CN110134124B - Vehicle running control method and device, storage medium and processor - Google Patents
Vehicle running control method and device, storage medium and processor Download PDFInfo
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- CN110134124B CN110134124B CN201910356686.0A CN201910356686A CN110134124B CN 110134124 B CN110134124 B CN 110134124B CN 201910356686 A CN201910356686 A CN 201910356686A CN 110134124 B CN110134124 B CN 110134124B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application provides a vehicle running control method and device, a storage medium and a processor. The vehicle is positioned at the intersection, and the control method comprises the following steps: acquiring a preset motion track of a person and a preset motion track of an object in a preset area within preset time, wherein the preset area comprises an intersection and the distance between each position in the preset area and a vehicle is less than a preset distance; and controlling the vehicle to run at the intersection according to the preset motion trail of the person and the preset motion trail of the object. In the control method, the preset motion trail of all people in the preset area within the preset time and the preset motion trail of all objects within the preset time are firstly obtained, and then the vehicle is controlled to run at the intersection according to the preset motion trail of the people and the preset motion trail of the objects, so that the vehicle is prevented from running at the intersection and colliding with the preset motion trail, and the vehicle can safely and automatically pass through the intersection with the traffic signal lamp.
Description
Technical Field
The application relates to the field of unmanned driving, in particular to a vehicle running control method, device, storage medium and processor.
Background
In the unmanned driving process, sometimes the traffic light at the intersection is abnormal, for example, the traffic light is not on, the traffic light continuously flashes, or the traffic light always displays a color. In this case, a corresponding driving strategy cannot be made based on the display of the traffic signal, and the situation of the intersection is complicated, making it difficult to safely drive.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a vehicle driving control method, a vehicle driving control device, a storage medium and a processor, so as to solve the problem that safe driving is difficult to realize under the condition that an intersection traffic signal lamp is abnormal in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a control method of vehicle travel, the vehicle being located at an intersection, the control method including: acquiring predicted motion track information of a person and predicted motion track information of an object in a predetermined area within a predetermined time, wherein the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to all moments within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection; and controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object.
Further, the acquiring of the predicted motion trajectory information of the person includes: acquiring a predicted track of the person according to the current position, the current speed, the current acceleration and the current motion direction of the person; acquiring the predicted state of the traffic signal lamp visible to the person at present according to the state of the traffic signal lamp visible to the vehicle at present and the predicted track of the person; and acquiring the predicted motion information of the person according to the predicted track of the person, the predicted state of the traffic signal lamp currently visible for the person and the road right of way information.
Further, the object includes a predetermined vehicle, and acquiring the predicted movement locus information of the predetermined vehicle includes: acquiring a predicted track of the vehicle according to the current position, the current speed, the current acceleration and the current motion direction of the vehicle; acquiring the predicted state of the traffic signal lamp currently visible for the vehicle according to the state of the traffic signal lamp currently visible for the vehicle and the predicted track of the vehicle; and acquiring the predicted motion information of the vehicle according to the predicted track of the vehicle, the predicted state of the traffic signal lamp currently visible by the vehicle and the road right of way information.
Further, controlling the vehicle to travel at the intersection according to the predicted motion trajectory information of the person and the predicted motion trajectory information of the object includes: making a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle, wherein the passing strategy comprises a passing track and the motion speed of each position in the passing track; and controlling the vehicle to run according to the traffic strategy.
Further, the step of formulating a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle comprises the following steps: acquiring a plurality of preparatory traffic strategies according to the predicted motion trail information of the person, the predicted motion trail information of the object and the destination of the vehicle; predicting the conditions of collision points in each prepared traffic strategy; and selecting one of the prepared traffic strategies as the traffic strategy according to the condition of the collision point.
Further, predicting the condition of the collision point in each of the preliminary traffic policies includes: predicting the number of collision points in each prepared traffic strategy; and predicting the responsible party of each collision point.
