CN110162062A - Vehicle driving planing method, device, equipment and readable storage medium storing program for executing - Google Patents
Vehicle driving planing method, device, equipment and readable storage medium storing program for executing Download PDFInfo
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- CN110162062A CN110162062A CN201910499931.3A CN201910499931A CN110162062A CN 110162062 A CN110162062 A CN 110162062A CN 201910499931 A CN201910499931 A CN 201910499931A CN 110162062 A CN110162062 A CN 110162062A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000004891 communication Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The embodiment of the present invention proposes a kind of vehicle driving planing method, device, equipment and readable storage medium storing program for executing, and vehicle driving planing method includes: to receive in predeterminable area the destination information of traffic participant and traffic participant in the real-time position information at least two moment；Real-time position information according to the destination information of traffic participant and traffic participant at least two moment determines the prediction route and predetermined speed of traffic participant；According to the current programme path of the prediction route and predetermined speed of traffic participant and vehicle and work as preplanning speed, predicts the position that crosses of vehicle and traffic participant；According to the position that crosses of vehicle and traffic participant, current programme path to vehicle and when preplanning speed is adjusted obtains planning speed after programme path and adjustment after the adjustment of vehicle.The embodiment of the present invention is adjusted in advance to avoid the collision with traffic participant, and serious forgiveness is high, improves the safety and reliability of automatic Pilot.
Description
Technical field
The present invention relates to vehicle drive technical field more particularly to a kind of vehicle driving planing method, device, equipment and can
Read storage medium.
Background technique
The strategy of current automatic Pilot is usually to pass through sensor, the pedestrian around real-time judge, so that real-time update is certainly
The dynamic decision and behavior driven.Moreover, traditional people's vehicle cooperative system also only informs automated driving system, nearby there is pedestrian,
Fail the trend of prediction pedestrian.The serious forgiveness of the prior art is low, once it judges by accident, it is possible to the more serious problem of initiation,
Accident.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle driving planing method, device, equipment and readable storage medium storing program for executing, existing to solve
There are one or more technical problems in technology.
In a first aspect, the embodiment of the invention provides a kind of vehicle driving planing methods, comprising:
The destination information of traffic participant and the traffic participant are at least two moment in reception predeterminable area
Real-time position information；
According to the destination information of the traffic participant and the traffic participant in the real-time position at least two moment
Confidence breath, determines the prediction route and predetermined speed of the traffic participant；
According to the current programme path of the prediction route and predetermined speed of the traffic participant and vehicle and work as front lay
Speed is drawn, predicts the position that crosses of the vehicle and the traffic participant；
According to the position that crosses of the vehicle and the traffic participant, current programme path to the vehicle and current
Planning speed is adjusted, and obtains planning speed after programme path and adjustment after the adjustment of the vehicle.
In one embodiment, described to be existed according to the destination information and the traffic participant of the traffic participant
The real-time position information at least two moment determines the prediction route and predetermined speed of the traffic participant, comprising:
Real-time position information according to the traffic participant at least two moment determines the pre- of the traffic participant
Degree of testing the speed；
According to the destination information of the traffic participant and the traffic participant in the real-time position at least one moment
Confidence breath, determines the prediction route of the traffic participant.
In one embodiment, the prediction route and predetermined speed and vehicle according to the traffic participant
Current programme path and work as preplanning speed, predict the position that crosses of the vehicle and the traffic participant, comprising:
The current programme path of the prediction route and the vehicle that judge the traffic participant is with the presence or absence of intersection point
It sets；
There are crosspoint position, according to the prediction route and predetermined speed of the traffic participant, prediction
The traffic participant reaches the first moment of the crosspoint position；And according to the current programme path of the vehicle and currently
It plans speed, predicts that the vehicle reaches the second moment of the crosspoint position；
Judge whether first moment and the time interval at second moment are less than preset time threshold；It is pre- being less than
If in the case where time threshold, determining that the crosspoint position is the position that crosses of the vehicle and the traffic participant.
In one embodiment, the prediction route of the judgement traffic participant and the vehicle work as preplanning
Route whether there is crosspoint position, comprising:
Determine the first position for predicting route in the current programme path of the vehicle closest to the traffic participant,
And the first position to the traffic participant prediction route the shortest distance；
Judge whether the first position is default less than first to the shortest distance for predicting route of the traffic participant
Distance threshold determines the intersection point according to the first position in the case where being less than the first pre-determined distance threshold value
It sets.
In one embodiment, the prediction route and predetermined speed and vehicle according to the traffic participant
Current programme path and work as preplanning speed, predict the position that crosses of the vehicle and the traffic participant, comprising:
According to the prediction route and predetermined speed of the traffic participant, the prediction stroke of the traffic participant is determined,
The prediction stroke includes the predicted position of the corresponding traffic participant of each moment point；
According to the current programme path of the vehicle and work as preplanning speed, determines the planning stroke of the vehicle, it is described
Planning stroke includes the planned position of the corresponding vehicle of each moment point；
According to the planning stroke of the prediction stroke and the vehicle of the traffic participant, the traffic is judged whether there is
Third moment of the relative distance of the predicted position of participant and the planned position of the vehicle less than the second pre-determined distance threshold value；
There are the third moment, according to the prediction bits of traffic participant corresponding to the third moment
The planned position with the vehicle is set, determines the position that crosses of the vehicle and the traffic participant.
