CN109808615A - A kind of automatic Pilot method and device - Google Patents
A kind of automatic Pilot method and device Download PDFInfo
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- CN109808615A CN109808615A CN201910221386.1A CN201910221386A CN109808615A CN 109808615 A CN109808615 A CN 109808615A CN 201910221386 A CN201910221386 A CN 201910221386A CN 109808615 A CN109808615 A CN 109808615A
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Abstract
The present invention provides a kind of automatic Pilot method and devices, obtain the weather forecasting information in front section, judge whether the weather forecasting information in front section meets automatic Pilot condition, if not meeting, then planning meets the alternative route of the automatic Pilot condition, based on the alternative route, the Vehicular automatic driving is driven.By the invention it is possible to carry out the path planning in automatic Pilot according to weather forecasting information, weather forecast service is applied in Function for Automatic Pilot.
Description
Technical field
The present invention relates to automatic Pilot fields, more specifically, being related to a kind of automatic Pilot method and device.
Background technique
Autonomous driving vehicle relies on the cooperative cooperatings such as artificial intelligence, camera, radar, monitoring device and global positioning system,
Allow car-mounted computer (vehicle control syetem) can control vehicle to automatic safe under the operation of nobody class active.
The autonomous driving vehicle for having car networking function can also provide weather forecast service, and weather forecast service is mainly
Weather related information is provided to driver, occupant, but there is no be applied to weather forecast service in Function for Automatic Pilot.
Summary of the invention
In view of this, the present invention provides a kind of automatic Pilot method and device, to solve weather forecast service not
It is applied to the problems in Function for Automatic Pilot.
In order to solve the above technical problems, present invention employs following technical solutions:
A kind of automatic Pilot method, comprising:
Obtain the weather forecasting information in front section；
Judge whether the weather forecasting information in the front section meets automatic Pilot condition；
If not meeting, planning meets the alternative route of the automatic Pilot condition；
Based on the alternative route, Vehicular automatic driving is driven.
Preferably, judge whether the weather forecasting information in the front section meets automatic Pilot condition, comprising:
Obtain the working characteristic data of vehicle arrangement；
The working characteristic data of weather forecasting information and the vehicle arrangement based on the front section, determine it is described before
The current rate of the automatic Pilot in square section；
Based on the current rate of the automatic Pilot, it is determined whether meet automatic Pilot condition.
It is preferably, described to plan the alternative route for meeting the automatic Pilot condition, comprising:
Obtain current location and target travel position；
Travel route is planned according to the current location and the target travel position；
According to the weather forecasting information of travel route described in each item, determine that the automatic Pilot of travel route described in each item is logical
Row rate；
The travel route that the current rate of automatic Pilot is greater than preset threshold is screened, and as the alternative route.
Preferably, if the alternative route for meeting the automatic Pilot condition can not be cooked up, further includes:
Output includes the prompt information for exiting automatic driving mode and entering indicating mode again；
If receiving the signal that automatic driving mode is exited in triggering, set in driver's adapter tube vehicle arrangement or the vehicle
The backed off after random automatic driving mode of standby parking；
If receiving the signal that triggering enters indicating mode again, preset time or condition and then secondary prompt whether
Exit automatic driving mode；
If both not received the triggering exporting in the first preset time after the first choice information and having exited certainly
The signal of dynamic driving mode does not receive the signal that the triggering enters indicating mode again yet, according to the current of the vehicle
Running environment selects parking position, and executes shut-down operation.
Preferably, further includes:
According to the current driving environment of the vehicle, determine whether the vehicle meets with the driving of automatic Pilot degraded mode
Condition；
If meeting the condition driven with automatic Pilot degraded mode, output is believed with the prompt that automatic Pilot degraded mode drives
Breath.
Preferably, after the prompt information that output is driven with automatic Pilot degraded mode, further includes:
If receiving the signal that triggering is driven with automatic Pilot degraded mode, the vehicle is driven to degrade with automatic Pilot
Mode drives；
If not receiving the signal for triggering and driving with automatic Pilot degraded mode, then after the second preset time
According to the current driving environment of the vehicle, parking position is selected, and executes shut-down operation.
