change instruction that security control terminal is sent is received；
S35, execution lane-change operation corresponding with lane-change instruction.
Specifically, being instructed and being carried out according to the lane-change that security control terminal is sent when driver is without manually adapter tube vehicle
Lane-change, to cross stationary obstruction region safely.
In the present embodiment, can when encountering stationary obstruction, if can normal pass, adjust driving direction angle, it is suitable
Benefit is current, when can not normal pass when, prompt driver's manually adapter tube vehicle, or send according to security control terminal
Lane-change instruction carries out lane-change, to pass through stationary obstruction region.
Optionally, a kind of control loop of vehicle, including at least one vehicle are provided in another embodiment of the present invention
With security control terminal 201；Wherein, at least one vehicle can be vehicle 101-10n, and n is positive integer.
Security control terminal 201, for sending the request of control vehicle to each vehicle；
Vehicle, for receiving control vehicle request, the confirmation for receiving user's input receives the instruction of control, and detection vehicle
Front preset distance it is interior whether there is relative vehicle, there is no opposite vehicle when the front preset distance for detecting vehicle is interior
, according to the lane line information and Maximum speed limit information of acquisition, travel speed and the driving direction angle of vehicle are adjusted, so that
Vehicle traveling in pre-set velocity requires along the center line in the lane at place, when detecting the front preset of vehicle apart from memory
In relative vehicle, detect the relative distance of vehicle and relative vehicle, according to relative distance, adjust the gas pedal depth of vehicle with
And driving direction angle, so that lane and relative vehicle where the speed of vehicle is identical as the speed of relative vehicle and vehicle
The lane at place is identical；
Wherein, the lane where relative vehicle is identical as the lane where vehicle.
Optionally, on the basis of the present embodiment, vehicle is used to be believed according to the lane line information and Maximum speed limit of acquisition
Breath, when adjusting travel speed and the driving direction angle of vehicle, is specifically used for:
According to the positional relationship of the lane line in the lane line information of acquisition, the center in the lane where vehicle is calculated
The position of line；
According to the position of center line, travel speed and the driving direction angle of vehicle are adjusted.
In the present embodiment, when the front preset of vehicle distance is interior not there is no relative vehicle, believed according to the lane line of acquisition
Breath and Maximum speed limit information, adjust travel speed and the driving direction angle of vehicle, so that lane of the vehicle along place
Center line traveling in pre-set velocity requires.When the front preset of vehicle apart from interior there are when relative vehicle, detect vehicle and phase
Throttle depth and the driving direction angle of vehicle are adjusted, so that the speed of vehicle according to relative distance to the relative distance of vehicle
And the speed of relative vehicle is identical and the traveling lane of vehicle and the traveling lane of relative vehicle it is identical, and then can be realized
Intelligent driving of the vehicle in tunnel.
Optionally, on the basis of the embodiment of above-mentioned control loop, further includes:
Cloud Server；
Cloud Server receives each vehicle and sends for sending fiducial time and reference frame information to each vehicle
Vehicle traveling information vehicle network topology diagram is generated according to the vehicle traveling information that each vehicle is sent, and by vehicle
Network topology structure figure is sent to vehicle and security control terminal；
Vehicle is also used to receive fiducial time, according to fiducial time, is adjusted to the time on the instrument board of vehicle,
So that the time on instrument board is synchronous with fiducial time, reference frame information is received, according to reference frame information, calculates vehicle
Relative position information with the origin of reference frame sends vehicle traveling information to Cloud Server, and receives and show
Vehicle network topology diagram；Wherein, vehicle traveling information include the vehicles identifications of vehicle, vehicle size, relative position information,
Car speed, vehicle front-and-rear vehicle distance from and vehicle driving state；
Security control terminal is also used to receive the vehicle network topology diagram of Cloud Server transmission.
Specifically, after security control terminal receives the vehicle network topology diagram that Cloud Server is sent, it can be in tunnel
When interior vehicle encounters barrier, according to vehicle network topology diagram, lane-change instruction is provided for vehicle in time.
In addition, the vehicle traveling information that Cloud Server is sent according to each vehicle, generates vehicle network topology diagram
Process includes:
According to the relative position information of each vehicle, vehicle size and front-and-rear vehicle distance from determining each vehicle in vehicle
Position in network topology structure figure.And then it is each in vehicle network topological structure map logo according to the vehicles identifications of each vehicle
A vehicle.