Second aspect, the embodiment of the present invention also provide a kind of traffic participant method for sending information, comprising:
Receive destination setting instruction；
It is set and is instructed according to the destination, determine destination information；
Traffic participant is detected in the real-time position information at least two moment；
The real-time position information of the destination information and the traffic participant at least two moment is sent, for right
The current programme path of vehicle and when preplanning speed is adjusted.
The third aspect, the embodiment of the present invention also provide a kind of vehicle driving device for planning, comprising:
Traffic participant information receiving module, for receiving in predeterminable area the destination information of traffic participant and described
Real-time position information of the traffic participant at least two moment；
Route and prediction of speed module, for the destination information and the traffic participant according to the traffic participant
In the real-time position information at least two moment, the prediction route and predetermined speed of the traffic participant are determined；
Cross position prediction module, for the prediction route and predetermined speed and vehicle according to the traffic participant
Current programme path and work as preplanning speed, predict the position that crosses of the vehicle and the traffic participant；
Planning module, for the position that crosses according to the vehicle and the traffic participant, to the current of the vehicle
Programme path and when preplanning speed is adjusted obtains planning speed after programme path and adjustment after the adjustment of the vehicle.
In one embodiment, the route and prediction of speed module, comprising:
Prediction of speed submodule, for the real-time position information according to the traffic participant at least two moment, really
Predetermined speed of the fixed traffic participant；
Path prediction submodule, for the destination information and the traffic participant according to the traffic participant extremely
The real-time position information at a few moment, determines the prediction route of the traffic participant.
In one embodiment, the position prediction module that crosses, comprising:
Route intersects judging submodule, and the prediction route and the vehicle for judging the traffic participant work as front lay
Drawing route whether there is crosspoint position；
The intersection moment determines submodule, for there are crosspoint position, according to the traffic participant
It predicts route and predetermined speed, predicts that the traffic participant reaches the first moment of the crosspoint position；And according to described
The current programme path of vehicle and work as preplanning speed, predict that the vehicle reaches the second moment of the crosspoint position；
First crosses position determination submodule, for judging that the time interval at first moment and second moment is
It is no to be less than preset time threshold；Be less than preset time threshold in the case where, determine the crosspoint position be the vehicle and
The position that crosses of the traffic participant.
In one embodiment, the route intersects judging submodule, comprising:
Shortest distance determination unit, closest to the traffic participant in the current programme path for determining the vehicle
Prediction route first position and the first position to the traffic participant predict route the shortest distance；
Crosspoint position determination unit, for judge the first position to the traffic participant prediction route most
Whether short distance is less than the first pre-determined distance threshold value, in the case where being less than the first pre-determined distance threshold value, according to described the
One position determines the crosspoint position.
In one embodiment, the position prediction module that crosses, comprising:
Traffic participant predicts stroke submodule, for the prediction route and predetermined speed according to the traffic participant,
Determine that the prediction stroke of the traffic participant, the prediction stroke include the corresponding traffic participant of each moment point
Predicted position；
Vehicle plans stroke submodule, for the current programme path according to the vehicle and when preplanning speed, determines
The planning stroke of the vehicle, the planning stroke include the planned position of the corresponding vehicle of each moment point；
The third moment determines submodule, for the planning row for predicting stroke and the vehicle according to the traffic participant
Journey judges whether there is the relative distance of the predicted position of the traffic participant and the planned position of the vehicle less than second
The third moment of pre-determined distance threshold value；
Second crosses position determination submodule, for there are the third moment, when according to the third
The predicted position of corresponding traffic participant and the planned position of the vehicle are carved, determines that the vehicle and the traffic participate in
The position that crosses of person.
Fourth aspect, the embodiment of the present invention also provide a kind of traffic participant information transmitting apparatus, comprising:
Destination instruction module, for receiving destination setting instruction；
Destination determining module instructs for being set according to the destination, determines destination information；
Real time position detection module, for detecting traffic participant in the real-time position information at least two moment；
Sending module, for sending the destination information and the traffic participant in the real-time position at least two moment
Confidence breath, for the current programme path to vehicle and when preplanning speed is adjusted.
5th aspect, the embodiment of the invention provides a kind of vehicle driving planning apparatus, the function of the equipment can lead to
Hardware realization is crossed, corresponding software realization can also be executed by hardware.The hardware or software include it is one or more with it is upper
State the corresponding module of function.
It include processor and memory in the structure of the equipment in a possible design, the memory is used for
Storage supports the equipment to execute the program of above-mentioned vehicle driving planing method, the processor is configured to described for executing
The program stored in memory.The equipment can also include communication interface, be used for and other equipment or communication.