It is preferably based on the alternative route, controls the Vehicular automatic driving, comprising:
Judge whether to receive the instruction that user switches route；
If so, the route according to user's switching, drives the Vehicular automatic driving；
If it is not, selecting the current maximum alternative route of rate of automatic Pilot from the alternative route, and drive the vehicle
The alternative route automatic Pilot that foundation selects.
A kind of servomechanism, comprising:
Data obtaining module, for obtaining the weather forecasting information in front section；
Judgment module is driven, for judging whether the weather forecasting information in the front section meets automatic Pilot condition；
Route planning module, if planning meets the alternative route of the automatic Pilot condition for not meeting；
Driving drives module, for being based on the alternative route, drives Vehicular automatic driving.
Preferably, the driving judgment module includes:
Data acquisition submodule, for obtaining the working characteristic data of vehicle arrangement；
First current rate determines submodule, for based on the front section weather forecasting information and the vehicle arrangement
Working characteristic data, determine the current rate of the automatic Pilot in the front section；
It drives and determines submodule, for based on the current rate of the automatic Pilot, it is determined whether meet automatic Pilot condition.
Preferably, further includes:
Message output module, if when for the alternative route for meeting the automatic Pilot condition can not to be cooked up, output packet
Include the prompt information for exiting automatic driving mode and entering indicating mode again；
Automatic Pilot module is exited, if exiting the signal of automatic driving mode for receiving triggering, is connect in driver
Pipe vehicle arrangement or the backed off after random automatic driving mode of the vehicle arrangement parking；
Reminding module again, if entering the signal of indicating mode again for receiving triggering, in preset time or condition
And then whether secondary prompt exits automatic driving mode；
Park control module, if both not connect for exporting in the first preset time after the first choice information
Described trigger is received to exit the signal of automatic driving mode, also do not receive the signal that the triggering enters indicating mode again,
According to the current driving environment of the vehicle, parking position is selected, and executes shut-down operation.
Compared to the prior art, the invention has the following advantages:
The present invention provides a kind of automatic Pilot method and devices, the weather forecasting information in front section are obtained, before judgement
Whether the weather forecasting information in square section meets automatic Pilot condition, if not meeting, planning meets the automatic Pilot condition
Alternative route, be based on the alternative route, drive the Vehicular automatic driving.By the invention it is possible to according to weather forecasting
Information carries out the path planning in automatic Pilot, and weather forecast service is applied in Function for Automatic Pilot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of method flow diagram of automatic Pilot method provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram of another automatic Pilot method provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram of another automatic Pilot method provided in an embodiment of the present invention；
Fig. 4 is the method flow diagram of another automatic Pilot method provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of servomechanism provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of automatic Pilot method, which can be applied to oneself in vehicle
Dynamic driving controller.
Referring to Fig.1, automatic Pilot method may include:
S11, the weather forecasting information for obtaining front section.
Specifically, auto-pilot controller acquires each sensor (main packet in real time after opening automatic Pilot correlation function
Include camera, millimetre-wave radar, laser radar, global navigation satellite system GNSS, Inertial Measurement Unit IMU etc.) and vehicle body biography
The real time information of sensor (mainly including vehicle speed sensor, steering wheel angle sensor, wheelslip monitoring sensor etc.), a side
Vehicle running environment perception is realized in face, on the other hand realizes vehicle location.Auto-pilot controller passes through vehicle position information
Gateway, vehicle-mounted net connection system (also commonly referred to as remote information processor T-Box, vehicle system) and operation cloud platform (operation
Service provider's platform or OEM cloud platform) it is sent to weather forecast cloud platform.Weather forecast cloud platform is by corresponding weather forecasting information
(including the predictive information in the current and t1 time, wherein t1 was generally within half an hour) passes through operation cloud platform, vehicle-mounted net connection
System and gateway are sent to auto-pilot controller.
