CN109624961B - Vehicle driving method and system - Google Patents
Vehicle driving method and system Download PDFInfo
- Publication number
- CN109624961B CN109624961B CN201710931074.0A CN201710931074A CN109624961B CN 109624961 B CN109624961 B CN 109624961B CN 201710931074 A CN201710931074 A CN 201710931074A CN 109624961 B CN109624961 B CN 109624961B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- lane
- information
- obstacle
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003068 static effect Effects 0.000 claims description 54
- 238000010586 diagram Methods 0.000 claims description 46
- 230000008859 change Effects 0.000 claims description 35
- 230000004044 response Effects 0.000 claims description 23
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 8
- 230000000903 blocking effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a vehicle driving method and a vehicle driving system. When an opposite vehicle exists in a preset distance in front of the vehicle, detecting the relative distance between the vehicle and the opposite vehicle, and adjusting the accelerator depth and the driving direction angle of the vehicle according to the relative distance so as to enable the speed of the vehicle to be the same as that of the opposite vehicle and the driving lane of the vehicle to be the same as that of the opposite vehicle, thereby realizing intelligent driving of the vehicle in a tunnel.
Description
Technical Field
The invention relates to the field of electric automobile control, in particular to a vehicle driving method and system.
Background
With the continuous development of intelligent driving technology, more and more vehicles have used intelligent driving technology, wherein basic functions such as following, lane keeping, braking or accelerating can be realized by using the intelligent driving technology.
Because the structured road conditions are relatively simple, the intelligent driving of the vehicle on the structured road is realized, but the intelligent driving of the vehicle in the tunnel is not realized at present due to the reasons of darker light, more claustrophobic environment and the like in the tunnel.
Disclosure of Invention
In view of this, the present invention provides a method and a system for driving a vehicle, so as to solve the problem that intelligent driving of the vehicle in a tunnel is not achieved at present.
In order to solve the technical problems, the invention adopts the following technical scheme:
a driving method of a vehicle is applied to the vehicle and comprises the following steps:
when the vehicle is in an intelligent driving state, detecting whether a relative vehicle exists within a preset distance in front of the vehicle; wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located;
when it is detected that no relative vehicle exists within a preset distance in front of the vehicle, adjusting the running speed and the running direction angle of the vehicle according to the collected lane line information and the highest speed limit information so as to enable the vehicle to run within a preset speed requirement along the center line of the lane where the vehicle is located;
when detecting that a relative vehicle exists within a preset distance in front of the vehicle, detecting the relative distance between the vehicle and the relative vehicle;
and adjusting the depth of an accelerator pedal and the driving direction angle of the vehicle according to the relative distance so that the speed of the vehicle is the same as that of the relative vehicle and the lane in which the vehicle is located is the same as that of the relative vehicle.
Preferably, adjusting the driving speed and the driving direction angle of the vehicle according to the collected lane line information and the highest speed limit information, includes:
calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
and adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
Preferably, the method further comprises the following steps:
receiving reference time sent by a cloud server;
adjusting the time on an instrument panel of the vehicle according to the reference time so as to enable the time on the instrument panel to be synchronous with the reference time;
receiving reference coordinate system information sent by the cloud server;
calculating relative position information of the vehicle and an origin of the reference coordinate system according to the reference coordinate system information;
sending vehicle driving information to the cloud server; the vehicle running information comprises a vehicle identification, a vehicle size, relative position information, a vehicle speed, a vehicle distance between a front vehicle and a rear vehicle of the vehicle and a vehicle driving state of the vehicle;
and receiving and displaying the vehicle network topology structure diagram sent by the cloud server.
Preferably, the method further comprises the following steps:
when a static obstacle is detected to exist in a specified distance in front of the vehicle, judging whether the vehicle can avoid the static obstacle in a lane where the vehicle is located according to the lane line information and the detected position information of the static obstacle;
when the vehicle is judged to be capable of avoiding the static obstacle in the lane, adjusting the driving direction angle according to the lane line information and the detected position information of the static obstacle;
when the vehicle is judged to be in the lane where the vehicle cannot avoid the static obstacle, obstacle early warning information is sent to the safety control terminal and warning information is sent out;
receiving a channel switching instruction sent by the safety control terminal;
and executing the lane change operation corresponding to the lane change instruction.
A driving system of a vehicle includes at least one vehicle and a safety control terminal;
the safety control terminal is used for sending a vehicle control request to each vehicle;
the vehicle is used for receiving the vehicle control request, receiving a command input by a user and confirming to control the vehicle control, and detecting whether there is a corresponding vehicle within a preset distance in front of the vehicle, and when it is detected that there is no corresponding vehicle within the preset distance in front of the vehicle, adjusting the running speed and the running direction angle of the vehicle according to the acquired lane line information and the highest speed limit information so as to enable the vehicle to run along the center line of the lane in which the vehicle is located within the preset speed requirement, detecting a relative distance between the vehicle and an opposite vehicle when the opposite vehicle is detected to be present within a preset distance in front of the vehicle, adjusting the depth of an accelerator pedal of the vehicle and the driving direction angle according to the relative distance, so that the speed of the vehicle is the same as the speed of the opposite vehicle and the lane in which the vehicle is located is the same as the lane in which the opposite vehicle is located;
wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located.
Preferably, when the vehicle is used for adjusting the driving speed and the driving direction angle of the vehicle according to the acquired lane line information and the highest speed limit information, the vehicle is specifically used for:
calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
and adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
Preferably, the method further comprises the following steps:
a cloud server;
the cloud server is used for sending reference time and reference coordinate system information to each vehicle, receiving vehicle running information sent by each vehicle, generating a vehicle network topology structure diagram according to the vehicle running information sent by each vehicle, and sending the vehicle network topology structure diagram to the vehicles and the safety control terminal;
the vehicle is further configured to receive the reference time, adjust time on an instrument panel of the vehicle according to the reference time, so that the time on the instrument panel is synchronized with the reference time, receive the reference coordinate system information, calculate, according to the reference coordinate system information, relative position information of the vehicle and an origin of the reference coordinate system, send vehicle driving information to the cloud server, and receive and display the vehicle network topology structure diagram; the vehicle running information comprises a vehicle identification, a vehicle size, relative position information, a vehicle speed, a vehicle distance between a front vehicle and a rear vehicle of the vehicle and a vehicle driving state of the vehicle;
and the safety control terminal is also used for receiving the vehicle network topology structure chart sent by the cloud server.