6th aspect, the embodiment of the invention provides a kind of traffic participant information transmitting apparatus, the functions of the equipment
Corresponding software realization can also be executed by hardware by hardware realization.The hardware or software include one or more
A module corresponding with above-mentioned function.
It include processor and memory in the structure of the equipment in a possible design, the memory is used for
The program of the above-mentioned traffic participant method for sending information of equipment/execution is supported in storage, the processor is configured to being used for
Execute the program stored in the memory.The equipment can also include communication interface, be used for and other equipment or communication network
Network communication.
7th aspect, the embodiment of the present invention provide a kind of vehicle, and the vehicle includes above-mentioned vehicle driving planning apparatus.
Eighth aspect, the embodiment of the present invention provide a kind of people's vehicle cooperative system, including above-mentioned vehicle driving planning apparatus and
At least one above-mentioned traffic participant information transmitting apparatus, the vehicle driving planning apparatus and each traffic participant are believed
It ceases and there is communication connection between sending device.
9th aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing vehicle driving rule
Computer software instructions used in scribing device or the traffic participant information transmitting apparatus comprising for executing above-mentioned vehicle
Travel program involved in planing method or the traffic participant method for sending information.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that vehicle can predict that traffic is joined
With the trend of person and be included in the planning of automated driving system, adjusted in advance to avoid the collision with traffic participant, held
Error rate is high, improves the safety and reliability of automatic Pilot.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 shows the flow chart of vehicle driving planing method according to an embodiment of the present invention；
Fig. 2 shows a kind of streams of embodiment of the step S12 of vehicle driving planing method according to an embodiment of the present invention
Cheng Tu；
Fig. 3 shows a kind of stream of embodiment of the step S13 of vehicle driving planing method according to an embodiment of the present invention
Cheng Tu；
Fig. 4 shows the another embodiment of the step S13 of vehicle driving planing method according to an embodiment of the present invention
Flow chart；
Fig. 5 shows a kind of exemplary diagram of the adjustment prompt of vehicle driving planing method according to an embodiment of the present invention；
Fig. 6 shows the flow chart of traffic participant method for sending information according to an embodiment of the present invention；
Fig. 7 shows the structural block diagram of vehicle driving device for planning according to an embodiment of the present invention
Fig. 8 shows the route of vehicle driving device for planning according to an embodiment of the present invention and the structural frames of prediction of speed module
Figure；
Fig. 9 shows a kind of implementation of the position prediction module that crosses of vehicle driving device for planning according to an embodiment of the present invention
The structural block diagram of mode；
Figure 10 shows the another kind of the position prediction module that crosses of vehicle driving device for planning according to an embodiment of the present invention
The structural block diagram of embodiment；
Figure 11 shows the structural block diagram of traffic participant information transmitting apparatus according to an embodiment of the present invention；
Figure 12 shows vehicle driving planning apparatus or traffic participant information transmitting apparatus according to an embodiment of the present invention
Structural block diagram；
Figure 13 shows a kind of device connection diagram of people's vehicle cooperative system according to an embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Fig. 1 shows the flow chart of vehicle driving planing method according to an embodiment of the present invention.As shown in Figure 1, this method packet
It includes:
The destination information of traffic participant and traffic participant are at least two moment in S11, reception predeterminable area
Real-time position information；
S12, the real time position according to the destination information and traffic participant of traffic participant at least two moment are believed
Breath, determines the prediction route and predetermined speed of traffic participant；
S13, according to the prediction route and predetermined speed of traffic participant and the current programme path of vehicle and work as front lay
Speed is drawn, predicts the position that crosses of vehicle and traffic participant；
S14, according to the position that crosses of vehicle and traffic participant, current programme path to vehicle and work as preplanning speed
It is adjusted, obtains planning speed after programme path and adjustment after the adjustment of vehicle.
The above method can be applied to Vehicular automatic driving system, the destination information and reality of the traffic participant received
When location information, predict the trend of traffic participant, and be included in the planning of automated driving system, adjust, avoid in advance
It collides with traffic participant, improves the safety and reliability of automatic Pilot.
In one embodiment, the be applied to Vehicular automatic driving system of the present embodiment is the full-automatic driving of L4 rank
System.The full-automatic driving system of L4 rank is the supermatic control loop that may be implemented to drive, as long as user inputs
All driver behaviors can be completed in departure place and destination, vehicle.In driving procedure, user is without judging condition of road surface, only
It needs to give when system request response and respond.The full-automatic driving system of above-mentioned L4 rank is only preferred embodiment, the present embodiment
It can be adapted for the control loop of other ranks.
The traffic participant of the present embodiment walking or the pedestrian to run under no vehicles auxiliary, also may include riding
The people of bicycle, the people to ride instead of walk by wheelchair, the child to ride instead of walk by perambulator, the people for dressing pulley, rides cunning at people by motorcycle
The people of plate or the people for riding balance car etc..
In one embodiment, the reality of the destination information of traffic participant and traffic participant at least two moment
When location information can be obtained from the electronic equipment at traffic participant end, electronic equipment can include but is not limited to intelligence dress set
Standby and mobile terminal.A kind of example, traffic participant is by being installed on the application program of electronic equipment, setting trip destination,
And application program is allowed to obtain the real-time position information of electronic equipment, then by the real-time position information comprising traffic participant
It is sent with the data packet of destination information, vehicle is communicated with electronic equipment, to obtain data packet, and is read from data packet
Take traffic participant real-time position information and destination information.
In one embodiment, vehicle is handed in addition to can directly communicate with the electronic equipment of traffic participant with obtaining
The destination information and real-time position information of logical participant, vehicle can also pass through such as terminal equipment, cloud server or road
The third party devices such as control centre realize the connection with the electronic equipment of traffic participant.Specifically, by third party device from traffic
The electronic equipment of participant obtains the destination information and real-time position information of traffic participant, and then is distributed to corresponding vehicle
, to make the destination information and real-time position information of vehicle acquisition traffic participant.
In one embodiment, referring to fig. 2, step S12, comprising:
S21, the real-time position information according to traffic participant at least two moment determine that the pre- of traffic participant is tested the speed
Degree.
Example chooses the real-time position information at two moment, according to choosing from the real-time position information at least two moment
The time interval at two moment taken and the distance of the real time position at two moment, according to the ratio of distance and time interval,
Obtain predetermined speed.The time interval that two moment chosen can be required to meet two moment is greater than preset time, can also be with
It is required that choosing most initial moment and newest moment, it can also be two moment randomly selected.
In addition to the real-time position information for choosing two moment solves predetermined speed, the real-time position at multiple moment can also be chosen
Confidence ceases to solve predetermined speed, specific: firstly, solving multiple time intervals according to the enforcing location information at multiple moment
Predetermined speed.Then, weighted value is set sequentially in time, closer to the power of predetermined speed of the time interval at current time
Weight values are bigger.Finally determine that the pre- of traffic participant is tested the speed according to predetermined speed of multiple time intervals and corresponding weighted value
Degree.
S22, the real time position according to the destination information and traffic participant of traffic participant at least one moment are believed
Breath, determines the prediction route of traffic participant.Example determines traffic participant from the real time position at least one moment to purpose
The route on ground, the prediction route as traffic participant.It further, can be with if obtaining the real-time position information at multiple moment
The direction of travel for determining traffic participant moves towards direction and real time position based on traffic participant, then determines traffic participant
Prediction route, be conducive to improve anticipation traffic participant prediction route accuracy.
In one embodiment, referring to Fig. 3, step S13, comprising:
The current programme path of S31, the prediction route for judging traffic participant and vehicle are with the presence or absence of crosspoint position；
S32, there are crosspoint position, according to the prediction route and predetermined speed of traffic participant, prediction
First moment of traffic participant arrival crosspoint position；And according to the current programme path of vehicle and work as preplanning speed, in advance
Second moment of measuring car arrival crosspoint position；
S33, judge whether the first moment and the time interval at the second moment are less than preset time threshold；When being less than default
Between in the case where threshold value, determine that crosspoint position is the position that crosses of vehicle and traffic participant.
In addition, step S33 further include: be greater than or equal to preset time threshold in the time interval at the first moment and the second moment
In the case where value, it is determined that crosspoint position is not the position that crosses of vehicle and traffic participant.
In one embodiment, step S31, comprising: determine in the current programme path of vehicle and participated in closest to traffic
The shortest distance of predicting route of the first position and first position of the prediction route of person to traffic participant；Judge first
Position to traffic participant prediction route the shortest distance whether less than the first pre-determined distance threshold value, less than first it is default away from
In the case where from threshold value, crosspoint position is determined according to first position.
In another embodiment, referring to fig. 4, step S13, comprising:
S41, prediction route and predetermined speed according to traffic participant determine the prediction stroke of traffic participant, prediction
Stroke includes the predicted position of the corresponding traffic participant of each moment point；
S42, according to the current programme path of vehicle and work as preplanning speed, determine the planning stroke of vehicle, plan stroke
Planned position including the corresponding vehicle of each moment point；
S43, the planning stroke for predicting stroke and vehicle according to traffic participant, judge whether there is traffic participant
Third moment of the relative distance of predicted position and the planned position of vehicle less than the second pre-determined distance threshold value；
S44, there are the third moment, according to the predicted position of traffic participant corresponding to the third moment and
The planned position of vehicle determines the position that crosses of vehicle and traffic participant；
S45, in the case where the third moment is not present, determining vehicle and traffic participant, there is no the positions that crosses.
In a kind of example, mode that step S14 is adjusted to the current programme path of vehicle and when preplanning speed
It may include: that one is use change programme path to be transformed to eliminate the position that crosses with traffic participant, such as from route A
Route B, route B do not include the position that crosses.Another kind is adjusted to by the way of revised planning speed, such as from speed V1
Speed V2, V2 can be more than or less than V1, and V2 can be zero, so that vehicle changes by the time for the position that crosses, thus
Eliminate the position that crosses with traffic participant.
It should be noted that due to the complexity of driving, usual programme path and planning speed are not single kind of adjustment,
Above two mode can also be adjusted simultaneously, in addition, being also not single for the change of route and speed, such as be planned
The adjustment that different sections of highway can be divided to carry out planning speed respectively in route.
Usually on the current programme path of vehicle and when preplanning speed be adjusted scheme be chosen for do not influence vehicle
Normally travel scheme.When being unable to get the Adjusted Option for eliminating normally travel of the position that crosses without influencing vehicle, adopt
It takes and carries out parking evacuation at the pre-determined distance before the position that crosses of exterior traffic participant in planning, that is, plan the vehicle at this time
Planning speed be zero.
In one embodiment, for the vehicle, above-mentioned steps S11 to step S14 is a constantly progress in real time
Process.Vehicle obtains the information of traffic participant every preset time, and according to the information of traffic participant, implements adjustment rule
Route and planning speed are drawn, to cope with complicated road surface running vehicle environment.
In one embodiment, step S14, comprising: according to cross position and the position that crosses of vehicle and traffic participant
The traffic light signals set, current programme path to vehicle and when preplanning speed is adjusted are advised after obtaining the adjustment of vehicle
Speed is planned after drawing route and adjustment.The position that crosses of usual traffic participant and vehicle appears in crossing, and crossing setting is handed over
A possibility that logical modulating signal, is higher.Therefore the instruction of the traffic light signals for the position that also needs to consider at this time to cross.It is handed over for example, determining
It is designated as vehicle priority pass when the traffic light signals of the position that crosses of logical participant and vehicle are at the time of crossing, at this time vehicle
Current programme path can be kept and when preplanning speed, without adjusting.
In one embodiment, after step S14, further includes: after programme path after the adjustment of vehicle and adjustment
Plan speed, the programme path and planning speed for updating vehicle-carrying display screen show data.
In one embodiment, after step S14, further includes: according to being planned after the adjustment of cross position and/or vehicle
Speed is planned after route and adjustment, generation, which crosses, adjusts prompt, can refer to Fig. 5, comprising: the position mark that crosses in map is handed over
Time, the planning of the position that crosses are reached when logical participant's label, current vehicle label and non-revised planning route and planning speed
Route and planning speed readjust prompt.The adjustment prompt that crosses is prompted except through the mode of image and text importing,
It can also be prompted by way of voice.
In order to protect traffic participant information safety, the destination information of traffic participant and joined according to traffic
Prediction route determined by destination information with person can carry out driving planning only for vehicle, without by the mesh of traffic participant
Ground information shown.For example, Fig. 5 only show there may be the traffic participant to cross and the traffic participant with
The route that the route of vehicle crosses does not show the destination information and whole prediction route of traffic participant.
Fig. 6 shows the flow chart of traffic participant method for sending information according to an embodiment of the present invention.Referring to Fig. 6, the party
Method includes:
S61, destination setting instruction is received；
S62, instruction is set according to destination, determines destination information；
S63, traffic participant is detected in the real-time position information at least two moment；
S64, the real-time position information of destination information and traffic participant at least two moment is sent, for vehicle
Current programme path and when preplanning speed is adjusted.
The above method can be applied to the electronic equipment at traffic participant end, and electronic equipment can include but is not limited to intelligence
Wearable device and mobile terminal.
In one embodiment, the destination setting instruction of step S61 can be inputted by traffic participant, be received
Destination setting instruction can be literal order or phonetic order.
In one embodiment, step S63, comprising: by the locating module of electronic equipment, detect traffic participant and exist
The real-time position information at least two moment.
In one embodiment, step S64, comprising: send the destination information for having traffic participant identification information
And traffic participant is in the real-time position information at least two moment.Traffic participant identification information may include traffic participant
The exclusive identification code of electronic equipment, traffic participant register user name or electronic equipment be traffic participant when time stroke
The coding etc. of distribution.The embodiment can distinguish different traffic participants according to traffic participant identification information convenient for vehicle.
In one embodiment, step S64, comprising: by broadcast mode, destination information is stated in transmission and traffic participates in
Real-time position information of the person at least two moment, so that the vehicle in predeterminable area can receive.
In one embodiment, step S64 may include the process repeatedly sent, send a mesh every preset time
Ground information and the real-time position information at current time；The process that can also once send, each transmission process are to send mesh
Ground information and the real-time position information at multiple moment.
It is that detailed narration place may refer to an implementation in traffic participant method for sending information described in the present embodiment
The explanation of corresponding content in the vehicle driving planing method of example, details are not described herein again.