The weather forecasting information in vehicle front section can be sunny, rainfall, snowfall etc..
S12, determine whether the weather forecasting information in the front section meets automatic Pilot condition.If meeting, execute
Step S15；If not meeting, S13 is thened follow the steps.
Wherein, if meeting automatic Pilot condition is determined according to the current rate of the automatic Pilot in front section, if driving automatically
It is high to sail current rate, then meets automatic Pilot condition, if the current rate of automatic Pilot is low, does not meet automatic Pilot condition.
Optionally, on the basis of the present embodiment, may include: referring to Fig. 2, step S12
S21, the working characteristic data for obtaining vehicle arrangement.
Vehicle arrangement can be the equipment such as various sensors, wheel steering system, motor vehicle braking system.It is with camera
Example, the working characteristics of camera, which can be, to be not suitable for working in foggy weather, and the working characteristics of motor vehicle braking system is unsuitable
It is travelled in ice-patch surface.
The working characteristic data of S22, the weather forecasting information based on the front section and the vehicle arrangement, determine institute
State the current rate of automatic Pilot in front section.
Specifically, it is current to obtain road weather forecasting information, the working characteristic data of vehicle arrangement and automatic Pilot first
The corresponding relationship of rate.
The current rate of automatic Pilot refers to the degree of suitable automatic Pilot, if the current rate of automatic Pilot is higher, illustrates to be suitble to certainly
It is dynamic to drive, if the current rate of automatic Pilot is lower, illustrate to be not suitable for automatic Pilot.
For example, the current rate of automatic Pilot of the vehicle in high speed is higher, automatic Pilot of the vehicle on urban road
Current rate is lower；Vehicle is higher in the current rate of automatic Pilot of structured road, and (such as country is small in non-institutional road for vehicle
Road) on the current rate of automatic Pilot it is lower；Vehicle is higher in the current rate of fair weather automatic Pilot, and vehicle is in rain, snow, greasy weather gas
The current rate of automatic Pilot is lower.
Traveling test is carried out on different roads by using different vehicle under different weather environment, available road
The corresponding relationship of weather forecasting information, the working characteristic data of vehicle arrangement and the current rate of automatic Pilot.Obtain the corresponding relationship
Afterwards, which is stored in the storage equipment communicated with auto-pilot controller.
Weather forecasting letter based on the corresponding relationship, the working characteristic data of the vehicle arrangement and the front section
Breath determines the current rate of the automatic Pilot in the front section.It is obtained and the vehicle arrangement specifically, being searched from corresponding relationship
Working characteristic data, the front section the current rate of the corresponding automatic Pilot of weather forecasting information.
S23, rate of being passed through based on the automatic Pilot, it is determined whether meet automatic Pilot condition.
Specifically, the automatic Pilot condition includes that the current rate of automatic Pilot is greater than the preset threshold, if obtain from
It is dynamic to drive current rate greater than preset threshold, then meet automatic Pilot condition, rate is less than or equal to pre- if obtained automatic Pilot passes through
If threshold value, then automatic Pilot condition is not met.Wherein, preset threshold can be set in advance according to different usage scenarios,
As preset threshold can be 80%.
Auto-pilot controller is special in conjunction with current location, automatic Pilot route, working sensor according to weather forecasting information
Property, the information such as vehicle executing agency working characteristics, navigation system judges that front section whether there is that be not suitable for sensor steady
The field for influencing the current rate of automatic Pilot that works or will lead to calmly working sensor failure, reduce executing agency's reliable operation degree
Scape.The current lower scene of rate of automatic Pilot if it exists, thens follow the steps S13.The current rate of automatic Pilot is lower if it does not exist
Scene then continues by the route running for working as preplanning.
S13, planning meet the alternative route of the automatic Pilot condition.
S14, it is based on the alternative route, controls the Vehicular automatic driving.
S15, it is travelled according to present running route.