Preferably, the first and second electrodes are formed of a metal,
the vehicle is further used for judging whether the vehicle can avoid the static obstacle in the lane according to the lane line information and the detected position information of the static obstacle when detecting that the static obstacle exists in the specified distance in front of the vehicle, adjusting the driving direction angle according to the lane line information and the detected position information of the static obstacle when judging that the vehicle can avoid the static obstacle in the lane, sending obstacle early warning information to the safety control terminal and sending warning information when judging that the vehicle cannot avoid the static obstacle in the lane line, receiving a lane change instruction sent by the safety control terminal, and executing lane change operation corresponding to the lane change instruction;
the safety control terminal is further used for receiving the obstacle early warning information, determining the blocking level of the road where at least one vehicle sending the obstacle early warning information is located according to the vehicle network topology structure diagram, generating a lane changing instruction corresponding to the at least one vehicle sending the obstacle early warning information according to the vehicle network topology structure diagram when the blocking level is determined to be a first preset level, and sending the lane changing instruction to the corresponding vehicle.
Preferably, the method further comprises the following steps:
an emergency control terminal;
the safety control terminal is further used for sending an emergency response starting message to the emergency response terminal and receiving an emergency response starting instruction sent by the emergency response terminal when the congestion level is determined to be a second preset level, generating a lane change instruction corresponding to at least one vehicle sending obstacle early warning information according to the vehicle network topology structure diagram, and sending the lane change instruction to the corresponding vehicle;
the emergency response terminal is used for sending a tunnel blockage situation and the vehicle network topology structure chart to an electronic display screen of a last intersection of the tunnel, so that the electronic display screen displays the tunnel blockage situation and the vehicle network topology structure chart, sends warning information to a mobile terminal of a worker, dials a road rescue telephone and sends the tunnel blockage situation to a traffic broadcast center.
Preferably, when the safety control terminal is configured to generate a lane change instruction corresponding to at least one vehicle that sends the obstacle warning information according to the vehicle network topology structure diagram, the safety control terminal is specifically configured to:
determining the running track of at least one vehicle sending obstacle early warning information according to the relative position of each vehicle in the vehicle network topology structure chart;
and generating a lane changing instruction corresponding to at least one vehicle which sends the obstacle early warning information according to the running track.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a vehicle driving method and a vehicle driving system. When an opposite vehicle exists in a preset distance in front of the vehicle, detecting the relative distance between the vehicle and the opposite vehicle, and adjusting the accelerator depth and the driving direction angle of the vehicle according to the relative distance so as to enable the speed of the vehicle to be the same as that of the opposite vehicle and the driving lane of the vehicle to be the same as that of the opposite vehicle, thereby realizing intelligent driving of the vehicle in a tunnel.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a method flow diagram of a method of driving a vehicle in accordance with the present invention;
FIG. 2 is a method flow diagram of another method of driving a vehicle provided by the present invention;
FIG. 3 is a method flow diagram of yet another method of driving a vehicle provided by the present invention;
fig. 4 is a schematic structural diagram of a driving device of a vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a vehicle driving method which is applied to a vehicle, wherein the vehicle driving states comprise two states, namely an intelligent driving state and an artificial driving state.
When the intelligent driving state is achieved, the vehicle can achieve automatic driving, and when the intelligent driving state is achieved, the vehicle needs to be driven manually, namely the speed and the driving track of the vehicle are determined manually.
It should be noted that, the safety control terminal sends a vehicle control request to the vehicle through a standard smart driving access interface through a V2X (vehicle to X) smart internet communication technology, and after the vehicle enters the tunnel, a driver responds to determine whether to take over the vehicle from the safety control terminal. When the driver confirms that the vehicle is not taken over by the safety control terminal, the vehicle enters a manual driving state.
The V2X intelligent networking communication technology is a key technology of a future intelligent transportation system, and enables vehicles to communicate with each other, vehicles to communicate with a base station, and base stations to communicate with each other, so that a series of traffic information such as real-time road conditions, roads, pedestrians, signal lamps and the like is obtained, and therefore driving safety and traffic efficiency are improved, and vehicle-mounted entertainment information is provided. Currently, 2 technologies for implementing V2X communication are mainly used in the industry, namely dedicated short-range communication technology DSRC and LTE-V (LTE-Vehicle).
Referring to fig. 1, a driving method of a vehicle includes the steps of:
s11, when the vehicle is in an intelligent driving state, detecting whether a relative vehicle exists in a preset distance in front of the vehicle; when it is detected that the opposite vehicle does not exist within the preset distance in front of the vehicle, step S12 is executed, and when it is detected that the opposite vehicle exists within the preset distance in front of the vehicle, step S13 is executed.
Wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located. The preset distance is set by a technician according to the specific running condition of the vehicle.
Whether an opposite vehicle exists in a preset distance in front of the vehicle or not is detected, namely whether the opposite vehicle exists in front of a lane where the vehicle is located or not is detected, wherein the opposite vehicle can be in a running state or a parking state.
S12, adjusting the driving speed and the driving direction angle of the vehicle according to the collected lane line information and the highest speed limit information, so that the vehicle can drive along the center line of the lane in which the vehicle is located within the preset speed requirement;
wherein the lane line information is measured by a vision sensor. The lane line information includes the position of each lane line on the road where the vehicle is located. The highest speed limit information is also obtained by measurement of the visual sensor, specifically, the visual sensor can shoot a sign in the tunnel, the highest speed limit information is written in the sign, and the highest speed limit information can be obtained only by reading data collected by the visual sensor. The highest speed limit information is the highest running speed of the road where the vehicle is located in the tunnel.
