CN109765903A - A kind of automatic Pilot planing method - Google Patents
A kind of automatic Pilot planing method Download PDFInfo
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Abstract
The present embodiments relate to a kind of automatic Pilot planing methods, which comprises automated driving system generates the characteristic area coordinate data of characteristic indication, controls vehicle parking；When the status data of the status data of the characteristic indication of system and the characteristic indication of image is first state data, vehicle driving is controlled according to current path layout data and speed control data；When the status data of the characteristic indication of system is not first state data, and the status data of the characteristic indication of image is first state data, determine whether the movement velocity of characteristic indication is less than default lifting speed；When the movement velocity of characteristic indication is less than default lifting speed, vehicle driving is controlled according to current path layout data and speed control data；When the movement velocity of characteristic indication is not less than default lifting speed, or when the status data of the characteristic indication of image is not first state data, vehicle driving is controlled according to reversing path layout data and back-up speed control data.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of automatic Pilot planing methods.
Background technique
With the development of economy and the emergence of artificial intelligence technology, autonomous driving vehicle is also increasingly by the pass in market
Note.Autonomous driving vehicle refers to closing by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration
Make, computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.
And valet parking is one of automatic driving vehicle key technology.In current research technology, to vehicle from parking lot
It is outer less into the intermediate section research in parking lot, and it is urgently to be resolved wherein to there are problems.For example, how to determine parking
The current logic of field entrance lifting lever.The lifting lever in parking lot controls more mature, the lifting lever in managing system of car parking at present
Control technology is more mature, by visual identity license plate, realizes lifting lever control, technology is more mature.But current drives automatically
The technology of sailing lacks the automatic Pilot path planning scheme for lifting lever, while also can not cooperate managing system of car parking real
Existing vehicle drives into the technology in parking lot automatically.
Summary of the invention
The purpose of the present invention is in view of the drawbacks of the prior art, providing a kind of automatic Pilot planing method, for parking lot
The state of middle lifting lever determines automatic Pilot path planning scheme, in conjunction with managing system of car parking and vehicle itself to lifting lever
State identification, realize vehicle it is automatic, it is safety drive into parking lot, filled up the blank of related fields.
To achieve the goals above, the embodiment of the invention provides a kind of automatic Pilot planing methods, comprising:
The image data of automated driving system monitoring vehicle running environment；
It is extracted in the image data of the vehicle running environment when the automated driving system and obtains the figure of characteristic indication
When as data, the characteristic area coordinate data of the characteristic indication is generated；
When the characteristic area coordinate data and current path layout data coincide, to current vehicle location data into
Row monitoring, and according to current vehicle location data and default deceleration-based controller vehicle parking；
The status data of the characteristic indication of system is obtained from managing system of car parking, and from the image of current signature mark
The status data of the characteristic indication of described image is extracted in data；
When the status data of the characteristic indication of the status data and described image of the characteristic indication of the system is the first shape
When state data, vehicle driving is controlled according to current path layout data and speed control data；
When the status data of the characteristic indication of the system is not the first state data, and the feature mark of described image
When the status data of will is the first state data, determine whether the movement velocity of the characteristic indication in preset time is less than
Default lifting speed；
When the movement velocity of characteristic indication described in the preset time is less than the default lifting speed, according to current
Route Planning Data and speed control data control vehicle driving；
When the movement velocity of characteristic indication described in the preset time is not less than the default lifting speed, or work as
When the status data of the characteristic indication of described image is not the first state data, reversing path layout data and reversing are generated
Speed control data, and vehicle driving is controlled according to the reversing path layout data and back-up speed control data.
Preferably, the characteristic area coordinate data for generating the characteristic indication specifically:
Determine the position of the characteristic indication and the local coordinate data of current vehicle location；
Characteristic area coordinate data is obtained according to the local coordinate data and electronic map.
Preferably, it is extracted in the image data of the vehicle running environment when the automated driving system and obtains feature mark
When the image data of will, the travel speed of the automated driving system is no more than preset travel speed.