In the present embodiment, obtain front section weather forecasting information, judge front section weather forecasting information whether
Meet automatic Pilot condition, if not meeting, planning meets the alternative route of the automatic Pilot condition, is based on the alternative road
Line drives the Vehicular automatic driving.By the invention it is possible to carry out the path rule in automatic Pilot according to weather forecasting information
It draws, weather forecast service is applied in Function for Automatic Pilot.
Optionally, on the basis of the embodiment of any of the above-described automatic Pilot method, step S13 may include:
1) current location and target travel position are obtained.
2) travel route is planned according to the current location and the target travel position.
The travel route is the route that the vehicle drives to the target travel position from the current location；
3) according to the weather forecasting information of travel route described in each item, the automatic Pilot of travel route described in each item is determined
Current rate；
4) the current rate of screening automatic Pilot is greater than the travel route of preset threshold, and as the alternative route.
Specifically, illustrating that determining present running route is no longer suitable if the current rate of the automatic Pilot is less than preset threshold
Vehicular automatic driving is closed, corresponding information is sent to navigation system by auto-pilot controller at this time, and navigation system is based on vehicle
Current location and target travel position select one or more from map can reach the route of destination.
The corresponding travel route of route, the offer of weather forecast cloud platform that auto-pilot controller is provided according to navigation system
Current and the weather forecasting information in the t1 time, working sensor, vehicle executing agency working characteristics, determine the traveling road
The current rate of the automatic Pilot of line is ranked up recommendation according to the current rate of automatic Pilot on each travel route, filters out and drive automatically
The alternative route that current rate is greater than the preset threshold is sailed, and passes through man-machine interactive system HMI (Human Machine
Interface) equipment shows that alternative route is selected for driver and occupant, and driver and occupant is reminded to select.
Optionally, on the basis of the present embodiment, may include: referring to Fig. 3, step S14
S31, judge whether to receive the instruction that user switches route.If so, step S31 is executed, if it is not, executing step
S32。
Show that alternative route is selected for driver and occupant in man-machine interactive system HMI (including instrument, large-size screen monitors etc.) equipment
It selects, within the set time, such as 1~3 minute, judges whether user selects the instruction of a route from the alternative route.If
The instruction that user selects a route from the alternative route is received, that is, thinks to receive the instruction that user switches route.
S32, the route switched according to user, drive the Vehicular automatic driving.
After driver or occupant select oneself ideal route, auto-pilot controller according to selection route running,
And continue the current rate of automatic Pilot in monitoring front section according to the weather forecasting information of update in real time.
S33, the current maximum alternative route of rate of automatic Pilot is selected from the alternative route, and drive the vehicle
According to the alternative route automatic Pilot selected.
If driver or the occupant non-selected route in the second preset time, auto-pilot controller selects automatic Pilot
The current highest alternative route of rate, show by man-machine interactive system HMI (including instrument, large-size screen monitors etc.) equipment selected it is alternative
Route, and driver and occupant's system is reminded to automatically switch route.
In the present embodiment, be not suitable for when driving, can determine whether out that a plurality of alternative route is selected for user in present running route.
In addition, needing to filter out by weather forecasting information automatic to promote the utilization rate of Function for Automatic Pilot and experience effect
The current higher travel route of rate is driven for driver or occupant's selection to continue to use Function for Automatic Pilot.
Optionally, on the basis of the embodiment of any of the above-described automatic Pilot method, referring to Fig. 4, if symbol can not be cooked up
When closing the alternative route of the automatic Pilot condition, further includes:
S41, output include the prompt information for exiting automatic driving mode and entering indicating mode again.
First prompt information is used to exit automatic driving mode for user's selection or enters indicating mode again.Specifically,
If navigation system can not provide suitable route to avoid the low route of the current rate of automatic Pilot, pass through man-machine interactive system
HMI (including instrument, large-size screen monitors etc.) equipment shows the information, and offer exits automatic driving mode or enters indicating mode again
Two kinds of selections.
Refer into indicating mode again whether preset time or preset condition and then secondary prompt exit and drive automatically
Sail mode.Preset time can be 5 minutes, and preset condition can be the section pre-determined distance for being not suitable for automatic Pilot apart from front
It is interior.Pre-determined distance can be technical staff and be set according to specifically used scene, such as can be a km.
It should be noted that the section for being not suitable for automatic Pilot is the section that the current rate of automatic Pilot is less than preset threshold,
All sections in the section of front can be the section that the current rate of automatic Pilot is less than preset threshold, be also possible in the section of front
Part way be section that the current rate of automatic Pilot is less than preset threshold.
If S42, the signal that automatic driving mode is exited in triggering is received, in driver's adapter tube vehicle arrangement or the vehicle
The backed off after random automatic driving mode of equipment parking.
If automatic driving mode is exited in driver's selection, automatic driving mode can be directly exited, vehicle is also possible to
Equipment elder generation automatic stopping, is exiting automatic driving mode after parking.
If S43, the signal that triggering enters indicating mode again is received, in preset time or condition and then secondary prompt
Whether automatic driving mode is exited.
This step is explained in the above content, please refers to the corresponding contents in above-described embodiment.
If S44, exporting in the first preset time after the first choice information, both do not received triggering exit from
The signal of dynamic driving mode does not receive the signal that triggering enters indicating mode again yet, according to the current driving of the vehicle
Environment selects parking position, and executes shut-down operation.
Specifically, if driver does not operate in the first preset time, i.e., it is non-selected exit automatic driving mode,
It is non-selected to enter indicating mode again, then according to vehicle-surroundings road equipment find suitable parking position stopped (including
But it is not limited to pulling over observing, Emergency Vehicle Lane parking, safety island parking, parking stall parking), and automatically opening automobile double jump lamp is to it
He warns vehicle, while will be shown by man-machine interactive system HMI (including instrument, large-size screen monitors etc.), and remind driving
Member and occupant.
Optionally, on the basis of the present embodiment or any of the above-described embodiment, further includes:
According to the current driving environment of the vehicle, determine whether the vehicle meets with the driving of automatic Pilot degraded mode
Condition, if meeting the condition driven with automatic Pilot degraded mode, the prompt that output is driven with automatic Pilot degraded mode is believed
Breath.
Specifically, being primarily referred to as close to the section of unsuitable automatic Pilot, such as not apart from front in vehicle travel process
When being suitble in one km of section of automatic Pilot, the current driving environment of the vehicle is obtained, such as whether snowy, ice, rainfall etc.
Situation.
Judge whether current driving environment supports Function for Automatic Pilot degrades to travel, driver's selection is reminded if being suitble to certainly
The dynamic prompt information for driving degraded mode and driving, in addition, can also include exiting automatic driving mode in the prompt information.
Optionally, on the basis of the present embodiment, after the prompt information that output is driven with automatic Pilot degraded mode,
Further include:
If receiving the signal that triggering is driven with automatic Pilot degraded mode, the vehicle is driven to degrade with automatic Pilot
Mode drives；If after the second preset time, not receiving the signal that triggering is driven with automatic Pilot degraded mode, then according to institute
The current driving environment of vehicle is stated, selects parking position, and execute shut-down operation.
Specifically, if driver selects use to drive vehicle with automatic Pilot degraded mode, in prompt driver to vehicle
Enter degraded functionality operation mode after taking over；If automatic Pilot is exited in driver's selection, automatic driving mode is exited.
Wherein, degraded functionality, which refers to, is responsible for the part operation driven by driver, and auto-pilot controller is responsible for another part operation, including
But it is not limited to adaptive learning algorithms ACC, lane keeps the auxiliary such as miscellaneous function LKA to drive ADAS function.If being not suitable for function
Degrade and drive, then prompt will move out Function for Automatic Pilot.