Optionally, on the basis of this embodiment, step S12 includes:
1) calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
specifically, a left lane line and a right lane line of a lane where the vehicle is located are determined from the lane line information, and the position of the center line of the lane is determined according to the left lane line and the right lane line.
2) And adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
Specifically, after the position of the center line is determined, the running speed information is sent to the accelerator, and the running direction angle is sent to the steering control system, so that the depth and the running direction angle of the accelerator pedal can be continuously adjusted, and the vehicle can run within the speed required by the highest speed limit information along the position of the center line. Wherein the speed can preferably be adjusted to the highest speed limit within the tunnel.
The purpose of adjusting the accelerator pedal depth is to adjust the traveling speed of the vehicle.
In addition, the running speed and the running direction angle of the vehicle are adjusted according to the position of the center line, so that the speed and the transverse direction in the lane of the vehicle can be controlled, and the vehicle can keep running at the center of the lane. The vehicle in the embodiment can run in a straight lane and can also run on road conditions such as turning.
S13, detecting the relative distance between the vehicle and the opposite vehicle;
specifically, a first relative distance between the vehicle and the relative vehicle is obtained through measurement of the vision sensor, a second relative distance between the vehicle and the relative vehicle is obtained through measurement of the laser radar sensor, and then the first relative distance and the second relative distance are compared and integrated to obtain the relative distance.
It should be noted that, comparing and integrating the first relative distance and the second relative distance to obtain the relative distance is to reduce the probability of a relative distance calculation error caused by an error in measurement of one of the vision sensor and the lidar sensor.
And S14, adjusting the accelerator depth and the driving direction angle of the vehicle according to the relative distance so that the speed of the vehicle is the same as that of the relative vehicle and the lane in which the vehicle is located is the same as that of the relative vehicle.
In the present embodiment, the depth of the accelerator pedal of the vehicle is adjusted in real time according to the relative distance between the vehicle and the preceding vehicle so that the traveling speeds of the vehicle and the preceding vehicle are the same, and the traveling direction angle of the vehicle is adjusted in real time so that the traveling lanes of the vehicle and the preceding vehicle are the same, that is, the vehicle changes lanes along with the vehicle when the preceding vehicle changes lanes.
Specifically, within the road speed limit range, the vehicle keeps a certain distance from the front vehicle, when the front vehicle is accelerated to run, the vehicle is accelerated to follow the front vehicle and maintain a fixed relative distance, when the front vehicle is decelerated, the vehicle is decelerated along with the front vehicle, when the front vehicle is decelerated to be static, the vehicle is static (braked and stopped), and when the front vehicle changes lanes left/right, the vehicle changes lanes left/right along with the front vehicle.
In this embodiment, when there is no opposite vehicle in the preset distance in front of the vehicle, the driving speed and the driving direction angle of the vehicle are adjusted according to the collected lane line information and the highest speed limit information, so that the vehicle drives along the center line of the lane where the vehicle is located within the preset speed requirement. When the relative vehicle exists in the preset distance in front of the vehicle, the relative distance between the vehicle and the relative vehicle is detected, and the accelerator depth and the driving direction angle of the vehicle are adjusted according to the relative distance, so that the speed of the vehicle is the same as that of the relative vehicle, the driving lane of the vehicle is the same as that of the relative vehicle, and intelligent driving of the vehicle in the tunnel can be further realized.
Optionally, on the basis of the above embodiment, referring to fig. 2, the method further includes:
s21, receiving the reference time sent by the cloud server;
the time of each vehicle running in the tunnel may be the same or different, and in order to ensure that the time reference of the vehicle network topology structure diagram generated by the cloud server is the same, the time of each vehicle in the tunnel needs to be calibrated at this time.
S22, adjusting the time on the instrument panel of the vehicle according to the reference time so as to synchronize the time on the instrument panel with the reference time;
specifically, the time of the cloud server and the time of the vehicle are synchronized by adopting a time synchronization algorithm, and the time consistency of the cloud server and the vehicle is ensured.
S23, receiving reference coordinate system information sent by the cloud server;
in order to ensure that the reference of the position of the vehicle network topology structure diagram is the same, the position of each vehicle in the tunnel needs to be calibrated.
Specifically, a positioning module is arranged in the center of the tunnel entrance, the position of the positioning module is used as the center coordinate of the reference coordinate system, namely the origin, and is set as G (the x-axis direction: the due north direction, the y-axis direction: the due west direction, and the z-axis direction: the sky direction), the positioning module sends the acquired reference coordinate system to the cloud server, and the cloud server sends the reference coordinate system to each vehicle in the tunnel.
S24, calculating the relative position information of the vehicle and the origin of the reference coordinate system according to the reference coordinate system information;
specifically, after each vehicle receives the reference coordinate system information, the vehicle body coordinate system of the vehicle is converted into the reference coordinate system, the vehicle body coordinate system is converted into the reference coordinate system, the position of the vehicle in the reference coordinate system can be determined, the relative position of the vehicle and the origin of the reference coordinate system can be calculated, and the relative position information can be obtained.
S25, sending vehicle running information to a cloud server;
the vehicle running information includes a vehicle identifier of the vehicle, a vehicle size, relative position information, a vehicle speed, a vehicle distance between the front and rear of the vehicle, and a vehicle driving state.
The vehicle front-rear distance refers to a distance between the host vehicle and the front vehicle and a distance between the host vehicle and the rear vehicle. In addition, the vehicle driving information is also transmitted to the safety control terminal for backup.
The vehicle driving state includes an intelligent driving state and a manual driving state.
The vehicle speed is measured by a vehicle speed sensor, and the vehicle distance between the front and rear of the vehicle is measured by a vision sensor and a laser radar sensor.
When the cloud server receives the vehicle running information of each vehicle in the tunnel, a vehicle network topology structure chart can be generated according to all the vehicle running information.