Further, the collision points at which the vehicle is an unconscious party are unconscious collision points, and selecting one of the preparatory traffic policies as the traffic policy according to the situation of the collision points comprises: calculating the number of the collision points of which the vehicles are not responsible parties in the prepared traffic strategy according to the number of the predicted collision points and the predicted conditions of responsible parties of all the collision points; determining the reserve traffic policy with the least number of collision points or the collision points without responsibility as the traffic policy.
According to another aspect of the present application, there is provided a control apparatus for vehicle travel, the vehicle being located at an intersection, the control apparatus including: the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the predicted motion track information of people and objects in a predetermined area within a predetermined time, the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to each moment within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection; and the control unit is used for controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object.
According to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the control methods.
According to another aspect of the present application, there is provided a processor for executing a program, wherein the program executes any one of the control methods.
According to the technical scheme, the control method comprises the steps of firstly obtaining the predicted motion track information of all people in a preset time and the predicted motion track information of all objects in the preset time in a preset area, then controlling the vehicle to run at the intersection according to the predicted motion track information of the people and the predicted motion track information of the objects, avoiding the vehicle to run at the intersection to collide with the predicted motion track information, and enabling the vehicle to run at the intersection to be safe.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic flow diagram of an embodiment of a control method of vehicle travel according to the present application; and
fig. 2 shows a block diagram of the structure of an embodiment of a control apparatus for vehicle running according to the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
In the prior art, under the condition that an intersection traffic signal lamp is abnormal, the intersection condition is complex, and an automatic driving automobile is difficult to safely drive.
Fig. 1 is a flowchart of a control method of vehicle travel according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring predicted motion track information of a person and predicted motion track information of an object in a predetermined area within a predetermined time, wherein the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to each moment within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection, namely the intersection is located in the predetermined area, and the distance between each position in the predetermined area and a vehicle is smaller than the predetermined distance;
and step S102, controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In the control method, firstly, the predicted motion track information of all people in a preset time and the predicted motion track information of all objects in the preset time in a preset area are obtained, then the vehicle is controlled to run at the intersection according to the predicted motion track information of the people and the predicted motion track information of the objects, the running of the vehicle at the intersection is prevented from colliding with the predicted motion track information, and the running of the vehicle at the intersection is enabled to be safer.
It should be noted that, when the control method in the present application is applied to a situation where a vehicle is at an intersection, a traffic light at the intersection may be in a normal state or in an abnormal state, that is, in an abnormal state, as explained in the background art, for example, the traffic light is not on, the traffic light continuously flashes, or the traffic light always displays a color.
It should be further noted that the predicted movement trajectory information of the person in the predetermined area in the predetermined time may be a point or a line, that is, the predicted person may be moving or stationary; similarly, the predicted movement trajectory information of the object in the predetermined area in the predetermined time may be a point or a line, that is, the predicted object may be moving or stationary.
The method for acquiring the predicted motion trajectory information of the person in the predetermined area within the predetermined time may be any feasible method in the prior art, and a person skilled in the art may select an appropriate method to acquire the corresponding predicted trajectory according to the actual situation, in an embodiment of the present application, the process of acquiring the predicted motion trajectory information of the person in the predetermined area within the predetermined time includes: acquiring a predicted track of the person according to the current position, the current speed, the current acceleration and the current motion direction of the person; acquiring the predicted state of the traffic signal lamp which is currently visible to the person according to the state of the traffic signal lamp which is currently visible to the vehicle and the predicted track of the person; and acquiring the predicted motion information of the person according to the predicted track of the person, the predicted state of the traffic signal lamp currently visible for the person and the road right of way information. Specifically, the current position, the current speed, the current acceleration, and the current movement direction of the person may be obtained through a camera, a laser radar, and other devices, and then the predicted movement trajectory information of the person may be calculated and obtained according to the current position, the current speed, the current acceleration, and the current movement direction of the person.