In addition, if export it is described second selection information after the second preset time after, driver both it is non-selected with
Automatic Pilot degraded mode drives, and/or exits automatic driving mode, and it is suitable to be found at this time according to vehicle-surroundings road equipment
Parking position is stopped (including but not limited to pulling over observing, Emergency Vehicle Lane parking, safety island parking, parking stall parking), and
Automatically opening automobile double jump lamp warns other vehicles, while will pass through man-machine interactive system HMI (including instrument, large-size screen monitors
Deng) shown, and remind driver and occupant.
It should be noted that auto-pilot controller can also to automatic Pilot Distance Remaining, adapter tube time etc. information into
Row is reminded.
In the present embodiment, during automatic Pilot, auto-pilot controller can combine in real time works as prelocalization, environment sense
Know, current and prediction a period of time weather condition and the Function for Automatic Pilot currently opened, to travel route, automatically drives
Distance Remaining, adapter tube time, degraded functionality are sailed, the information such as exits and is reminded, and corresponding information is sent to human-computer interaction system
System HMI (including instrument, large-size screen monitors etc.) is shown.In addition, automatic Pilot traffic efficiency, safety can be promoted through this embodiment
Property and reliability, avoid driver and occupant's time delays, complaint and generate to distrust of automatic Pilot etc..
In addition, the present embodiment propose it is a kind of using weather forecast cloud platform precisely, timely weather prediction service, help
The functions such as the method that autonomous driving vehicle function is realized, including navigation, path planning, control optimization.The present invention is conducive to be promoted
Autonomous driving vehicle traffic efficiency, safety, reliability, human-computer interaction intelligentization level and the experience property of passenger.
Optionally, on the basis of the embodiment of above-mentioned automatic Pilot method, another embodiment of the present invention provides one
Kind servomechanism, reference Fig. 5 may include:
Data obtaining module 101, for obtaining the weather forecasting information in front section；
Judgment module 102 is driven, for judging whether the weather forecasting information in the front section meets automatic Pilot item
Part；
Route planning module 103, if planning meets the alternative route of the automatic Pilot condition for not meeting；
Driving drives module 104, for being based on the alternative route, drives Vehicular automatic driving.
Optionally, the driving judgment module 102 may include:
Data acquisition submodule, for obtaining the working characteristic data of vehicle arrangement；
First current rate determines submodule, for based on the front section weather forecasting information and the vehicle arrangement
Working characteristic data, determine the current rate of the automatic Pilot in the front section；
It drives and determines submodule, for based on the current rate of the automatic Pilot, it is determined whether meet automatic Pilot condition.
In the present embodiment, obtain front section weather forecasting information, judge front section weather forecasting information whether
Meet automatic Pilot condition, if not meeting, planning meets the alternative route of the automatic Pilot condition, is based on the alternative road
Line drives the Vehicular automatic driving.By the invention it is possible to carry out the path rule in automatic Pilot according to weather forecasting information
It draws, weather forecast service is applied in Function for Automatic Pilot.
It should be noted that the course of work of modules and submodule in the present embodiment, please refers to above-described embodiment
In respective description, details are not described herein.
Optionally, on the basis of the embodiment of any of the above-described servomechanism, the route planning module 103 can be with
Include:
Position acquisition submodule, for obtaining current location and target travel position；
Route determination submodule, for planning travel route according to the current location and the target travel position；
Second current rate determines submodule, for the weather forecasting information according to travel route described in each item, determines each
The current rate of the automatic Pilot of travel route described in item；
Route screens submodule, is greater than the travel route of preset threshold for screening the current rate of automatic Pilot, and make
For the alternative route.
Optionally, on the basis of the present embodiment, driving drives module 104 and may include:
Command reception judging submodule switches the instruction of route for judging whether to receive user；
First driving drives submodule, if switching the instruction of route for receiving user, the route of foundation user's switching,
Drive the Vehicular automatic driving；
Second driving drives submodule, if switching the instruction of route for not receiving user, from the alternative route
The current maximum alternative route of rate of automatic Pilot is selected, and the vehicle is driven to drive automatically according to the alternative route selected
It sails.