In the vehicle network topology structure diagram, vehicles in an intelligent driving state can be represented by blue marks, vehicles in an artificial driving state can be represented by yellow marks, static obstacles in a lane can be represented by red marks, and the vehicle network topology structure diagram can display the driving state of each vehicle in a tunnel in real time.
In addition, the vehicle can also send the log record of intelligent driving to the cloud server, so that when the vehicle has an accident, the reason can be analyzed according to the log record.
And S26, receiving and displaying the vehicle network topology structure diagram sent by the cloud server.
Specifically, a vehicle network topology structure diagram is displayed on a display interface of an instrument panel of the vehicle.
In this embodiment, the vehicle network topology structure diagram generated by the cloud server can be received, and thus the driver of the vehicle can know the driving state of each vehicle in the tunnel.
Optionally, on the basis of any of the above embodiments, with reference to fig. 3, the method further includes:
s31, judging whether the vehicle can avoid the static obstacle in the lane; when it is determined that the vehicle can avoid the stationary obstacle in the lane, the step S32 is performed, and when it is determined that the vehicle cannot avoid the stationary obstacle in the lane, the step S33 is performed.
Specifically, when it is detected that a stationary obstacle exists within a specified distance ahead of the vehicle, it is determined whether the vehicle can avoid the stationary obstacle within the lane in which the vehicle is located, based on the lane line information and the position information of the detected stationary obstacle.
Wherein, the appointed distance is set by a technician according to the specific running condition in the tunnel. The stationary obstacle may be a cone pile, a malfunctioning vehicle, or the like. It should be noted that, at this time, the left and right lanes of the lane where the vehicle is located can normally pass through.
Specifically, the method for judging whether the vehicle can avoid the static obstacle in the lane according to the lane line information and the detected position information of the static obstacle includes:
and analyzing whether the remaining passing position of a lane in which the vehicle is positioned, which is on the same parallel line with the static obstacle, is greater than the sum of the length of the vehicle and the passing margin length according to the lane line information and the detected position information of the static obstacle. The passing margin length is used for ensuring that the vehicle does not collide with other vehicles or static obstacles.
When the remaining passing position is larger than the sum of the length of the vehicle and the passing allowance length, the remaining passing position indicating that the static obstacle exists in the lane can pass, and when the remaining passing position is not larger than the sum of the length of the vehicle and the passing allowance length, the remaining passing position indicating that the static obstacle exists in the lane can not pass.
S32, adjusting the driving direction angle according to the lane line information and the position information of the detected static obstacle;
specifically, one side of the remaining passing position is a lane line, the other side of the remaining passing position is a static obstacle, the lane line and the center line of the static obstacle are calculated according to the relative positions of the lane line and the static obstacle measured by the vision sensor and the laser radar sensor, and the driving direction angle of the vehicle is continuously adjusted according to the position of the center line, so that the vehicle can smoothly pass through the static obstacle area.
S33, sending obstacle early warning information to a safety control terminal and sending warning information;
specifically, obstacle early warning information is sent to the safety control terminal to inform the safety control terminal that the vehicle meets obstacle faults.
In addition, the warning sound is sent, and the warning sound can be used for prompting the driver through voice or displaying prompt information on an instrument panel. The purpose of giving out the warning sound is to prompt the driver to take over the vehicle manually.
S34, receiving a channel switching instruction sent by the safety control terminal;
and S35, executing the lane change operation corresponding to the lane change instruction.
Specifically, when the driver does not take over the vehicle manually, lane changing is performed according to a lane changing instruction sent by the safety control terminal so as to safely drive through a static obstacle area.
In this embodiment, when a static obstacle is encountered, if the vehicle can normally pass through, the driving direction angle is adjusted to smoothly pass through, and when the vehicle cannot normally pass through, the driver is prompted to take over the vehicle manually, or the lane is changed according to a lane changing instruction sent by the safety control terminal, so that the vehicle can smoothly pass through the static obstacle area.
Optionally, another embodiment of the present invention provides a driving system for a vehicle, including at least one vehicle and a safety control terminal 201; wherein at least one vehicle can be a vehicle 101-10n, n being a positive integer.
A safety control terminal 201 for sending a control vehicle request to each vehicle;
the vehicle is used for receiving a vehicle control request, receiving a command for confirming acceptance control input by a user, detecting whether a relative vehicle exists in a preset distance in front of the vehicle, when the relative vehicle does not exist in the preset distance in front of the vehicle, adjusting the running speed and the running direction angle of the vehicle according to the collected lane line information and the highest speed limit information so that the vehicle runs in the preset speed requirement along the center line of the lane in which the vehicle is located, when the relative vehicle exists in the preset distance in front of the vehicle, detecting the relative distance between the vehicle and the relative vehicle, and adjusting the depth of an accelerator pedal and the running direction angle of the vehicle according to the relative distance so that the speed of the vehicle is the same as the speed of the relative vehicle and the lane in which the vehicle is located is the same as the lane in which the relative vehicle is located;
wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located.
Optionally, on the basis of this embodiment, when the vehicle is used to adjust the driving speed and the driving direction angle of the vehicle according to the acquired lane line information and the highest speed limit information, the vehicle is specifically used to:
calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
and adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
In this embodiment, when there is no opposite vehicle in the preset distance in front of the vehicle, the driving speed and the driving direction angle of the vehicle are adjusted according to the collected lane line information and the highest speed limit information, so that the vehicle drives along the center line of the lane where the vehicle is located within the preset speed requirement. When the relative vehicle exists in the preset distance in front of the vehicle, the relative distance between the vehicle and the relative vehicle is detected, and the accelerator depth and the driving direction angle of the vehicle are adjusted according to the relative distance, so that the speed of the vehicle is the same as that of the relative vehicle, the driving lane of the vehicle is the same as that of the relative vehicle, and intelligent driving of the vehicle in the tunnel can be further realized.