In an actual application process, other manners may also be adopted to obtain the predicted movement track information of the person in the predetermined area within the predetermined time, and in a specific embodiment of the present application, the process of obtaining the predicted movement track information of the person in the predetermined area within the predetermined time includes: generating a preset motion track of each person by using historical statistical data and a machine learning method according to the information such as the current position, the current speed, the current acceleration, the current motion direction and the current spatial shape of the person; then, the current position, the current speed, the current acceleration, the current motion direction, the current spatial shape, the current road right of way and the preset motion track of the person are used for obtaining the position in the corresponding predicted track of the person at each moment in the preset time according to historical statistical data and a machine learning method, and therefore the predicted motion track information of the person is obtained. It should be noted that the object in the predetermined area in the present application may include any object, and may include an open type traffic guidance kiosk located in the middle of the intersection, and such an object may directly determine the object whose predicted movement track information is provided, and of course, the object in the predetermined area may also include other vehicles besides the vehicle that needs to be controlled, specifically, an automobile, a bicycle, a scooter, and the like, and the other vehicles are also referred to as predetermined vehicles.
The method for obtaining the predicted movement track information of the predetermined vehicle within the predetermined time may be any feasible method in the prior art, and a person skilled in the art may select an appropriate method to obtain the corresponding predicted track according to actual conditions, in an embodiment of the present application, the process for obtaining the predicted movement track information of the predetermined vehicle within the predetermined area within the predetermined time includes: acquiring a predicted track of the vehicle according to the current position, the current speed, the current acceleration and the current motion direction of the vehicle; acquiring the predicted state of the traffic signal lamp currently visible for the vehicle according to the state of the traffic signal lamp currently visible for the vehicle and the predicted track of the vehicle; and acquiring the predicted motion information of the vehicle according to the predicted track of the vehicle, the predicted state of the traffic signal lamp currently visible by the vehicle and the road right of way information. Specifically, the current position, the current speed, the current acceleration, and the current movement direction of the predetermined vehicle may be obtained through a camera, a laser radar, and other devices, and then the predicted movement track information of the predetermined vehicle may be calculated and obtained according to the current position, the current speed, the current acceleration, and the current movement direction of the predetermined vehicle.
In practical applications, the obtaining of the predicted movement track information of the vehicle in the predetermined area within the predetermined time may also be performed in any suitable manner, and in a specific embodiment of the present application, the obtaining of the predicted movement track information of the predetermined vehicle includes: generating a preset motion track of each vehicle by using historical statistical data and a machine learning method according to the information of the current position, the current speed, the current acceleration, the current motion direction, the current spatial shape and the like of the vehicle; and then, acquiring the position in the predicted track corresponding to each moment of the vehicle within the preset time according to historical statistical data and a machine learning method by using the current position, the current speed, the current acceleration, the current motion direction, the current spatial shape, the current road right of way and the preset motion track of the vehicle, so as to obtain the predicted motion track information of the vehicle. In order to further ensure the driving safety of the vehicle at the intersection, in one embodiment of the present application, the controlling the vehicle to drive at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object includes: making a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle, wherein the passing strategy comprises the motion speed and the passing track of each position in the passing track; and controlling the vehicle to run according to the traffic strategy.
It should be noted that the traffic policy should be made to meet the traffic regulations.
In a more specific embodiment of the present application, the passing policy further includes a passing speed, that is, a running speed of the vehicle at each position on the passing track, and subsequently, the vehicle is controlled to run according to the passing speed, so that the safety of the vehicle running at the intersection is further ensured.