In the present embodiment, Cloud Server can generate vehicle network topology diagram, and vehicle network topology diagram is sent out
Sending can make vehicle driver and security control terminal understand each vehicle in tunnel to vehicle and security control terminal
Driving status, additionally it is possible to which, when vehicle encounters barrier, security control terminal is raw for vehicle according to vehicle network topology diagram
It is instructed at lane-change, so that vehicle safety crosses barrier region.
Optionally, on the basis of the embodiment of any of the above-described control loop,
Vehicle is also used to when, there are when stationary obstruction, being believed according to lane line in the front distance to a declared goal for detecting vehicle
The location information of stationary obstruction for ceasing and detecting, judges whether stationary obstruction can be circumvented in the lane at place,
When judging that stationary obstruction can be circumvented in the lane at place, according to lane line information and the stationary obstruction detected
Location information, adjust driving direction angle, when judging that the lane line at place can not circumvent stationary obstruction, send obstacle
Object warning information is to security control terminal and issues information warning, receives the lane-change instruction that security control terminal is sent, and hold
Row lane-change operation corresponding with lane-change instruction；
Security control terminal is also used to receive barrier warning information, according to vehicle network topology diagram, determines and sends
The blocking level of road where at least one vehicle of barrier warning information, when determining that blocking grade is the first predetermined level
When, according to vehicle network topology diagram, generates lane-change corresponding at least one vehicle of barrier warning information is sent and refer to
It enables, and sends corresponding vehicle for lane-change instruction.
Wherein, the first predetermined level is second level and three-level, and the second predetermined level is level-one, and in addition there are three-levels.
It should be noted that the judgment method of blocking grade is as follows:
The classification schematic table of the blocking grade of table 1
Specifically, which kind of blocking type analysis belongs to according to vehicle network topology diagram, wherein blocking type is table
Tertial content in lattice checks the corresponding blocking grade of blocking type after analyzing blocking type, presets etc. when for first
When grade, as second level or three-level, lane-change instruction is generated, guidance vehicle lane-changing is current；In addition, being also notified that the road traffic safety Yuan He
Barrier situation is informed by road rescue center.
When blocking grade is the second predetermined level, start emergency preplan, wherein starting emergency preplan can hereinafter in detail
It is thin to introduce.
For example, single vehicle is blocked when according to vehicle network topology diagram, analyzing blocking type and belong to three lanes
When this type of road, since the corresponding blocking grade of this type is three-level, executes send lane-change instruction at this time, guide replacing vehicle
Road is current, and the operation of notice traffic safety person and roadside assistance center.
Optionally, on the basis of the present embodiment, security control terminal is used to be generated according to vehicle network topology diagram
When lane-change corresponding at least one vehicle of barrier warning information is sent instructs, it is specifically used for:
1) it according to the relative position of each vehicle in vehicle network topology diagram, determines and sends barrier warning information
At least one vehicle driving trace；
Wherein, driving trace is not influence other vehicles and transitable driving trace.
2) it according to driving trace, generates lane-change corresponding at least one vehicle of barrier warning information is sent and instructs.
After obtaining driving trace, it will be able to determine the traveling lane of vehicle, wherein traveling lane may relate to need to change
Road can determine that lane-change is instructed according to driving trace at this time.
In the present embodiment, when vehicle can be normal through barrier region, driving direction angle is adjusted, to break the barriers
Region, when vehicle can not be normal through barrier region, when security control terminal determines that blocking grade is first default etc.
When grade, the lane-change instruction that vehicle is sent according to security control terminal carries out lane-change, to pass through barrier region.
Optionally, on the basis of last embodiment, further includes:
Emergency flight control terminal；
Security control terminal is also used to send starting emergency response when determining blocking grade is the second predetermined level
The starting emergency response instruction that message is sent to emergency response terminal and reception emergency response terminal, according to vehicle network topology
Structure chart generates lane-change corresponding at least one vehicle of barrier warning information is sent and instructs, and lane-change is instructed and is sent
To corresponding vehicle；
Emergency response terminal, for sending tunnel stopping state and vehicle network topology diagram to upper one of tunnel
The electronic display at crossing, so that electronic display screen displays tunnel stopping state and vehicle network topology diagram, transmission warning
Information to staff mobile terminal, dial roadside assistance phone and send tunnel stopping state to Traffic Announcement center.
Specifically, starting emergency preplan, specifically when security control terminal determines that blocking grade is the second predetermined level
Process includes:
Send the starting emergency that starting emergency response message is sent to emergency response terminal and reception emergency response terminal
Response instruction generates corresponding at least one vehicle of barrier warning information is sent according to vehicle network topology diagram
Lane-change instruction, and corresponding vehicle is sent by lane-change instruction, to guide vehicle to withdraw.
In addition, emergency response terminal sends tunnel stopping state and vehicle network topology diagram to upper one of tunnel
The electronic display at crossing is the vehicle in order to not enter tunnel also it can be seen that tunnel stopping state and vehicle network topology
Structure chart, and then travel route can be replaced in advance.
Send information warning to staff mobile terminal, dial roadside assistance phone and send tunnel block feelings
Condition to Traffic Announcement center, is taken measures as early as possible to enable other sides to understand the situation in time, guarantees the vehicle in tunnel
Smoothly communication.
Further, it is also possible to send the instruction of tunnel portal direction red light, so that vehicle can not enter tunnel, avoid making new
Vehicle enters tunnel and the problem that keeps the stopping state in tunnel more serious.
It should be understood that left and right turn signal and sail out of tunnel exit direction lamp it is constant.
In the present embodiment, when security control terminal judges that blocking grade is the second predetermined level, vehicle lane-changing is controlled,
Emergency response terminal notification other staff rescue.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of drive manner of vehicle, which is characterized in that be applied to vehicle, comprising:
When the vehicle is in intelligent driving state, the front preset distance for detecting the vehicle is interior with the presence or absence of opposite vehicle
?；Wherein, the lane where the relative vehicle is identical as the lane where the vehicle；
Not there is no relative vehicle when the front preset distance for detecting the vehicle is interior, according to the lane line information of acquisition and most
High speed-limiting messages adjust travel speed and the driving direction angle of the vehicle, so that lane of the vehicle along place
Center line traveling in pre-set velocity requires；
When detecting that the front preset of the vehicle there are relative vehicle, detects the vehicle and the relative vehicle apart from interior
Relative distance；
According to the relative distance, adjust the vehicle gas pedal depth and the driving direction angle so that the vehicle
The speed vehicle identical and described with the speed of the relative vehicle where lane and the relative vehicle where vehicle
Road is identical.
2. drive manner according to claim 1, which is characterized in that according to the lane line information and Maximum speed limit of acquisition
Information adjusts travel speed and the driving direction angle of the vehicle, comprising:
According to the positional relationship of the lane line in the lane line information of acquisition, the center in the lane where the vehicle is calculated
The position of line；
According to the position of the center line, travel speed and the driving direction angle of the vehicle are adjusted.
3. drive manner according to claim 1, which is characterized in that further include:
Receive the fiducial time that Cloud Server is sent；
According to the fiducial time, the time on the instrument board of the vehicle is adjusted so that on the instrument board when
Between it is synchronous with the fiducial time；
Receive the reference frame information that the Cloud Server is sent；
According to the reference frame information, the relative position information of the origin of the vehicle and the reference frame is calculated；
Vehicle traveling information is sent to the Cloud Server；Wherein, the vehicle traveling information includes the vehicle mark of the vehicle
Knowledge, vehicle size, relative position information, car speed, vehicle front-and-rear vehicle distance from and vehicle driving state；
Receive and show the vehicle network topology diagram that the Cloud Server is sent.
4. drive manner according to claim 1, which is characterized in that further include:
When in the front distance to a declared goal for detecting the vehicle there are when stationary obstruction, according to the lane line information and inspection
It is described static to judge whether the vehicle can circumvent in the lane at place for the location information of the stationary obstruction measured
Barrier；
When judging that the vehicle can circumvent the stationary obstruction in the lane at place, according to the lane line information with
And the location information of the stationary obstruction detected, adjust the driving direction angle；
When judging that the vehicle can not circumvent the stationary obstruction in the lane at place, barrier warning information is sent
To the security control terminal and issue information warning；
Receive the lane-change instruction that the security control terminal is sent；
Execute lane-change operation corresponding with lane-change instruction.
5. a kind of control loop of vehicle, which is characterized in that including at least one vehicle and security control terminal；
The security control terminal, for sending the request of control vehicle to each vehicle；
The vehicle, for receiving the control vehicle request, the confirmation for receiving user's input receives the instruction of control, Yi Jijian
The front preset distance for surveying the vehicle is interior with the presence or absence of relative vehicle, when the front preset distance for detecting the vehicle is interior not
There are relative vehicle, according to the lane line information and Maximum speed limit information of acquisition, adjust the vehicle travel speed and
Driving direction angle, so that the vehicle travels in pre-set velocity requires along the center line in the lane at place, when detecting
Stating the front preset of vehicle, there are relative vehicles apart from interior, detect the relative distance of the vehicle Yu the relative vehicle, according to
The relative distance, adjust the vehicle gas pedal depth and the driving direction angle so that the speed of the vehicle
And the lane where the speed of the relative vehicle is identical and the vehicle is identical as the lane where the relative vehicle；
Wherein, the lane where the relative vehicle is identical as the lane where the vehicle.