Optionally, on the basis of the embodiment of the driving system, the driving system further includes:
a cloud server;
the cloud server is used for sending the reference time and the reference coordinate system information to each vehicle, receiving the vehicle running information sent by each vehicle, generating a vehicle network topology structure diagram according to the vehicle running information sent by each vehicle, and sending the vehicle network topology structure diagram to the vehicles and the safety control terminal;
the vehicle is also used for receiving the reference time, adjusting the time on an instrument panel of the vehicle according to the reference time so as to synchronize the time on the instrument panel with the reference time, receiving the information of the reference coordinate system, calculating the relative position information of the vehicle and the origin of the reference coordinate system according to the information of the reference coordinate system, sending the vehicle running information to the cloud server, and receiving and displaying the topology structure chart of the vehicle network; the vehicle running information comprises vehicle identification, vehicle size, relative position information, vehicle speed, vehicle distance and vehicle driving state of the vehicle;
and the safety control terminal is also used for receiving the vehicle network topology structure chart sent by the cloud server.
Specifically, after the safety control terminal receives the vehicle network topology structure diagram sent by the cloud server, when the vehicle in the tunnel encounters an obstacle, a lane change instruction is timely provided for the vehicle according to the vehicle network topology structure diagram.
In addition, the process of generating the vehicle network topology structure diagram by the cloud server according to the vehicle driving information sent by each vehicle comprises the following steps:
and determining the position of each vehicle in the vehicle network topological structure chart according to the relative position information of each vehicle, the size of the vehicle and the distance between the front vehicle and the rear vehicle. And identifying each vehicle in the vehicle network topological structure diagram according to the vehicle identification of each vehicle.
In this embodiment, the cloud server can generate a vehicle network topology structure diagram, and send the vehicle network topology structure diagram to the vehicle and the safety control terminal, so that a vehicle driver and the safety control terminal can know the driving state of each vehicle in the tunnel, and when the vehicle encounters an obstacle, the safety control terminal can generate a lane change instruction for the vehicle according to the vehicle network topology structure diagram, so that the vehicle can safely drive through the obstacle area.
Alternatively, on the basis of any of the embodiments of the driving system described above,
the vehicle is further used for judging whether the static obstacle can be avoided in the lane according to lane line information and the position information of the detected static obstacle when the static obstacle is detected to exist in the specified distance in front of the vehicle, adjusting the driving direction angle according to the lane line information and the position information of the detected static obstacle when the static obstacle can be avoided in the lane, sending obstacle early warning information to the safety control terminal and sending warning information when the static obstacle cannot be avoided in the lane line, receiving a lane change instruction sent by the safety control terminal, and executing lane change operation corresponding to the lane change instruction;
and the safety control terminal is also used for receiving the obstacle early warning information, determining the blocking grade of the road where at least one vehicle sending the obstacle early warning information is located according to the vehicle network topology structure diagram, generating a lane change instruction corresponding to the at least one vehicle sending the obstacle early warning information according to the vehicle network topology structure diagram when the blocking grade is determined to be a first preset grade, and sending the lane change instruction to the corresponding vehicle.
The first preset level is two-level and three-level, the second preset level is one-level, and three levels are provided.
The method of determining the clogging level is as follows:
TABLE 1 Classification of clogging classes
Specifically, according to a vehicle network topology structure diagram, analyzing which type of congestion belongs to, wherein the congestion type is the content of a third column in the table, checking the congestion level corresponding to the congestion type after the congestion type is analyzed, and generating a lane change instruction to guide a vehicle to change lanes to pass when the congestion level is a first preset level, namely a second level or a third level; in addition, traffic safety personnel and road rescue centers are informed of the obstacle situation.
And when the blockage grade is a second preset grade, starting an emergency plan, wherein the starting of the emergency plan is described in detail below.
For example, when it is analyzed that the congestion type belongs to a type of three lanes blocking a single lane according to the vehicle network topology structure diagram, since the congestion level corresponding to the type is three levels, the operations of sending a lane change instruction, guiding the vehicle to change lanes and informing traffic safety personnel and a road rescue center are performed.
Optionally, on the basis of this embodiment, when the safety control terminal is configured to generate, according to the vehicle network topology structure diagram, a lane change instruction corresponding to at least one vehicle that sends the obstacle warning information, the safety control terminal is specifically configured to:
1) determining the running track of at least one vehicle sending obstacle early warning information according to the relative position of each vehicle in the vehicle network topological structure chart;
the travel track is a travel track which does not affect other vehicles and can be traveled.
2) And generating a lane changing instruction corresponding to at least one vehicle which sends the obstacle early warning information according to the running track.
After the driving track is obtained, the driving lane of the vehicle can be determined, wherein the driving lane may relate to the lane change, and the lane change instruction can be determined according to the driving track.
In this embodiment, when the vehicle can normally pass through the obstacle area, the driving direction angle is adjusted to pass through the obstacle area, and when the vehicle cannot normally pass through the obstacle area, and when the safety control terminal determines that the congestion level is the first preset level, the vehicle switches lanes according to the lane switching instruction sent by the safety control terminal, so as to smoothly pass through the obstacle area.
Optionally, on the basis of the above embodiment, the method further includes:
an emergency control terminal;
the safety control terminal is further used for sending an emergency response starting message to the emergency response terminal and receiving an emergency response starting instruction sent by the emergency response terminal when the congestion level is determined to be a second preset level, generating a lane changing instruction corresponding to at least one vehicle sending the obstacle early warning information according to the vehicle network topology structure diagram, and sending the lane changing instruction to the corresponding vehicle;
the emergency response terminal is used for sending the tunnel blockage situation and the vehicle network topology structure chart to an electronic display screen of the last intersection of the tunnel, so that the electronic display screen displays the tunnel blockage situation and the vehicle network topology structure chart, sends the warning information to a mobile terminal of a worker, dials a road rescue telephone and sends the tunnel blockage situation to the traffic broadcasting center.