Preferably, described when the characteristic area coordinate data and current path layout data coincide, to working as front truck
Position data is monitored, and according to current vehicle location data and default deceleration-based controller vehicle parking specifically:
Characteristic area start position data and characteristic area final position number are obtained according to the characteristic area coordinate data
According to；
Determine whether the characteristic area coordinate data coincides with current path layout data；
When the characteristic area coordinate data is not overlapped with current path layout data, according to the current vehicle location
Data and new characteristic area start position data update current path layout data so that updated Route Planning Data with
The characteristic area coordinate data coincides.
It is further preferred that when the characteristic area coordinate data is not overlapped with current path layout data, described
Current path layout data is updated according to the current vehicle location data and new characteristic area start position data specifically:
When the characteristic area coordinate data is not overlapped with current path layout data, according to vehicle width, feature mark
Know peak width and default precision obtains multiple alternate location data；
New characteristic area start position is determined from the multiple alternate location data according to Depth Priority Algorithm
Data；
Current path rule are updated according to the current vehicle location data and the new characteristic area start position data
Draw data.
Preferably, described that current vehicle location data are monitored, and subtracted according to current vehicle location data with default
Speed control vehicle parking specifically:
It is described to current vehicle location number when the characteristic area coordinate data and current path layout data coincide
According to being monitored；
When the current vehicle location data are corresponding with the characteristic area start position data, according to default deceleration
Degree control vehicle control vehicle parking before the characteristic area terminal.
Preferably, data are controlled in the generation reversing path layout data and back-up speed, and according to the reversing road
After diameter layout data and back-up speed control data control vehicle driving, the method also includes:
Continue to monitor the image data of the characteristic indication；
When the status data for the characteristic indication for extracting described image in the image data from current signature mark is by the second shape
When state data become the first state data, determine whether current vehicle location reaches in the reversing path layout data
Terminal；
When current vehicle location does not reach the terminal in the reversing path layout data, continue vehicle monitoring vehicle
The image data of running environment, and extracted from the image data of the vehicle running environment and obtain the picture number of characteristic indication
According to.
It is further preferred that when the shape when the characteristic indication for extracting described image from the image data of current signature mark
When state data become the first state data from the second status data, and current vehicle location reaches the reversing path planning
When terminal in data, the method also includes:
Determine whether entrance transit time is less than default transit time, and whether number of moving backward is less than preset times；
When the entrance transit time is less than the default transit time, and the reversing number is less than the preset times
When, vehicle driving is controlled according to current path layout data and speed control data.
It is further preferred that when the entrance transit time is not less than the default transit time or the reversing number
When not less than the preset times, the method also includes:
It generates warning message and exports.
It is further preferred that when the shape when the characteristic indication for extracting described image from the image data of current signature mark
State data become the first state data from the second status data, and the reversing path rule have not yet been reached in current vehicle location
When drawing the terminal in data, the method also includes:
Continue the image data of vehicle monitoring vehicle running environment, and determines the status data of the characteristic indication of described image
For the first state data.
A kind of automatic Pilot planing method provided in an embodiment of the present invention determines certainly for the state of lifting lever in parking lot
Dynamic driving path programme, the identification in conjunction with managing system of car parking and vehicle itself to the state of lifting lever realize
Vehicle is automatic, it is safety drive into parking lot, filled up the blank of related fields.
Detailed description of the invention
Fig. 1 is the flow chart of automatic Pilot planing method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of characteristic area coordinate position in automatic Pilot planing method provided in an embodiment of the present invention.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
A kind of automatic Pilot planing method provided in an embodiment of the present invention, is implemented in automatic driving vehicle, for handling
During road driving, when automatic driving vehicle encounters lifting lever, the automatic Pilot method of vehicle, method flow diagram is as schemed
Shown in 1, include the following steps:
Step 101, the image data of automated driving system monitoring vehicle running environment；
Specifically, automated driving system is implemented in automatic driving vehicle, including picture pick-up device, infrared equipment and laser thunder
It is used for the monitoring device monitored in real time to vehicle periphery running environment, up to equipment etc. to ensure that automatic driving vehicle safety is real
Row.Wherein, picture pick-up device carries out Image Acquisition to automatic driving vehicle ambient enviroment, obtains the picture number of vehicle running environment
According to.