6. control loop according to claim 5, which is characterized in that the vehicle is used for the lane line information according to acquisition
And Maximum speed limit information is specifically used for when adjusting travel speed and the driving direction angle of the vehicle:
According to the positional relationship of the lane line in the lane line information of acquisition, the center in the lane where the vehicle is calculated
The position of line；
According to the position of the center line, travel speed and the driving direction angle of the vehicle are adjusted.
7. control loop according to claim 5, which is characterized in that further include:
Cloud Server；
The Cloud Server receives each described for sending fiducial time and reference frame information to each vehicle
The vehicle traveling information that vehicle is sent generates vehicle network topology knot according to the vehicle traveling information that each vehicle is sent
Composition, and the vehicle network topology diagram is sent to the vehicle and the security control terminal；
The vehicle is also used to receive the fiducial time, according to the fiducial time, on the instrument board of the vehicle when
Between be adjusted so that the time on the instrument board is synchronous with the fiducial time, receive the reference frame information, root
According to the reference frame information, the relative position information of the origin of the vehicle and the reference frame is calculated, sends vehicle
Driving information is to the Cloud Server, and receives and show the vehicle network topology diagram；Wherein, the vehicle row
Sail the front-and-rear vehicle distances of vehicles identifications, vehicle size, relative position information, car speed, vehicle that information includes the vehicle from
And vehicle driving state；
The security control terminal is also used to receive the vehicle network topology diagram that the Cloud Server is sent.
8. control loop according to claim 7, which is characterized in that
The vehicle, be also used to when in the front distance to a declared goal for detecting the vehicle there are when stationary obstruction, according to described
The location information of lane line information and the stationary obstruction detected judges whether can circumvent in the lane at place
The stationary obstruction is believed when judging that the stationary obstruction can be circumvented in the lane at place according to the lane line
The location information of the stationary obstruction for ceasing and detecting, adjusts the driving direction angle, when judging the vehicle at place
Diatom can not circumvent the stationary obstruction, send barrier warning information to the security control terminal and issue warning
Information receives the lane-change instruction that the security control terminal is sent, and executes lane-change operation corresponding with lane-change instruction；
The security control terminal is also used to receive the barrier warning information, according to the vehicle network topology diagram,
The blocking level of road where determining at least one vehicle for sending barrier warning information, when determining that the blocking grade is
When the first predetermined level, according to the vehicle network topology diagram, barrier warning information at least one is generated and sent
The corresponding lane-change instruction of vehicle, and corresponding vehicle is sent by lane-change instruction.
9. control loop according to claim 8, which is characterized in that further include:
Emergency flight control terminal；
The security control terminal is also used to when determining the blocking grade is the second predetermined level, sends starting emergency
The starting emergency response instruction that response message is sent to the emergency response terminal and the reception emergency response terminal, according to
The vehicle network topology diagram generates lane-change corresponding at least one vehicle of barrier warning information is sent and instructs,
And corresponding vehicle is sent by lane-change instruction；
The emergency response terminal, for sending tunnel stopping state and the vehicle network topology diagram to the tunnel
A upper crossing electronic display so that tunnel stopping state and the vehicle network described in the electronic display screen displays
Topology diagram, send information warning to staff mobile terminal, dial roadside assistance phone and send tunnel blocking
Situation is to Traffic Announcement center.
10. control loop according to claim 8, which is characterized in that the security control terminal is used for according to the vehicle
Network topology structure figure, when generating lane-change instruction corresponding at least one vehicle of barrier warning information is sent, specifically
For:
According to the relative position of each vehicle in the vehicle network topology diagram, determines and send barrier warning information
The driving trace of at least one vehicle；
According to the driving trace, generates lane-change corresponding at least one vehicle of barrier warning information is sent and instruct.
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| CN110599570A (en) * | 2019-09-17 | 2019-12-20 | 武汉中海庭数据技术有限公司 | Map generation method and system based on crowdsourcing data open scene |
| CN111354199A (en) * | 2020-02-19 | 2020-06-30 | 广州小鹏汽车科技有限公司 | Control method, control device, vehicle, and storage medium |
| CN111619479A (en) * | 2020-05-20 | 2020-09-04 | 重庆金康赛力斯新能源汽车设计院有限公司 | Driving takeover prompting method, device and system, vehicle-mounted controller and storage medium |
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| CN113619595A (en) * | 2020-05-08 | 2021-11-09 | 上海汽车集团股份有限公司 | Driving assisting method, device and system |
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