Specifically, when the safety control terminal determines that the blockage grade is the second preset grade, the emergency plan is started, and the specific process comprises the following steps:
and sending an emergency response starting message to an emergency response terminal and receiving an emergency response starting command sent by the emergency response terminal, generating a lane changing command corresponding to at least one vehicle sending the obstacle early warning information according to the vehicle network topology structure diagram, and sending the lane changing command to the corresponding vehicle to guide the vehicle to evacuate.
In addition, the emergency response terminal sends the tunnel blockage situation and the vehicle network topology structure chart to the electronic display screen of the last intersection of the tunnel, so that vehicles which do not enter the tunnel can see the tunnel blockage situation and the vehicle network topology structure chart, and further the driving route can be replaced in advance.
The warning information is sent to a mobile terminal of a worker, a road rescue call is dialed, and the tunnel blocking condition is sent to a traffic broadcast center, so that other parties can know the condition in time, measures are taken as soon as possible, and smooth communication of vehicles in the tunnel is guaranteed.
In addition, a red light instruction of the tunnel entrance direction can be sent, so that the vehicle cannot enter the tunnel, and the problem that the tunnel is more seriously blocked due to the fact that a new vehicle enters the tunnel is avoided.
However, the left and right turn signals and the signal indicating the direction of leaving the tunnel exit are not changed.
In this embodiment, when the safety control terminal determines that the congestion level is the second preset level, the vehicle is controlled to change lanes, and the emergency response terminal notifies other people to rescue.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A driving method of a vehicle, applied to the vehicle, comprising:
when the vehicle is in an intelligent driving state, detecting whether a relative vehicle exists within a preset distance in front of the vehicle; wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located;
when it is detected that no relative vehicle exists within a preset distance in front of the vehicle, adjusting the running speed and the running direction angle of the vehicle according to the collected lane line information and the highest speed limit information so as to enable the vehicle to run within a preset speed requirement along the center line of the lane where the vehicle is located;
when detecting that a relative vehicle exists within a preset distance in front of the vehicle, detecting the relative distance between the vehicle and the relative vehicle;
according to the relative distance, adjusting the depth of an accelerator pedal of the vehicle and the driving direction angle so that the speed of the vehicle is the same as that of the relative vehicle and the lane in which the vehicle is located is the same as that of the relative vehicle;
analyzing whether the remaining passing position of a lane in which the vehicle is located, which is on the same parallel line with the static obstacle, is greater than the sum of the length of the vehicle and the passing surplus length according to lane line information and the detected position information of the static obstacle within the specified distance in front of the vehicle;
when the remaining traffic position is not greater than the sum of the length of the vehicle and the traffic allowance length, judging that the vehicle cannot avoid the static obstacle in the lane where the vehicle is located, and sending obstacle early warning information to a safety control terminal, so that the safety control terminal determines the congestion level of the road where at least one vehicle sending the obstacle early warning information is located according to a vehicle network topology structure diagram, and when the congestion level is determined to be a first preset level, determining the running track of at least one vehicle sending the obstacle early warning information according to the relative position of each vehicle in the vehicle network topology structure diagram; generating a lane changing instruction corresponding to at least one vehicle which sends obstacle early warning information according to the running track; the vehicle network topology structure chart is generated by the cloud server according to vehicle running information sent by each vehicle;
and receiving a lane change instruction which is sent by the safety control terminal and corresponds to the driving track, and executing lane change operation corresponding to the lane change instruction.
2. The driving method according to claim 1, wherein adjusting the driving speed and the driving direction angle of the vehicle according to the collected lane line information and the highest speed limit information comprises:
calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
and adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
3. The driving method according to claim 1, characterized by further comprising:
receiving reference time sent by a cloud server;
adjusting the time on an instrument panel of the vehicle according to the reference time so as to enable the time on the instrument panel to be synchronous with the reference time;
receiving reference coordinate system information sent by the cloud server;
calculating relative position information of the vehicle and an origin of the reference coordinate system according to the reference coordinate system information;
sending vehicle driving information to the cloud server; the vehicle running information comprises a vehicle identification, a vehicle size, relative position information, a vehicle speed, a vehicle distance between a front vehicle and a rear vehicle of the vehicle and a vehicle driving state of the vehicle;
and receiving and displaying the vehicle network topology structure diagram sent by the cloud server.
4. The driving method according to claim 1, characterized by further comprising:
when a static obstacle is detected to exist in a specified distance in front of the vehicle, judging whether the vehicle can avoid the static obstacle in a lane where the vehicle is located according to the lane line information and the detected position information of the static obstacle;
and when the vehicle is judged to be capable of avoiding the static obstacle in the lane, adjusting the driving direction angle according to the lane line information and the detected position information of the static obstacle.
5. A driving system of a vehicle is characterized by comprising at least one vehicle and a safety control terminal;
the safety control terminal is used for sending a vehicle control request to each vehicle, receiving obstacle early warning information sent by at least one vehicle, determining the congestion level of the road where the at least one vehicle sending the obstacle early warning information is located according to a vehicle network topology structure chart, and determining the running track of the at least one vehicle sending the obstacle early warning information according to the relative position of each vehicle in the vehicle network topology structure chart when the congestion level is determined to be a first preset level; generating a lane changing instruction corresponding to at least one vehicle which sends obstacle early warning information according to the running track; the vehicle network topology structure chart is generated by the cloud server according to vehicle running information sent by each vehicle;
the vehicle is used for receiving the vehicle control request, receiving a command input by a user and confirming to control the vehicle control, and detecting whether there is a corresponding vehicle within a preset distance in front of the vehicle, and when it is detected that there is no corresponding vehicle within the preset distance in front of the vehicle, adjusting the running speed and the running direction angle of the vehicle according to the acquired lane line information and the highest speed limit information so as to enable the vehicle to run along the center line of the lane in which the vehicle is located within the preset speed requirement, detecting a relative distance between the vehicle and an opposite vehicle when the opposite vehicle is detected to be present within a preset distance in front of the vehicle, adjusting the depth of an accelerator pedal of the vehicle and the driving direction angle according to the relative distance, so that the speed of the vehicle is the same as the speed of the opposite vehicle and the lane in which the vehicle is located is the same as the lane in which the opposite vehicle is located; wherein the lane in which the opposite vehicle is located is the same as the lane in which the vehicle is located; analyzing whether the remaining passing position of a lane in which the vehicle is located, which is on the same parallel line with the static obstacle, is greater than the sum of the length of the vehicle and the passing surplus length according to lane line information and the detected position information of the static obstacle within the specified distance in front of the vehicle; and when the remaining passing position is not more than the sum of the length of the vehicle and the passing surplus length, judging that the vehicle cannot avoid the static obstacle in the lane, sending obstacle early warning information to the safety control terminal, receiving a lane change instruction corresponding to the running track sent by the safety control terminal, and executing lane change operation corresponding to the lane change instruction.