In an actual application process, the traffic policy obtained according to the predicted motion trajectory information is not necessarily absolutely safe, because people or objects in the predetermined area do not necessarily travel according to the predicted motion trajectory information, and the people or objects may not travel strictly according to the predicted motion trajectory information, so that when the vehicle is controlled to travel according to the traffic policy directly obtained according to the motion trajectory, the vehicle is not necessarily absolutely safe, and may still collide, in order to further ensure the safety of the vehicle passing through the intersection and further ensure the benefit of the user, in an embodiment of the present application, the step of formulating the traffic policy of the vehicle at the intersection according to the predicted motion trajectory information of the people, the predicted motion trajectory information of the objects, and the destination of the vehicle includes: acquiring a plurality of preliminary traffic policies according to the predicted movement track information of the person, the predicted movement track information of the object and the destination of the vehicle; predicting the situation of the collision point in each preliminary traffic strategy, namely predicting the situation of the collision point (which can also be called as a possible collision point) which can possibly occur in the preliminary traffic strategy; and selecting one of the preparation passing strategies as the passing strategy according to the conditions of the collision points. According to the method, a plurality of preliminary traffic strategies are obtained according to the predicted motion track information of the people, the predicted motion track information of the objects and the destination of the vehicle, then screening is carried out according to the conditions of collision points possibly occurring in each traffic strategy, and a final traffic strategy is obtained.
In order to further guarantee the benefit of the user, in one embodiment of the present application, the predicting the condition of the collision point in each of the preliminary traffic policies includes: predicting the number of the collision points in each prepared traffic strategy; and predicting the responsible party of each collision point.
Since the number of collision points (also referred to as non-responsible collision points) at which the vehicle is a non-responsible party in each of the preliminary traffic policies is already predicted in the process of predicting the situation of the collision points in each of the preliminary traffic policies, selecting one of the preliminary traffic policies as the traffic policy according to the situation of the collision points includes: and calculating the number of collision points of which the vehicles are not responsible parties in a prepared traffic strategy according to the number of the predicted collision points and the predicted conditions of responsible parties of all the collision points, and determining the prepared traffic strategy with the least number of the collision points or the collision points as the traffic strategy. In the actual application process, the preparation passing strategy without collision points is preferentially selected as the passing strategy, and the preparation passing strategy with the least number of the collision points without responsibility is selected as the passing strategy under the condition that no collision points exist in the passing strategy, so that the passing strategy of the vehicle is safer, the collision points without responsibility are fewer, and the benefit of a user is further guaranteed.
In an actual application process, there may be a minimum number of spare traffic policies with the same number of collision points, in which case, selecting one of the spare traffic policies as the traffic policy according to the collision points includes: and determining the reserve traffic policy with the least number of the non-responsible collision points and the least number of the collision points as the traffic policy. Namely, if the number of the non-responsible collision points of the two prepared traffic strategies is the same and is the minimum, the number of the collision points of the two prepared traffic strategies is compared, and the prepared traffic strategy with the minimum number of the collision points is selected as the traffic strategy.
Of course, the process of selecting one of the preparation passing policies as the passing policy according to the situation of the collision point is not limited to the above process, and in another specific embodiment of the present application, the selecting one of the preparation passing policies as the passing policy according to the situation of the collision point includes: and determining the preliminary traffic policy with the least number of collision points as the traffic policy. In this scenario, there may be a pre-passage policy with the same number of collision points and the smallest number of collision points, and in this case, the pre-passage policy with the smallest number of collision points and the smallest number of collision points without responsibility is determined as the passage policy, that is, in the case that the number of collision points of the two pre-passage policies is the same and the smallest, the pre-passage policy with the smallest collision points without responsibility is selected as the passage policy.
It should be noted that the predetermined time and the predetermined area in the present application may be determined according to actual conditions, for example, the predetermined area may be determined according to a traveling destination of the controlled vehicle, an area size of an intersection area, and the like, and the predetermined time may be determined according to a traveling destination of the controlled vehicle, an area size of an intersection area, and the like.
The embodiment of the present application further provides a control device for vehicle running, and it should be noted that the control device for vehicle running of the embodiment of the present application may be used to execute the control method for vehicle running provided by the embodiment of the present application. The following describes a control device for vehicle travel according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a control apparatus for vehicle travel according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
an acquisition unit 10 configured to acquire predicted movement trajectory information of a person in a predetermined area and predicted movement trajectory information of an object in the predetermined area, the predicted movement trajectory information including a predicted trajectory and a position in the predicted trajectory corresponding to each time within the predetermined time, the predetermined area including an intersection and an area having a distance from the intersection smaller than a predetermined distance;
and a control unit 20 for controlling the vehicle to travel at the intersection based on the predicted motion trajectory information of the person and the predicted motion trajectory information of the object.
In the control device, the acquisition unit acquires the predicted motion track information of all people in the predetermined area within the predetermined time and the predicted motion track information of all objects within the predetermined time, the control unit controls the vehicle to run at the intersection according to the predicted motion track information of the people and the predicted motion track information of the objects, and the running of the vehicle at the intersection is prevented from colliding with the predicted motion track information, so that the vehicle runs safely at the intersection.
It should be noted that, when the control device in the present application is applied to a situation where a vehicle is at an intersection, a traffic light at the intersection may be in a normal state or in an abnormal state, that is, in an abnormal state, as explained in the background art, for example, the traffic light is not on, the traffic light continuously flashes, or the traffic light always displays one color.
It should be further noted that the predicted movement trajectory information of the person in the predetermined area in the predetermined time may be a point or a line, that is, the predicted person may be moving or stationary; similarly, the predicted movement trajectory information of the object in the predetermined area in the predetermined time may be a point or a line, that is, the predicted object may be moving or stationary.
The obtaining unit may be any feasible device in the prior art, and a person skilled in the art may select an appropriate device to obtain the corresponding predicted track according to actual conditions, in an embodiment of the present application, the obtaining unit includes a first obtaining module and a second obtaining module,
the first acquisition module is used for acquiring the predicted motion track information of a person in a predicted area within the prediction time, and comprises a first acquisition submodule, a second acquisition submodule and a third submodule, wherein the first acquisition submodule is used for acquiring the predicted track of the person according to the current position, the current speed, the current acceleration and the current motion direction of the person; acquiring the predicted state of the traffic signal lamp which is currently visible to the person according to the state of the traffic signal lamp which is currently visible to the vehicle and the predicted track of the person; and acquiring the predicted motion information of the person according to the predicted track of the person, the predicted state of the traffic signal lamp currently visible for the person and the road right of way information.
In an actual application process, the obtaining module may further obtain predicted motion trajectory information of a person in a predetermined area within a predetermined time in any suitable manner, in a specific embodiment of the present application, the obtaining module includes a fourth obtaining submodule and a fifth obtaining submodule, where the fourth obtaining submodule is configured to generate a predetermined motion trajectory of each person by using historical statistical data and a machine learning method according to information such as a current position, a current speed, a current acceleration, a current motion direction, and a current spatial shape of the person; and the fifth acquisition submodule acquires the position in the predicted track corresponding to each moment of the person within the preset time according to historical statistical data and a machine learning method by using the current position, the current speed, the current acceleration, the current motion direction, the current spatial shape, the current road right of way and the preset motion track of the person, so as to obtain the predicted motion track information of the person.
It should be noted that the object in the predetermined area in the present application may include any object, and may include an open type traffic guidance kiosk located in the middle of the intersection, and such an object may directly determine the object whose predicted movement track information is provided, and of course, the object in the predetermined area may also include other vehicles besides the vehicle that needs to be controlled, specifically, an automobile, a bicycle, a scooter, and the like, and the other vehicles are also referred to as predetermined vehicles.
The second obtaining module may be any feasible device in the prior art, and a person skilled in the art may select a suitable device to obtain the corresponding predicted trajectory according to an actual situation, in an embodiment of the present application, the second obtaining module includes a sixth obtaining sub-module, a seventh obtaining sub-module, and an eighth obtaining sub-module, where the sixth obtaining sub-module obtains the predicted trajectory of the vehicle according to the current position, the current speed, the current acceleration, and the current moving direction of the vehicle; the seventh obtaining submodule obtains the prediction state of the traffic signal lamp which is currently visible for the vehicle according to the state of the traffic signal lamp which is currently visible for the vehicle and the prediction track of the vehicle; and the eighth acquisition submodule acquires the predicted motion information of the vehicle according to the predicted track of the vehicle, the predicted state of the traffic signal lamp currently visible for the vehicle and the road right of way information.
In an actual application process, the second obtaining module may obtain the predicted movement track information of the vehicle in the predetermined area in the predetermined time in any suitable manner, in a specific embodiment of the present application, the second obtaining module includes a ninth obtaining sub-module and a tenth obtaining sub-module, where the ninth obtaining sub-module is configured to generate the predetermined movement track of each person by using historical statistical data and a machine learning method according to information such as the current position, the current speed, the current acceleration, the current movement direction, and the current spatial shape of the person; and the tenth acquisition submodule acquires the position in the predicted track corresponding to each moment of the person within the preset time according to historical statistical data and a machine learning method by using the current position, the current speed, the current acceleration, the current motion direction, the current spatial shape, the current road right of way and the preset motion track of the person, so as to obtain the predicted motion track information of the person.
In order to further ensure the driving safety of the vehicle at the intersection, in one embodiment of the present application, the control unit includes a formulation module and a control module, wherein the formulation module is configured to formulate a passing policy of the vehicle at the intersection according to the predicted movement track information of the person, the predicted movement track information of the object, and the destination of the vehicle, and the passing policy includes the movement speed and the passing track of each position in the passing track; the control module is used for controlling the vehicle to run according to the traffic strategy.
In a more specific embodiment of the present application, the passing policy further includes a passing speed, that is, a running speed of the vehicle at each position on the passing track, and subsequently, the vehicle is controlled to run according to the passing speed, so that the safety of the vehicle running at the intersection is further ensured.
It should be noted that the traffic policy should be made to meet the traffic regulations.
In the actual application process, the traffic strategy obtained according to the predicted motion trail information is not absolutely safe, because, the person or thing in the predetermined area does not necessarily travel according to the predicted movement trace information, it is possible that the vehicle does not travel exactly according to the predicted motion trajectory information, and therefore, in the case where the vehicle is controlled to travel according to the traffic policy directly acquired from the motion trajectory, the vehicle is not necessarily absolutely safe, in order to further ensure the safety of the vehicle passing at the intersection and further guarantee the benefit of the user, in one embodiment of the application, the formulation module comprises a formulation submodule, a collision point prediction submodule and a determination submodule, the formulating submodule is used for acquiring a plurality of preparatory traffic strategies according to the predicted motion trail information of the person, the predicted motion trail information of the object and the destination of the vehicle; the collision point prediction submodule is used for predicting the situation of the collision point in each prepared traffic strategy, namely predicting the situation of the collision point (which can also be called as a possible collision point) which can possibly occur in the prepared traffic strategy; the determining submodule is used for selecting one of the preparation passing strategies as the passing strategy according to the condition of the collision point. According to the device, a plurality of preliminary traffic strategies are obtained according to the predicted motion track information of the people, the predicted motion track information of the objects and the destination of the vehicle, then screening is carried out according to the conditions of possible collision points in each traffic strategy, and a final traffic strategy is obtained.
In order to further guarantee the benefit of users, in one embodiment of the application, the collision point prediction submodule includes a first prediction submodule and a second prediction submodule, wherein the first prediction submodule is used for predicting the number of the collision points in each prepared traffic strategy; and the second prediction submodule is used for predicting the responsible party of each collision point.
Since the number of collision points (also referred to as non-responsible collision points) at which the vehicle is a non-responsible party in each of the preliminary traffic policies is already predicted in the process of predicting the situation of collision points in each of the preliminary traffic policies, the determination submodule determines the preliminary traffic policy in which the number of non-responsible collision points is the smallest as the traffic policy. Therefore, the number of the non-responsible collision points of the traffic strategy of the vehicle can be ensured to be less, and the benefit of the user is further ensured.
In an actual application process, there may be a preliminary traffic policy with the same number of collision points without responsibility and the minimum number of collision points without responsibility, in which case, the determining submodule is configured to calculate the number of collision points with the vehicle as the party without responsibility in the preliminary traffic policy according to the predicted number of collision points and the predicted situation of the party responsible for each collision point, and then determine the preliminary traffic policy with the minimum number of collision points without responsibility or the number of collision points without responsibility as the traffic policy. In the actual application process, the determination sub-module preferentially selects the prepared passage strategy without collision points as the passage strategy, and selects the prepared passage strategy with the least number of collision points without responsibility as the passage strategy under the condition that no collision points exist in the passage strategy, so that the passage strategy of the vehicle is ensured to be safer, the number of collision points without responsibility is less, and the benefit of a user is further ensured.
It should be noted that the predetermined time and the predetermined area in the present application may be determined according to actual conditions, for example, the predetermined area may be determined according to a traveling destination of the controlled vehicle, an area size of an intersection area, and the like, and the predetermined time may be determined according to a traveling destination of the controlled vehicle, an area size of an intersection area, and the like.
The control device for vehicle running comprises a processor and a memory, wherein the acquisition unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the vehicle can run safely at the intersection by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having stored thereon a program that, when executed by a processor, implements the above-described control method for vehicle travel.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the control method for vehicle running when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring predicted motion track information of a person and predicted motion track information of an object in a predetermined area within a predetermined time, wherein the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to each moment within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection, namely the intersection is located in the predetermined area, and the distance between each position in the predetermined area and a vehicle is smaller than the predetermined distance;
and step S102, controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
step S101, acquiring predicted motion track information of a person and predicted motion track information of an object in a predetermined area within a predetermined time, wherein the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to each moment within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection, namely the intersection is located in the predetermined area, and the distance between each position in the predetermined area and a vehicle is smaller than the predetermined distance;
and step S102, controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) according to the control method, firstly, the predicted motion track information of all people in a preset time and the predicted motion track information of all objects in the preset time in a preset area are obtained, then the driving of the vehicle at the intersection is controlled according to the predicted motion track information of the people and the predicted motion track information of the objects, the driving of the vehicle at the intersection is prevented from colliding with the predicted motion track information, and the driving of the vehicle at the intersection is enabled to be safer.
2) In the control device, the acquisition unit acquires the predicted motion track information of all people in a preset time and the predicted motion track information of all objects in the preset time in a preset area, the control unit controls the vehicle to run at the intersection according to the predicted motion track information of the people and the predicted motion track information of the objects, and the running of the vehicle at the intersection is prevented from colliding with the predicted motion track information, so that the vehicle runs safely at the intersection.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A control method of vehicle travel, characterized in that the vehicle is located at an intersection, the control method comprising:
acquiring predicted motion track information of a person and predicted motion track information of an object in a predetermined area within a predetermined time, wherein the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to all moments within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection;
controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object;
controlling the vehicle to travel at the intersection according to the predicted motion trail information of the person and the predicted motion trail information of the object comprises:
making a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle, wherein the passing strategy comprises a passing track and the motion speed of each position in the passing track;
controlling the vehicle to run according to the traffic strategy;
the step of formulating a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle comprises the following steps:
acquiring a plurality of preparatory traffic strategies according to the predicted motion trail information of the person, the predicted motion trail information of the object and the destination of the vehicle;
predicting the conditions of collision points in each prepared traffic strategy;
selecting one of the prepared traffic strategies as the traffic strategy according to the condition of the collision point;
the collision points of which the vehicles are non-responsible parties are non-responsible collision points, and the step of selecting one of the preparation passing strategies as the passing strategy according to the conditions of the collision points comprises the following steps:
calculating the number of collision points of which the vehicles are non-responsible parties in the prepared traffic strategy according to the number of the predicted collision points and the predicted conditions of responsible parties of all the collision points;
determining the reserve traffic policy with the least number of collision points or the collision points without responsibility as the traffic policy.
2. The control method according to claim 1, wherein acquiring the predicted motion trajectory information of the person includes:
acquiring a predicted track of the person according to the current position, the current speed, the current acceleration and the current motion direction of the person;
acquiring the predicted state of the traffic signal lamp visible to the person at present according to the state of the traffic signal lamp visible to the vehicle at present and the predicted track of the person;
and acquiring the predicted motion information of the person according to the predicted track of the person, the predicted state of the traffic signal lamp currently visible for the person and the road right of way information.
3. The control method according to claim 1, wherein the object includes a predetermined vehicle, and acquiring the predicted movement locus information of the predetermined vehicle includes:
acquiring a predicted track of the preset vehicle according to the current position, the current speed, the current acceleration and the current movement direction of the preset vehicle;
acquiring the current visible traffic signal lamp prediction state of a preset vehicle according to the current visible traffic signal lamp state of the preset vehicle and the predicted track of the preset vehicle;
and acquiring the predicted motion information of the predetermined vehicle according to the predicted track of the predetermined vehicle, the predicted state of a traffic signal lamp currently visible by the predetermined vehicle and the road right of way information.
4. The control method according to claim 1, wherein predicting the condition of the collision point in each of the preliminary traffic policies comprises:
predicting the number of collision points in each prepared traffic strategy;
and predicting the responsible party of each collision point.
5. A control device for vehicle travel, characterized in that the vehicle is located at an intersection, the control device comprising:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the predicted motion track information of people and objects in a predetermined area within a predetermined time, the predicted motion track information comprises a predicted track and positions in the predicted track corresponding to each moment within the predetermined time, and the predetermined area comprises an intersection and an area with a distance smaller than a predetermined distance from the intersection;
the control unit is used for controlling the vehicle to run at the intersection according to the predicted motion track information of the person and the predicted motion track information of the object;
the control unit comprises a formulation module and a control module, wherein the formulation module is used for formulating a passing strategy of the vehicle at the intersection according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle, and the passing strategy comprises the motion speed and the passing track of each position in the passing track; the control module is used for controlling the vehicle to run according to the passing strategy;
the formulating module comprises a formulating submodule, a collision point predicting submodule and a determining submodule, wherein the formulating submodule is used for acquiring a plurality of preparatory traffic strategies according to the predicted motion track information of the person, the predicted motion track information of the object and the destination of the vehicle; the collision point prediction submodule is used for predicting the conditions of collision points in each prepared traffic strategy; the determining submodule is used for selecting one of the prepared traffic strategies as the traffic strategy according to the condition of the collision point;
the determining submodule is used for determining the collision points of which the vehicles are non-responsible parties as non-responsible collision points, calculating the number of the collision points of which the vehicles are non-responsible parties in the prepared traffic strategy according to the number of the predicted collision points and the predicted situation of the responsible parties of each collision point, and determining the prepared traffic strategy with the smallest number of the non-responsible collision points or the non-responsible collision points as the traffic strategy.
6. A storage medium characterized by comprising a stored program, wherein the program executes the control method of any one of claims 1 to 4.
7. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 4 when running.
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| CN110827326B (en) * | 2019-11-14 | 2023-05-02 | 清华大学苏州汽车研究院（吴江） | Method, device, equipment and storage medium for generating simulation man-vehicle conflict scene model |
| CN111289003A (en) * | 2020-02-06 | 2020-06-16 | 广州小马智行科技有限公司 | Path planning method, device, system, storage medium and processor |
| CN111402614A (en) * | 2020-03-27 | 2020-07-10 | 北京经纬恒润科技有限公司 | Vehicle driving decision adjustment method and device and vehicle-mounted terminal |
| CN112509353B (en) * | 2020-11-04 | 2022-05-24 | 深圳优地科技有限公司 | Robot passing method and device, robot and storage medium |
| CN114005272A (en) * | 2021-09-30 | 2022-02-01 | 淮阴工学院 | Road traffic regulation and control method based on 5G cloud computing terminal |
| CN115394093A (en) * | 2022-08-11 | 2022-11-25 | 重庆长安汽车股份有限公司 | Method and device for assisting vehicle to pass through traffic light intersection |
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