Step 102, the characteristic indication that setting whether is recognized in the image of running environment determined；
Specifically, the characteristic indication of setting can be understood as lifting lever mark.When before vehicle driving to lifting lever, need
After parking waits lifting lever to rise, can just it move on.
When automatic driving vehicle extracts in the image data of vehicle running environment obtains the image data of characteristic indication,
Illustrate there is lifting lever before current automatic driving vehicle, vehicle can continue to travel again after needing to judge the state of lifting lever, also
It is to need to be implemented following step 103.And it mustn't go to spy when automatic driving vehicle extracts in the image data of vehicle running environment
When levying the image data of mark, illustrates there is no lifting lever before current automatic driving vehicle, then needs to return to step 101,
Just it is to continue with the image data of monitoring vehicle running environment.
In some preferred embodiments, obtained when automatic driving vehicle extracts in the image data of vehicle running environment
When the image data of characteristic indication, illustrate there is lifting lever before current automatic driving vehicle, then automated driving system control is current
The maximum travelling speed of vehicle is no more than preset travel speed, can recognize current vehicle with the camera guaranteed in parking lot
License plate number.
Step 103, the characteristic area coordinate data of characteristic indication is generated；
Specifically, obtaining the image of characteristic indication when automatic driving vehicle extracts in the image data of vehicle running environment
When data, illustrate there is lifting lever before current automatic driving vehicle, then automated driving system generates the characteristic area of characteristic indication
Coordinate data.Characteristic area coordinate data can be understood as the coordinate of mark current signature mark region.
Further specifically, automated driving system is firstly the need of the position of determining characteristic indication and the office of current vehicle location
Then portion's coordinate data obtains characteristic area coordinate data further according to local coordinate data and preset electronic map.This mistake
Journey is it is to be understood that first determine the position of characteristic indication region and the relative coordinate from current vehicle, then again by the phase
The process of the world coordinates under map coordinates system is converted to coordinate.
Also, it after the characteristic area coordinate data that automated driving system obtains, needs according to characteristic area coordinate data
Obtain characteristic area start position data and characteristic area final position data.Fig. 2 drives automatically to be provided in an embodiment of the present invention
The schematic diagram of characteristic area coordinate position in planing method is sailed, as shown in connection with fig. 2, lifting representated by characteristic area coordinate data
The coordinate of bar is P (x, y, θ), and according to P (x, y, θ), characteristic area start position data can be calculated in automated driving system
PS(xS, yS, θS) and characteristic area final position data Pe(xe, ye, θe).Current vehicle needs to be parked in characteristic area terminal Pe
Place, so that managing system of car parking identifies current license plate.And in order to ensure this point, automated driving system needs to control vehicle and exists
Characteristic area starting point PSPlace starts regulation speed.
In a specific embodiment, when characteristic area coordinate data is P (x, y, θ), automated driving system is determined
Current vehicle needs the parking at first 1 meter at the P, then obtains characteristic area final position data P according to P (x, y, θ) and 1 metere(xe,
ye, θe).Then automated driving system determines that vehicle is needed in PeLocate to start regulation speed at first 5 meters, then according to Pe(xe, ye, θe)
Characteristic area start position data P is obtained with 5 metersS(xS, yS, θS)。
Step 104, determine whether characteristic area coordinate data coincides with current path layout data；
Specifically, in front of current automatic driving vehicle, there are when lifting lever, it is also necessary to which determining the original path of vehicle is
The no region across where the lifting lever, that is, determine whether characteristic area coordinate data and current path layout data are mutually be overlapped
It closes.If characteristic area coordinate data is not overlapped with current path layout data, illustrate that the original path of vehicle is not passed through this
The region where bar is fallen, then executes following step 105.If characteristic area coordinate data is overlapped with current path layout data,
Illustrate that the original path of vehicle passes through the region where the lifting lever, then executes following step 106.