Fig. 7 shows the structural block diagram of vehicle driving device for planning according to an embodiment of the present invention.Referring to Fig. 7, the device packet
It includes:
Traffic participant information receiving module 71, for receiving the destination information of traffic participant and friendship in predeterminable area
Real-time position information of the logical participant at least two moment；
Route and prediction of speed module 72, for the destination information and traffic participant according to traffic participant at least
The real-time position information at two moment determines the prediction route and predetermined speed of traffic participant；
Cross position prediction module 73, for according to the prediction route and predetermined speed of traffic participant and vehicle
Current programme path and work as preplanning speed, predicts the position that crosses of vehicle and traffic participant；
Planning module 74, for the position that crosses according to vehicle and traffic participant, current programme path to vehicle and
When preplanning speed is adjusted, obtain planning speed after programme path and adjustment after the adjustment of vehicle.
In one embodiment, referring to Fig. 8, route and prediction of speed module 72, comprising:
Prediction of speed submodule 81 is determined for the real-time position information according to traffic participant at least two moment
Predetermined speed of traffic participant；
Path prediction submodule 82, for the destination information and traffic participant according to traffic participant at least one
The real-time position information at moment determines the prediction route of traffic participant.
In one embodiment, referring to Fig. 9, cross position prediction module 73, comprising:
Route intersects judging submodule 91, the current programme path of prediction route and vehicle for judging traffic participant
With the presence or absence of crosspoint position；
The intersection moment determines submodule 92, for there are crosspoint position, according to the pre- of traffic participant
Route and predetermined speed are surveyed, prediction traffic participant reaches the first moment of crosspoint position；And preplanning is worked as according to vehicle
Route and work as preplanning speed, prediction vehicle reach crosspoint position the second moment；
First crosses position determination submodule 93, for judging whether the first moment and the time interval at the second moment are less than
Preset time threshold；In the case where being less than preset time threshold, determine that crosspoint position is the friendship of vehicle and traffic participant
Remittance position.
In one embodiment, route intersects judging submodule 91, comprising:
Shortest distance determination unit, closest to the prediction road of traffic participant in the current programme path for determining vehicle
The shortest distance of predicting route of the first position and first position of line to traffic participant；
Crosspoint position determination unit, for judging that first position is to the shortest distance of prediction route of traffic participant
It is no less than the first pre-determined distance threshold value, less than the first pre-determined distance threshold value, crosspoint is determined according to first position
Position.
In one embodiment, referring to Figure 10, cross position prediction module 73, comprising:
Traffic participant predicts stroke submodule 101, for the prediction route and predetermined speed according to traffic participant, really
Determine the prediction stroke of traffic participant, prediction stroke includes the predicted position of the corresponding traffic participant of each moment point；
Vehicle plans stroke submodule 102, for the current programme path according to vehicle and when preplanning speed, determines vehicle
Planning stroke, planning stroke include the corresponding vehicle of each moment point planned position；
The third moment determines submodule 103, for the planning stroke for predicting stroke and vehicle according to traffic participant, sentences
The relative distance of the planned position of the disconnected predicted position and vehicle with the presence or absence of traffic participant is less than the second pre-determined distance threshold value
The third moment；
Second crosses position determination submodule 104, for there are the third moment, according to the third moment, institute to be right
The predicted position for the traffic participant answered and the planned position of vehicle determine the position that crosses of vehicle and traffic participant.
Figure 11 shows the structural block diagram of traffic participant information transmitting apparatus according to an embodiment of the present invention.Referring to Figure 11,
The device includes:
Destination instruction module 111, for receiving destination setting instruction；
Destination determining module 112 instructs for being set according to destination, determines destination information；
Real time position detection module 113, for detecting traffic participant in the real-time position information at least two moment；
Sending module 114 is believed for sending the real time position of destination information and traffic participant at least two moment
Breath, for the current programme path to vehicle and when preplanning speed is adjusted.
The function of each module in each device of the embodiment of the present invention may refer to the corresponding description in the above method, herein not
It repeats again.
Figure 12 shows vehicle driving planning apparatus or traffic participant information transmitting apparatus according to an embodiment of the present invention
Structural block diagram.As shown in figure 12, the vehicle driving planning apparatus and traffic participant information transmitting apparatus include: memory
910 and processor 920, the computer program that can be run on processor 920 is stored in memory 910.The processor 920
The vehicle driving planing method or traffic participant information sender in above-described embodiment are realized when executing the computer program
Method.The quantity of the memory 910 and processor 920 can be one or more.
The vehicle driving planning apparatus or traffic participant information transmitting apparatus further include:
Communication interface 930 carries out data interaction for being communicated with external device.
Memory 910 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 910, processor 920 and the independent realization of communication interface 930, memory 910,920 and of processor
Communication interface 930 can be connected with each other by bus and complete mutual communication.The bus can be Industry Standard Architecture
Structure (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component Interconnect) bus or extended industry-standard architecture (EISA, Extended Industry
StandardArchitecture) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a thick line in expression, Figure 12, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 910, processor 920 and communication interface 930 are integrated in one piece of core
On piece, then memory 910, processor 920 and communication interface 930 can complete mutual communication by internal interface.
The embodiment of the present invention also provides a kind of vehicle, and vehicle includes above-mentioned vehicle driving planning apparatus.
In one embodiment, vehicle can also include:
Display screen, for show vehicle and traffic participant cross position and vehicle adjustment after programme path and
Speed is planned after adjustment.
Locating module determines that programme path and planning speed provide data for determining the real time position of vehicle for vehicle
It supports.
Referring to Figure 13, the embodiment of the present invention also provides a kind of people's vehicle cooperative system, including above-mentioned vehicle driving planning apparatus
131 and at least one above-mentioned traffic participant information transmitting apparatus 132.Vehicle driving planning apparatus 131 and each traffic participate in
There are direct or indirect communication connections between person's information transmitting apparatus 132.
The specific embodiment of vehicle driving planning apparatus 131 and traffic participant information transmitting apparatus 132 may refer to
The content of above-described embodiment, details are not described herein again.
In one embodiment, vehicle driving planning apparatus 131 and traffic participant information transmitting apparatus 132 is direct
The mode of communication connection may include infrared ray connection type or radio wave connection type.
In one embodiment, vehicle driving planning apparatus 131 and traffic participant information transmitting apparatus 132 is indirect
Communication connection may include: by the third party devices 133 such as terminal equipment, cloud server or road control centre realize between
The data connection connect.
The embodiment of the invention provides a kind of computer readable storage mediums, for storing vehicle driving planning apparatus or institute
State computer software instructions used in traffic participant information transmitting apparatus comprising for executing above-mentioned vehicle driving planning side
Program involved in method or the traffic participant method for sending information.
The embodiment of the invention provides a kind of computer readable storage mediums, are stored with computer program, the program quilt
Processor realizes any method in above-described embodiment when executing.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (17)
1. a kind of vehicle driving planing method characterized by comprising
It is real-time at least two moment to receive the destination information of traffic participant and the traffic participant in predeterminable area
Location information；
Real time position according to the destination information of the traffic participant and the traffic participant at least two moment is believed
Breath, determines the prediction route and predetermined speed of the traffic participant；
According to the current programme path of the prediction route and predetermined speed of the traffic participant and vehicle and when preplanning speed
Degree, predicts the position that crosses of the vehicle and the traffic participant；
According to the position that crosses of the vehicle and the traffic participant, current programme path to the vehicle and work as preplanning
Speed is adjusted, and obtains planning speed after programme path and adjustment after the adjustment of the vehicle.
2. the method according to claim 1, wherein the destination information according to the traffic participant and
The traffic participant determines prediction route and the prediction of the traffic participant in the real-time position information at least two moment
Speed, comprising:
Real-time position information according to the traffic participant at least two moment determines that the pre- of the traffic participant is tested the speed
Degree；
Real time position according to the destination information of the traffic participant and the traffic participant at least one moment is believed
Breath, determines the prediction route of the traffic participant.
3. the method according to claim 1, wherein the prediction route according to the traffic participant and pre-
The current programme path of degree of testing the speed and vehicle and work as preplanning speed, predicts the friendship of the vehicle and the traffic participant
Remittance position, comprising:
The current programme path of the prediction route and the vehicle that judge the traffic participant is with the presence or absence of crosspoint position；
There are crosspoint position, according to the prediction route and predetermined speed of the traffic participant, described in prediction
Traffic participant reaches the first moment of the crosspoint position；And according to the current programme path of the vehicle and work as preplanning
Speed predicts that the vehicle reaches the second moment of the crosspoint position；
Judge whether first moment and the time interval at second moment are less than preset time threshold；When being less than default
Between in the case where threshold value, determine that the crosspoint position is the position that crosses of the vehicle and the traffic participant.
4. according to the method described in claim 3, it is characterized in that, prediction route and the institute of the judgement traffic participant
The current programme path of vehicle is stated with the presence or absence of crosspoint position, comprising:
It determines closest to the first position of the prediction route of the traffic participant in the current programme path of the vehicle, and
The shortest distance of predicting route of the first position to the traffic participant；
Judge the first position to the traffic participant prediction route the shortest distance whether less than the first pre-determined distance
Threshold value determines the crosspoint position according to the first position in the case where being less than the first pre-determined distance threshold value.
5. the method according to claim 1, wherein the prediction route according to the traffic participant and pre-
The current programme path of degree of testing the speed and vehicle and work as preplanning speed, predicts the friendship of the vehicle and the traffic participant
Remittance position, comprising:
According to the prediction route and predetermined speed of the traffic participant, the prediction stroke of the traffic participant is determined, it is described
Prediction stroke includes the predicted position of the corresponding traffic participant of each moment point；
According to the current programme path of the vehicle and work as preplanning speed, determines the planning stroke of the vehicle, the planning
Stroke includes the planned position of the corresponding vehicle of each moment point；
According to the planning stroke of the prediction stroke and the vehicle of the traffic participant, judges whether there is the traffic and participate in
Third moment of the relative distance of the predicted position of person and the planned position of the vehicle less than the second pre-determined distance threshold value；
There are the third moment, according to the predicted position of traffic participant corresponding to the third moment and
The planned position of the vehicle determines the position that crosses of the vehicle and the traffic participant.
6. a kind of traffic participant method for sending information characterized by comprising
Receive destination setting instruction；
It is set and is instructed according to the destination, determine destination information；
Traffic participant is detected in the real-time position information at least two moment；
The real-time position information of the destination information and the traffic participant at least two moment is sent, for vehicle
Current programme path and when preplanning speed is adjusted.
7. a kind of vehicle driving device for planning characterized by comprising
Traffic participant information receiving module, for receiving the destination information of traffic participant and the traffic in predeterminable area
Real-time position information of the participant at least two moment；
Route and prediction of speed module, for the destination information and the traffic participant according to the traffic participant extremely
The real-time position information at few two moment, determines the prediction route and predetermined speed of the traffic participant；
Cross position prediction module, for according to the prediction route and predetermined speed of the traffic participant and working as vehicle
Preplanning route and work as preplanning speed, predict the position that crosses of the vehicle and the traffic participant；
Planning module works as preplanning to the vehicle for the position that crosses according to the vehicle and the traffic participant
Route and when preplanning speed is adjusted obtains planning speed after programme path and adjustment after the adjustment of the vehicle.
8. device according to claim 7, which is characterized in that the route and prediction of speed module, comprising:
Prediction of speed submodule determines institute for the real-time position information according to the traffic participant at least two moment
State predetermined speed of traffic participant；
Path prediction submodule, for the destination information and the traffic participant according to the traffic participant at least one
The real-time position information at a moment determines the prediction route of the traffic participant.
9. device according to claim 7, which is characterized in that the position prediction module that crosses, comprising:
Route intersects judging submodule, for judge the traffic participant prediction route and the vehicle when preplanning road
Line whether there is crosspoint position；
The intersection moment determines submodule, for there are crosspoint position, according to the prediction of the traffic participant
Route and predetermined speed predict that the traffic participant reaches the first moment of the crosspoint position；And according to the vehicle
Current programme path and work as preplanning speed, predict that the vehicle reaches the second moment of the crosspoint position；
First crosses position determination submodule, and whether the time interval for judging first moment and second moment is small
In preset time threshold；In the case where being less than preset time threshold, determine that the crosspoint position is the vehicle and described
The position that crosses of traffic participant.
10. device according to claim 9, which is characterized in that the route intersects judging submodule, comprising:
Shortest distance determination unit, closest to the pre- of the traffic participant in the current programme path for determining the vehicle
The shortest distance of predicting route of the first position and the first position of survey route to the traffic participant；
Crosspoint position determination unit, the most short distance for predicting route for judging the first position to the traffic participant
From whether less than the first pre-determined distance threshold value, in the case where being less than the first pre-determined distance threshold value, according to described first
It sets and determines the crosspoint position.
11. device according to claim 7, which is characterized in that the position prediction module that crosses, comprising:
Traffic participant predicts stroke submodule, for the prediction route and predetermined speed according to the traffic participant, determines
The prediction stroke of the traffic participant, the prediction stroke include the prediction of the corresponding traffic participant of each moment point
Position；
Vehicle plans stroke submodule, for according to the current programme path of the vehicle and working as preplanning speed, determine described in
The planning stroke of vehicle, the planning stroke include the planned position of the corresponding vehicle of each moment point；
The third moment determines submodule, for according to the traffic participant prediction stroke and the vehicle planning stroke,
The relative distance for judging whether there is the predicted position of the traffic participant and the planned position of the vehicle is pre- less than second
If the third moment of distance threshold；
Second crosses position determination submodule, for there are the third moment, according to the third moment institute
The planned position of the predicted position of corresponding traffic participant and the vehicle determines the vehicle and the traffic participant
Cross position.
12. a kind of traffic participant information transmitting apparatus characterized by comprising
Destination instruction module, for receiving destination setting instruction；
Destination determining module instructs for being set according to the destination, determines destination information；
Real time position detection module, for detecting traffic participant in the real-time position information at least two moment；
Sending module is believed for sending the real time position of the destination information and the traffic participant at least two moment
Breath, for the current programme path to vehicle and when preplanning speed is adjusted.
13. a kind of vehicle driving planning apparatus characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any one of claims 1 to 5.
14. a kind of traffic participant information transmitting apparatus characterized by comprising
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
It realizes method as claimed in claim 6.
15. a kind of vehicle, which is characterized in that the vehicle includes vehicle driving planning apparatus described in claim 13.
16. a kind of people's vehicle cooperative system, which is characterized in that including the vehicle driving planning apparatus described in claim 13 and at least
Traffic participant information transmitting apparatus described in one claim 14, the vehicle driving planning apparatus and each traffic
There is communication connection between participant's information transmitting apparatus.
17. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
Such as method described in any one of claims 1 to 6 is realized when row.
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