6. The driving system according to claim 5, wherein the vehicle is configured to, when adjusting the driving speed and the driving direction angle of the vehicle according to the collected lane line information and the highest speed limit information, specifically:
calculating the position of the center line of the lane where the vehicle is located according to the position relation of the lane lines in the collected lane line information;
and adjusting the running speed and the running direction angle of the vehicle according to the position of the central line.
7. The driving system according to claim 5, further comprising:
a cloud server;
the cloud server is used for sending reference time and reference coordinate system information to each vehicle, receiving vehicle running information sent by each vehicle, generating a vehicle network topology structure diagram according to the vehicle running information sent by each vehicle, and sending the vehicle network topology structure diagram to the vehicles and the safety control terminal;
the vehicle is further configured to receive the reference time, adjust time on an instrument panel of the vehicle according to the reference time, so that the time on the instrument panel is synchronized with the reference time, receive the reference coordinate system information, calculate, according to the reference coordinate system information, relative position information of the vehicle and an origin of the reference coordinate system, send vehicle driving information to the cloud server, and receive and display the vehicle network topology structure diagram; the vehicle running information comprises a vehicle identification, a vehicle size, relative position information, a vehicle speed, a vehicle distance between a front vehicle and a rear vehicle of the vehicle and a vehicle driving state of the vehicle;
and the safety control terminal is also used for receiving the vehicle network topology structure chart sent by the cloud server.
8. The driving system according to claim 7,
the vehicle is further used for judging whether the vehicle can avoid the static obstacle in the lane according to the lane line information and the detected position information of the static obstacle when detecting that the static obstacle exists in the specified distance in front of the vehicle, adjusting the driving direction angle according to the lane line information and the detected position information of the static obstacle when judging that the vehicle can avoid the static obstacle in the lane, and sending out warning information when judging that the vehicle cannot avoid the static obstacle in the lane line;
the safety control terminal is further used for determining the congestion level of the road where at least one vehicle sending obstacle early warning information is located according to the vehicle network topology structure diagram, when the congestion level is determined to be a first preset level, executing the operation of determining the congestion level of the road where at least one vehicle sending obstacle early warning information is located according to the vehicle network topology structure diagram, and when the congestion level is determined to be the first preset level, determining the running track of at least one vehicle sending obstacle early warning information according to the relative position of each vehicle in the vehicle network topology structure diagram; and generating a lane change instruction corresponding to at least one vehicle which sends the obstacle early warning information according to the running track, and sending the lane change instruction to the corresponding vehicle.
9. The driving system according to claim 8, further comprising:
an emergency response terminal;
the safety control terminal is further configured to send an emergency response starting message to the emergency response terminal and receive an emergency response starting instruction sent by the emergency response terminal when the congestion level is determined to be a second preset level, execute the emergency response starting instruction according to the vehicle network topology structure diagram, determine the congestion level of the road where at least one vehicle sending the obstacle early warning information is located, and determine the running track of at least one vehicle sending the obstacle early warning information according to the relative position of each vehicle in the vehicle network topology structure diagram when the congestion level is determined to be a first preset level; generating a lane change instruction corresponding to at least one vehicle which sends obstacle early warning information according to the running track, and sending the lane change instruction to the corresponding vehicle;
the emergency response terminal is used for sending a tunnel blockage situation and the vehicle network topology structure chart to an electronic display screen of a last intersection of the tunnel, so that the electronic display screen displays the tunnel blockage situation and the vehicle network topology structure chart, sends warning information to a mobile terminal of a worker, dials a road rescue telephone and sends the tunnel blockage situation to a traffic broadcast center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710931074.0A CN109624961B (en) | 2017-10-09 | 2017-10-09 | Vehicle driving method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710931074.0A CN109624961B (en) | 2017-10-09 | 2017-10-09 | Vehicle driving method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109624961A CN109624961A (en) | 2019-04-16 |
| CN109624961B true CN109624961B (en) | 2021-09-21 |
Family
ID=66050770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710931074.0A Active CN109624961B (en) | 2017-10-09 | 2017-10-09 | Vehicle driving method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109624961B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110599570B (en) * | 2019-09-17 | 2022-09-20 | 武汉中海庭数据技术有限公司 | Map generation method and system based on crowdsourcing data open scene |
| CN111354199B (en) * | 2020-02-19 | 2021-09-03 | 广州小鹏汽车科技有限公司 | Control method, control device, vehicle, and storage medium |
| 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 |
| CN111619479B (en) * | 2020-05-20 | 2022-03-01 | 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 |