Step 105, current path rule are updated according to current vehicle location data and new characteristic area start position data
Data are drawn, so that updated Route Planning Data coincides with characteristic area coordinate data；
Specifically, automated driving system needs when characteristic area coordinate data is not overlapped with current path layout data
New characteristic area start position is chosen, so that current path layout data is overlapped with characteristic area coordinate data.That is,
Even if whether the original path of vehicle passes through the region where the lifting lever, but as long as being recognized in the image of running environment
Lifting lever, automated driving system can control vehicle across lifting lever region.
Further specifically, automated driving system can be with according to vehicle width, feature tag peak width and default precision
Multiple alternate location data are calculated, are then determined from multiple alternate location data further according to Depth Priority Algorithm new
Characteristic area start position data, finally further according to current vehicle location data and characteristic area start position data update work as
Preceding Route Planning Data.
When calculating alternate location data, the number of alternate location data can be obtained according to formula 1:
I=(Ht-H)/Δ L (formula 1)
Wherein, i is the number of alternate location, and Ht is characterized label area width, and H is vehicle width data, and Δ L is to choose
Precision, Ht can be to be obtained by the image data of identification feature mark, and Δ L usually can be set to 1 meter or less.
Step 106, current vehicle location data are monitored, and according to current vehicle location data and default deceleration
Control vehicle parking；
Specifically, when current path layout data and characteristic area coordinate data coincide (or more through path in step 105
Change so that current path layout data and characteristic area coordinate data coincide) when, that is, current vehicle driving path passes through
When region where lifting lever, automated driving system is monitored current vehicle location data, when current vehicle location data
When corresponding with characteristic area start position data, illustrate that vehicle has arrived at the position for needing to slow down, then automated driving system
It needs according to default deceleration-based controller vehicle control vehicle parking before characteristic area terminal.
In a specific example, in conjunction with shown in Fig. 2, when automatic driving vehicle reaches starting point PSBefore, if currently
Actual vehicle speed is greater than preset travel speed, then controls currently practical speed and be decelerated to preset travel speed, otherwise keeps speed not
Become.Vehicle reaches starting point PSAfterwards, terminal P can be parked according to default deceleration-based controller vehicleePlace knows convenient for managing system of car parking
Not current license plate controls lifting lever.
Step 107, the status data of characteristic indication is monitored；
Specifically, the status data of characteristic indication can be understood as the status data of lifting lever, including represent lifting lever
The first state data of (lifting lever is perpendicular to the ground) are lifted, and represents lifting lever and falls (lifting lever is parallel to the ground)
Second status data.The mode that automated driving system obtains the status data of characteristic indication includes following two:
In the first way, automated driving system obtains the state of the characteristic indication of system from managing system of car parking
Data.Further specifically, automated driving system first attempts to connect current managing system of car parking, work as if may be coupled to
Preceding managing system of car parking then obtains the status data of the characteristic indication of system from current managing system of car parking.It can manage
Solution, the status data of the characteristic indication of system are determined by the long management system in parking lot.
In the second way, the characteristic indication of image is extracted in the image data of automated driving system current signature mark
Status data.Further specifically, no matter in the first way, whether automated driving system may be coupled to current parking
Course management system, automated driving system can determine the status data of characteristic indication by the way of visual identity, that is, logical
It crosses in the image data of current characteristic indication and extracts the status data of the characteristic indication of image, determine the shape of the characteristic indication of image
State data.
Step 108, determine whether the status data of the status data of the characteristic indication of system and the characteristic indication of image is equal
For first state data；
Specifically, firstly, causing to judge by accident to prevent front truck from not falling also by rear lifting lever, automated driving system can will lead to
The status data for crossing the characteristic indication of image determined by visual identity is defaulted as the second status data, when recognizing lifting lever
After state is vertical from horizontal transformation, then the status data of the characteristic indication of image is set to first state data.Then, automatically
Control loop connects current managing system of car parking by background communication method, carries out status data verification, and determination passes through parking
Whether the status data of the characteristic indication for the system that course management system obtains is similarly first state data.
When the status data of the characteristic indication of the status data and image of the characteristic indication of system is first state data
When, illustrate what automated driving system was determined by the state of the lifting lever determined in managing system of car parking and by visual identity
The state consistency of lifting lever is lifting status.Then execute following step 111.When the characteristic indication of system status data or
In the status data of the characteristic indication of image, when any one status data is not first state data, illustrate automatic Pilot system
System is phase by the state of the lifting lever determined in managing system of car parking and the state of the lifting lever determined by visual identity
Conflict, it needs further to be confirmed, then executes following step 109.
Step 109, the status data for determining the characteristic indication of system is not first state data, and the characteristic indication of image
Status data whether be first state data；
Specifically, when the status data of the characteristic indication of system is not first state data, and the characteristic indication of image
When status data is first state data, illustrate that automated driving system obtains lifting lever in falling by managing system of car parking
State, but obtain falling bar by visual identity and be in lifting status, at this time, it may be necessary to determine the movement velocity of lifting lever, also
It is whether determining lifting lever is becoming full state from lifting status, then executes following step 110.
And work as the status data of the characteristic indication of system for first state data, and the status data of the characteristic indication of image
The status data for being the not characteristic indication of the status data and image of the characteristic indication for first state data or system is not
When for first state data, then following step 112 is executed.
Step 110, determine whether the movement velocity of characteristic indication in preset time is less than default lifting speed；
Specifically, when the status data of the characteristic indication of system is not first state data, and the characteristic indication of image
When status data is first state data, it may be possible to because whether lifting lever becomes full state from lifting status and cause
(set the second status data, but lifting lever for the status data of the characteristic indication of system in managing system of car parking
Landing needs certain time, so automated driving system is still the by the status data of the characteristic indication of the image of visual identity
One status data), it is also possible to because automated driving system is it needs to be determined that rise and fall caused by managing system of car parking failure
The movement velocity of bar.
Within a preset time, if the movement velocity of characteristic indication is less than default lifting speed, illustrate current landing bar
Motion state be stationary state, that is, current landing bar then executes following there is no from lifting status full state is become
Step 111.Within a preset time, if the movement velocity of characteristic indication is not less than default lifting speed, illustrate current landing
Bar is motion state, that is, current landing bar is currently strictly to become full state from lifting status, then executes following steps
Rapid 112.
Default lifting speed can be set to level off to zero.
Step 111, vehicle driving is controlled according to current path layout data and speed control data；
Specifically, when the status data of the characteristic indication of the status data and image of the characteristic indication of system is first state
When data, or when system characteristic indication status data and image characteristic indication status data be first state data
When, illustrate that vehicle can be by current landing bar, then the planning of automated driving system access path and speed planning, according to current road
Diameter layout data and speed control data control vehicle driving, pass through current landing bar.
Step 112, it generates reversing path layout data and back-up speed controls data, and according to reversing path layout data
Vehicle driving is controlled with back-up speed control data；
Specifically, working as the status data of the characteristic indication of system for first state data, and the shape of the characteristic indication of image
State data are the status datas of the not characteristic indication of the status data and image of the characteristic indication for first state data or system
It is when not being not less than to preset lifting speed for first state data or the movement velocity of characteristic indication, to illustrate that vehicle cannot lead to
Current landing bar is crossed, then automated driving system generates reversing path layout data and back-up speed controls data, and according to reversing
Route Planning Data and back-up speed control data control vehicle backing.
Step 113, determining from the status data of the characteristic indication of present image becomes first state from the second status data
Data；
Specifically, the state of lifting lever can be still monitored during automated driving system controls vehicle backing,
Namely continue the image data of monitoring characteristic indication.When automated driving system monitors by visual identity the feature mark of image
When the status data of will becomes the first state data from the second status data, illustrate current vehicle it is possible to can pass through
Lifting lever thens follow the steps 111, that is, the then planning of automated driving system access path and speed planning, according to current path
Layout data and speed control data control vehicle driving, pass through current landing bar.And when automated driving system is known by vision
When not monitoring the status data of the characteristic indication of image does not become the first state data from the second status data, root is needed
Further judged according to situation, then executes following step 114.
Step 114, determine whether current vehicle location reaches the terminal in reversing path layout data；
Specifically, when automated driving system by visual identity monitor image characteristic indication status data by second
When status data becomes the first state data, automated driving system also needs to confirm whether current reversing process has terminated,
Namely determine whether current vehicle location reaches the terminal in reversing path layout data.When current vehicle location has reached down
When terminal in vehicle Route Planning Data, illustrates whether current reversing process has terminated, then need to be implemented following step 115.And
If the terminal in reversing path layout data has not yet been reached in current vehicle location, return step 113, that is, continue vehicle
Monitoring vehicle running environment image data, and from the image data of vehicle running environment extract obtain the figure of characteristic indication
As data, further determining that from the status data of the characteristic indication of present image becomes first state number from the second status data
According to, that is, further determining whether can be by current lifting lever.
Step 115, determine whether entrance transit time is less than default transit time, and whether number of moving backward is less than default time
Number；
Specifically, when automated driving system by visual identity monitor image characteristic indication status data by second
Status data becomes the first state data, and when current vehicle location has reached the terminal in reversing path layout data,
Automated driving system is it needs to be determined that whether the Entrance transit time that current vehicle expends is less than default transit time, and falls
Whether train number number is less than preset times.If the Entrance transit time that current vehicle expends is less than default transit time,
And reversing number is less than preset times, then return step 102, that is, the picture number of continuation vehicle monitoring vehicle running environment
According to, and the characteristic indication that setting whether is recognized in the image of running environment determined.If the parking that current vehicle expends
Field entrance transit time is not less than default transit time, or reversing number is not less than preset times, then executes following step 116.
Step 116, it generates warning message and exports；
Specifically, when the Entrance transit time that current vehicle expends is not less than default transit time, or reversing time
When number is not less than preset times, then illustrate the planning failure that Entrance is currently driven into automatically by elevating lever, automatic Pilot
System generates warning message, and driver is prompted to need to take over driving.
It is understood that in embodiments of the present invention, if automated driving system cannot connect to current parking lot pipe
Reason system then determines whether the status data of characteristic indication is first state data only with visual identity mode, the present invention
What embodiment also can be achieved on.
A kind of automatic Pilot planing method provided in an embodiment of the present invention determines certainly for the state of lifting lever in parking lot
Dynamic driving path programme, the identification in conjunction with managing system of car parking and vehicle itself to the state of lifting lever realize
Vehicle is automatic, it is safety drive into parking lot, filled up the blank of related fields.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, the control of CD-ROM dynamical system
In any other form of storage medium well known in method or technical field.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of automatic Pilot planing method, which is characterized in that the described method includes:
The image data of automated driving system monitoring vehicle running environment；
It is extracted in the image data of the vehicle running environment when the automated driving system and obtains the picture number of characteristic indication
According to when, generate the characteristic area coordinate data of the characteristic indication；
When the characteristic area coordinate data and current path layout data coincide, current vehicle location data are supervised
Control, and according to current vehicle location data and default deceleration-based controller vehicle parking；
The status data of the characteristic indication of system is obtained from managing system of car parking, and from the image data of current signature mark
The status data of the middle characteristic indication for extracting described image；
When the status data of the characteristic indication of the status data and described image of the characteristic indication of the system is first state number
According to when, vehicle driving is controlled according to current path layout data and speed control data；
When the status data of the characteristic indication of the system is not the first state data, and the characteristic indication of described image
When status data is the first state data, it is default to determine whether the movement velocity of the characteristic indication in preset time is less than
Lifting speed；
When the movement velocity of characteristic indication described in the preset time is less than the default lifting speed, according to current path
Layout data and speed control data control vehicle driving；
When the movement velocity of characteristic indication described in the preset time is not less than the default lifting speed, or when described
When the status data of the characteristic indication of image is not the first state data, reversing path layout data and back-up speed are generated
Data are controlled, and vehicle driving is controlled according to the reversing path layout data and back-up speed control data.
2. automatic Pilot planing method according to claim 1, which is characterized in that the spy for generating the characteristic indication
Levy area co-ordinate data specifically:
Determine the position of the characteristic indication and the local coordinate data of current vehicle location；
Characteristic area coordinate data is obtained according to the local coordinate data and electronic map.
3. automatic Pilot planing method according to claim 1, which is characterized in that when the automated driving system is described
When extraction obtains the image data of characteristic indication in the image data of vehicle running environment, the traveling speed of the automated driving system
Degree is no more than preset travel speed.
4. automatic Pilot planing method according to claim 1, which is characterized in that described to work as the characteristic area number of coordinates
When according to coinciding with current path layout data, current vehicle location data are monitored, and according to current vehicle location number
According to default deceleration-based controller vehicle parking specifically:
Characteristic area start position data and characteristic area final position data are obtained according to the characteristic area coordinate data；
Determine whether the characteristic area coordinate data coincides with current path layout data；
When the characteristic area coordinate data is not overlapped with current path layout data, according to the current vehicle location data
Update current path layout data with new characteristic area start position data so that updated Route Planning Data with it is described
Characteristic area coordinate data coincides.
5. automatic Pilot planing method according to claim 4, which is characterized in that when the characteristic area coordinate data with
It is described according to the current vehicle location data and new characteristic area start position number when current path layout data is not overlapped
According to update current path layout data specifically:
When the characteristic area coordinate data is not overlapped with current path layout data, according to vehicle width, signature identification area
Field width degree and default precision obtain multiple alternate location data；
New characteristic area start position data are determined from the multiple alternate location data according to Depth Priority Algorithm；
Current path, which is updated, according to the current vehicle location data and the new characteristic area start position data plans number
According to.
6. automatic Pilot planing method according to claim 1, which is characterized in that it is described to current vehicle location data into
Row monitoring, and according to current vehicle location data and default deceleration-based controller vehicle parking specifically:
When the characteristic area coordinate data and current path layout data coincide, it is described to current vehicle location data into
Row monitoring；
When the current vehicle location data are corresponding with the characteristic area start position data, according to default deceleration control
Vehicle control vehicle processed parking before the characteristic area terminal.
7. automatic Pilot planing method according to claim 1, which is characterized in that plan number in the generation reversing path
Data are controlled according to back-up speed, and vehicle is controlled according to the reversing path layout data and back-up speed control data
After traveling, the method also includes:
Continue to monitor the image data of the characteristic indication；
When the status data for the characteristic indication for extracting described image in the image data from current signature mark is by the second status number
When according to becoming the first state data, determine whether current vehicle location reaches the end in the reversing path layout data
Point；
When current vehicle location does not reach the terminal in the reversing path layout data, continue vehicle monitoring vehicle driving
The image data of environment, and extracted from the image data of the vehicle running environment and obtain the image data of characteristic indication.
8. automatic Pilot planing method according to claim 7, which is characterized in that when the image from current signature mark
When extracting the status data of the characteristic indication of described image in data becomes the first state data from the second status data, and
When current vehicle location reaches the terminal in the reversing path layout data, the method also includes:
Determine whether entrance transit time is less than default transit time, and whether number of moving backward is less than preset times；
When the entrance transit time is less than the default transit time, and the reversing number is less than the preset times,
Vehicle driving is controlled according to current path layout data and speed control data.
9. automatic Pilot planing method according to claim 8, which is characterized in that when the entrance transit time is not less than
When the default transit time or the reversing number are not less than the preset times, the method also includes:
It generates warning message and exports.
10. automatic Pilot planing method according to claim 7, which is characterized in that when the figure from current signature mark
Status data as extracting the characteristic indication of described image in data becomes the first state data from the second status data, and
When the terminal in the reversing path layout data has not yet been reached in current vehicle location, the method also includes:
Continue the image data of vehicle monitoring vehicle running environment, and determines that the status data of the characteristic indication of described image is institute
State first state data.
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