In the present embodiment, be not suitable for when driving, can determine whether out that a plurality of alternative route is selected for user in present running route.
In addition, needing to filter out by weather forecasting information automatic to promote the utilization rate of Function for Automatic Pilot and experience effect
The current higher travel route of rate is driven for driver or occupant's selection to continue to use Function for Automatic Pilot.
It should be noted that the course of work of modules and submodule in the present embodiment, please refers to above-described embodiment
In respective description, details are not described herein.
Optionally, on the basis of the embodiment of any of the above-described servomechanism, further includes:
Message output module, if when for the alternative route for meeting the automatic Pilot condition can not to be cooked up, output packet
Include the prompt information for exiting automatic driving mode and entering indicating mode again；
Automatic Pilot module is exited, if exiting the signal of automatic driving mode for receiving triggering, is connect in driver
Pipe vehicle arrangement or the backed off after random automatic driving mode of the vehicle arrangement parking；
Reminding module again, if entering the signal of indicating mode again for receiving triggering, in preset time or condition
And then whether secondary prompt exits automatic driving mode；
Park control module, if both not connect for exporting in the first preset time after the first choice information
It receives triggering to exit the signal of automatic driving mode, also do not receive the signal that triggering enters indicating mode again, according to described
The current driving environment of vehicle selects parking position, and executes shut-down operation.
Optionally, on the basis of the present embodiment or any of the above-described embodiment, further includes:
The traveling that degrades judgment module determines whether the vehicle meets for the current driving environment according to the vehicle
The condition driven with automatic Pilot degraded mode；
Cue module, if exporting for meeting the condition driven with automatic Pilot degraded mode with automatic Pilot degradation mould
The prompt information that formula drives.
Optionally, on the basis of the present embodiment, further includes:
The traveling that degrades module, if the signal driven for receiving triggering with automatic Pilot degraded mode, described in driving
Vehicle is with the driving of automatic Pilot degraded mode；
Park control module does not receive triggering if being also used to after the second preset time with automatic Pilot degradation mould
The signal that formula drives selects parking position then according to the current driving environment of the vehicle, and executes shut-down operation.
In the present embodiment, during automatic Pilot, auto-pilot controller can combine in real time works as prelocalization, environment sense
Know, current and prediction a period of time weather condition and the Function for Automatic Pilot currently opened, to travel route, automatically drives
Distance Remaining, adapter tube time, degraded functionality are sailed, the information such as exits and is reminded, and corresponding information is sent to human-computer interaction system
System HMI (including instrument, large-size screen monitors etc.) is shown.In addition, automatic Pilot traffic efficiency, safety can be promoted through this embodiment
Property and reliability, avoid driver and occupant's time delays, complaint and generate to distrust of automatic Pilot etc..
In addition, the present embodiment propose it is a kind of using weather forecast cloud platform precisely, timely weather prediction service, help
The functions such as the method that autonomous driving vehicle function is realized, including navigation, path planning, control optimization.The present invention is conducive to be promoted
Autonomous driving vehicle traffic efficiency, safety, reliability, human-computer interaction intelligentization level and the experience property of passenger.
It should be noted that the course of work of the modules in the present embodiment, please refers to corresponding in above-described embodiment
Illustrate, details are not described herein.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of automatic Pilot method characterized by comprising
Obtain the weather forecasting information in front section；
Judge whether the weather forecasting information in the front section meets automatic Pilot condition；
If not meeting, planning meets the alternative route of the automatic Pilot condition；
Based on the alternative route, Vehicular automatic driving is driven.
2. automatic Pilot method according to claim 1, which is characterized in that the weather in the judgement front section is pre-
Whether measurement information meets automatic Pilot condition, comprising:
Obtain the working characteristic data of vehicle arrangement；
The working characteristic data of weather forecasting information and the vehicle arrangement based on the front section, determines the front road
The current rate of the automatic Pilot of section；
Based on the current rate of the automatic Pilot, it is determined whether meet automatic Pilot condition.
3. automatic Pilot method according to claim 1, which is characterized in that the planning meets the automatic Pilot condition
Alternative route, comprising:
Obtain current location and target travel position；
Travel route is planned according to the current location and the target travel position；
According to the weather forecasting information of travel route described in each item, determine that the automatic Pilot of travel route described in each item is current
Rate；
The travel route that the current rate of automatic Pilot is greater than preset threshold is screened, and as the alternative route.
4. automatic Pilot method according to claim 1, which is characterized in that meet the automatic Pilot if can not cook up
When the alternative route of condition, further includes:
Output includes the prompt information for exiting automatic driving mode and entering indicating mode again；
If receiving the signal that automatic driving mode is exited in triggering, stop in driver's adapter tube vehicle arrangement or the vehicle arrangement
The backed off after random automatic driving mode of vehicle；
If receiving the signal that triggering enters indicating mode again, whether exited in preset time or condition and then secondary prompt
Automatic driving mode；
If both not received the triggering exporting in the first preset time after the first choice information and having exited and driven automatically
It sails the signal of mode, also receive the signal that the triggering enters indicating mode again, according to the current driving of the vehicle
Environment selects parking position, and executes shut-down operation.
5. automatic Pilot method according to claim 1 or 4, which is characterized in that further include:
According to the current driving environment of the vehicle, determine whether the vehicle meets the item driven with automatic Pilot degraded mode
Part；
If meeting the condition driven with automatic Pilot degraded mode, the prompt information driven with automatic Pilot degraded mode is exported.
6. automatic Pilot method according to claim 5, which is characterized in that in output with the driving of automatic Pilot degraded mode
Prompt information after, further includes:
If receiving the signal that triggering is driven with automatic Pilot degraded mode, drive the vehicle with automatic Pilot degraded mode
It drives；
If not receiving the signal for triggering and driving with automatic Pilot degraded mode, then basis after the second preset time
The current driving environment of the vehicle selects parking position, and executes shut-down operation.
7. automatic Pilot method according to claim 1, which is characterized in that be based on the alternative route, control the vehicle
Automatic Pilot, comprising:
Judge whether to receive the instruction that user switches route；
If so, the route according to user's switching, drives the Vehicular automatic driving；
If it is not, select the current maximum alternative route of rate of automatic Pilot from the alternative route, and drive the vehicle according to
According to the alternative route automatic Pilot selected.
8. a kind of servomechanism characterized by comprising
Data obtaining module, for obtaining the weather forecasting information in front section；
Judgment module is driven, for judging whether the weather forecasting information in the front section meets automatic Pilot condition；
Route planning module, if planning meets the alternative route of the automatic Pilot condition for not meeting；
Driving drives module, for being based on the alternative route, drives Vehicular automatic driving.
9. servomechanism according to claim 8, which is characterized in that the driving judgment module includes:
Data acquisition submodule, for obtaining the working characteristic data of vehicle arrangement；
First current rate determines submodule, the work for weather forecasting information and the vehicle arrangement based on the front section
Make performance data, determines the current rate of the automatic Pilot in the front section；
It drives and determines submodule, for based on the current rate of the automatic Pilot, it is determined whether meet automatic Pilot condition.
10. servomechanism according to claim 8, which is characterized in that further include:
Message output module, if when for that can not cook up the alternative route for meeting the automatic Pilot condition, output includes moving back
Automatic driving mode and the prompt information into indicating mode again out；
Automatic Pilot module is exited, if the signal of automatic driving mode is exited for receiving triggering, in driver's adapter tube vehicle
Equipment or the backed off after random automatic driving mode of the vehicle arrangement parking；
Reminding module again, if entering the signal of indicating mode again for receiving triggering, after preset time or condition,
Prompt whether to exit automatic driving mode again；
Park control module, if both not received for exporting in the first preset time after the first choice information
Described trigger exits the signal of automatic driving mode, does not also receive the signal that the triggering enters indicating mode again, according to
The current driving environment of the vehicle selects parking position, and executes shut-down operation.
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