| CN111735642B (en) * | 2020-07-30 | 2020-12-08 | 北汽福田汽车股份有限公司 | Road test method and device of automatic braking system |
| CN114084136B (en) * | 2020-08-05 | 2024-01-30 | 上海汽车集团股份有限公司 | Method and device for selecting longitudinal control following target in lane changing process of vehicle |
| CN112286034B (en) * | 2020-10-31 | 2022-08-09 | 武汉中海庭数据技术有限公司 | Whole vehicle data time synchronization method and device, electronic equipment and storage medium |
| CN115188184B (en) * | 2022-06-20 | 2024-03-19 | 海信集团控股股份有限公司 | Vehicle speed limit processing method, device and apparatus |
| CN116311962A (en) * | 2022-12-27 | 2023-06-23 | 大陆软件系统开发中心(重庆)有限公司 | Method and system for relieving lane congestion |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2185375B1 (en) * | 2007-08-31 | 2011-05-04 | Peugeot Citroën Automobiles SA | Method and device for controlling the operation of cruise control for an automobile |
| EP2730945A1 (en) * | 2012-11-09 | 2014-05-14 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Vehicle spacing control |
| CN104742906A (en) * | 2013-12-26 | 2015-07-01 | 中国移动通信集团公司 | Method and system for realizing automatic driving |
| CN105667509A (en) * | 2015-12-30 | 2016-06-15 | 苏州安智汽车零部件有限公司 | Curve control system and method applied to automobile adaptive cruise control (ACC) system |
| CN106167027A (en) * | 2015-05-19 | 2016-11-30 | 曼卡车和巴士股份公司 | For the method and apparatus assisting the driver of the particularly commerial vehicle of vehicle |
| CN106297340A (en) * | 2016-08-17 | 2017-01-04 | 上海电机学院 | A kind of driving vehicle pre-warning system for monitoring and method |
| CN106541946A (en) * | 2015-09-17 | 2017-03-29 | 丰田自动车株式会社 | Speed controller |
| CN106740835A (en) * | 2016-11-21 | 2017-05-31 | 北汽福田汽车股份有限公司 | Adaptive cruise control method, device and vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1584943A (en) * | 2004-06-16 | 2005-02-23 | 武汉汉网天长智能交通网络有限公司 | Communication information displaying system controlled by intelligent communication administrating system |
| JP5522157B2 (en) * | 2011-12-14 | 2014-06-18 | 株式会社デンソー | Preceding vehicle determination device and inter-vehicle distance control device |
| CN106997690B (en) * | 2017-05-15 | 2020-07-24 | 东南大学 | Non-forced lane changing control method for vehicles on expressway in Internet of vehicles environment |
-
2017
- 2017-10-09 CN CN201710931074.0A patent/CN109624961B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2185375B1 (en) * | 2007-08-31 | 2011-05-04 | Peugeot Citroën Automobiles SA | Method and device for controlling the operation of cruise control for an automobile |
| EP2730945A1 (en) * | 2012-11-09 | 2014-05-14 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Vehicle spacing control |
| CN104742906A (en) * | 2013-12-26 | 2015-07-01 | 中国移动通信集团公司 | Method and system for realizing automatic driving |
| CN106167027A (en) * | 2015-05-19 | 2016-11-30 | 曼卡车和巴士股份公司 | For the method and apparatus assisting the driver of the particularly commerial vehicle of vehicle |
| CN106541946A (en) * | 2015-09-17 | 2017-03-29 | 丰田自动车株式会社 | Speed controller |
| CN105667509A (en) * | 2015-12-30 | 2016-06-15 | 苏州安智汽车零部件有限公司 | Curve control system and method applied to automobile adaptive cruise control (ACC) system |
| CN106297340A (en) * | 2016-08-17 | 2017-01-04 | 上海电机学院 | A kind of driving vehicle pre-warning system for monitoring and method |
| CN106740835A (en) * | 2016-11-21 | 2017-05-31 | 北汽福田汽车股份有限公司 | Adaptive cruise control method, device and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109624961A (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109624961B (en) | Vehicle driving method and system | |
| CN106097775B (en) | Early warning method based on navigation, terminal equipment and server | |
| CN111223302B (en) | External coordinate real-time three-dimensional road condition auxiliary device for mobile carrier and system | |
| CN112533174B (en) | Early warning and communication redundancy method and system for red light running scene based on C-V2X | |
| CN106706342B (en) | Method and field for testing continuous crossing passing capability of automatic driving vehicle | |
| CN109756867A (en) | A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V | |
| CN104269073B (en) | A kind of reverse track based on truck traffic method for early warning of overtaking other vehicles | |
| CN105070084A (en) | Vehicle speed guiding method and system based on short-distance wireless communication | |
| KR20150029471A (en) | Apparatus for passing danger warning of vehicle and method thereof | |
| CN104732782A (en) | Invented intelligent online type traffic light and intelligent traffic system and method thereof | |
| CN112017438B (en) | Driving decision generation method and system | |
| CN107170291A (en) | Driving prompting method and system, vehicle-mounted terminal and automobile | |
| CN113140129B (en) | Vehicle early warning method, device and system | |
| CN110211073B (en) | Tunnel entry guiding device and method | |
| CN112950997B (en) | Emergency linkage method and system | |
| CN106920407A (en) | A kind of intersection signal timing control information transmission method | |
| KR20200081570A (en) | Apparatus, system and method for providing traffic condition | |
| CN113223325A (en) | Method for safely passing signal-lamp-free intersection | |
| CN109472732B (en) | Intelligent high-speed comprehensive management and control method and management and control platform | |
| CN111601279A (en) | Method for displaying dynamic traffic situation in vehicle-mounted display and vehicle-mounted system | |
| CN112735132B (en) | Vehicle convergence guiding system and method | |
| CN111127954B (en) | Safe passing method for vehicles at signal lamp-free intersection | |
| KR20180061901A (en) | Method of providing driving guide information for vehicle | |
| CN114822083B (en) | Intelligent vehicle formation auxiliary control system | |
| JP2017124806A (en) | Energy saving deceleration travel control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200630 Address after: 201203 Shanghai Zhangjiang High Tech Park of Pudong New Area Songtao Road No. 563 Building No. 1 room 509 Applicant after: SAIC Motor Corp.,Ltd. Address before: 201203 Shanghai Zhangjiang High Tech Park of Pudong New Area Songtao Road No. 563 Building No. 1 room 509 Applicant before: SAIC Motor Corp.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |