CN110162062B - Vehicle driving planning method, device, equipment and readable storage medium - Google Patents

Vehicle driving planning method, device, equipment and readable storage medium Download PDF

Info

Publication number
CN110162062B
CN110162062B CN201910499931.3A CN201910499931A CN110162062B CN 110162062 B CN110162062 B CN 110162062B CN 201910499931 A CN201910499931 A CN 201910499931A CN 110162062 B CN110162062 B CN 110162062B
Authority
CN
China
Prior art keywords
vehicle
traffic participant
route
predicted
traffic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910499931.3A
Other languages
Chinese (zh)
Other versions
CN110162062A (en
Inventor
张秋宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Apollo Zhilian Beijing Technology Co Ltd
Original Assignee
Apollo Zhilian Beijing Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Apollo Zhilian Beijing Technology Co Ltd filed Critical Apollo Zhilian Beijing Technology Co Ltd
Priority to CN201910499931.3A priority Critical patent/CN110162062B/en
Publication of CN110162062A publication Critical patent/CN110162062A/en
Application granted granted Critical
Publication of CN110162062B publication Critical patent/CN110162062B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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 invention provides a vehicle running planning method, a device, equipment and a readable storage medium, wherein the vehicle running planning method comprises the following steps: receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments; determining a predicted route and a predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments; predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle; and adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle. The embodiment of the invention adjusts in advance to avoid collision with traffic participants, has high fault-tolerant rate and improves the safety and reliability of automatic driving.

Description

Vehicle driving planning method, device, equipment and readable storage medium
Technical Field
The invention relates to the technical field of vehicle driving, in particular to a vehicle driving planning method, device, equipment and a readable storage medium.
Background
The current strategy of automatic driving is to judge surrounding pedestrians in real time through a sensor, so as to update the decision and behavior of automatic driving in real time. Moreover, the conventional man-vehicle cooperation system only informs the automatic driving system that a pedestrian exists nearby, and the movement of the pedestrian cannot be predicted. The fault tolerance rate of the prior art is low, and once misjudgment occurs, serious problems and accidents can be caused.
Disclosure of Invention
The embodiment of the invention provides a vehicle driving planning method, a vehicle driving planning device, vehicle driving planning equipment and a readable storage medium, and aims to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle driving planning method, including:
receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
determining a predicted route and a predicted speed of the traffic participant according to destination information of the traffic participant and real-time position information of the traffic participant at least two moments;
predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
and adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle.
In one embodiment, the determining the predicted route and the predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments comprises:
determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments;
and determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment.
In one embodiment, the predicting the meeting location of the vehicle and the traffic participant according to the predicted route and the predicted speed of the traffic participant and the current planned route and the current planned speed of the vehicle comprises:
judging whether the predicted route of the traffic participant and the current planned route of the vehicle have intersection positions or not;
under the condition that an intersection point position exists, predicting a first moment when the traffic participant reaches the intersection point position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
judging whether the time interval between the first moment and the second moment is smaller than a preset time threshold value or not; and under the condition that the intersection position is smaller than a preset time threshold, determining that the intersection position is the intersection position of the vehicle and the traffic participant.
In one embodiment, the determining whether there is an intersection location between the predicted route of the transportation participant and the currently planned route of the vehicle comprises:
determining a first location in a currently planned route of the vehicle that is closest to a predicted route of the traffic participant and a shortest distance of the first location to the predicted route of the traffic participant;
and judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold, and determining the position of the intersection point according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold.
In one embodiment, the predicting the junction location of the vehicle and the traffic participant according to the predicted route and the predicted speed of the traffic participant and the current planned route and the current planned speed of the vehicle comprises:
determining a predicted travel of the traffic participants according to the predicted routes and the predicted speeds of the traffic participants, wherein the predicted travel comprises the predicted positions of the traffic participants corresponding to all the time points;
determining a planned journey of the vehicle according to the current planned route and the current planned speed of the vehicle, wherein the planned journey comprises planned positions of the vehicle corresponding to all time points;
judging whether a third moment exists at which the relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold according to the predicted journey of the traffic participant and the planned journey of the vehicle;
and under the condition that the third moment exists, determining the intersection position of the vehicle and the traffic participant according to the predicted position of the traffic participant corresponding to the third moment and the planned position of the vehicle.
In a second aspect, an embodiment of the present invention further provides a method for sending information of a traffic participant, including:
receiving a destination setting instruction;
determining destination information according to the destination setting instruction;
detecting real-time position information of a traffic participant at least two moments;
and sending the destination information and the real-time position information of the traffic participants at least two moments so as to adjust the current planned route and the current planned speed of the vehicle.
In a third aspect, an embodiment of the present invention further provides a vehicle driving planning apparatus, including:
the system comprises a traffic participant information receiving module, a traffic participant information receiving module and a traffic participant information processing module, wherein the traffic participant information receiving module is used for receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
the route and speed prediction module is used for determining the predicted route and the predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
the junction position prediction module is used for predicting the junction position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
and the planning module is used for adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle.
In one embodiment, the route and speed prediction module comprises:
the speed prediction sub-module is used for determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments;
and the route prediction sub-module is used for determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment.
In one embodiment, the merge location prediction module includes:
the route intersection judging submodule is used for judging whether the intersection point position exists between the predicted route of the traffic participant and the current planned route of the vehicle;
the intersection time determining submodule is used for predicting the first time when the traffic participant reaches the intersection point position according to the predicted route and the predicted speed of the traffic participant under the condition that the intersection point position exists; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
a first intersection position determining submodule, configured to determine whether a time interval between the first time and the second time is smaller than a preset time threshold; and under the condition that the intersection position is smaller than a preset time threshold, determining that the intersection position is the intersection position of the vehicle and the traffic participant.
In one embodiment, the route intersection determining sub-module includes:
a shortest distance determination unit for determining a first position in the currently planned route of the vehicle that is closest to the predicted route of the traffic participant, and a shortest distance of the first position to the predicted route of the traffic participant;
and the intersection point position determining unit is used for judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold value or not, and determining the intersection point position according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold value.
In one embodiment, the merge location prediction module includes:
the traffic participant prediction journey sub-module is used for determining the prediction journey of the traffic participant according to the prediction route and the prediction speed of the traffic participant, and the prediction journey comprises the prediction positions of the traffic participant corresponding to all the time points;
the vehicle planning journey sub-module is used for determining a planning journey of the vehicle according to the current planning route and the current planning speed of the vehicle, and the planning journey comprises the planning position of the vehicle corresponding to each moment point;
a third time determining submodule, configured to determine, according to the predicted trip of the traffic participant and the planned trip of the vehicle, whether a third time exists at which a relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold;
and the second intersection position determining submodule is used for determining the intersection position of the vehicle and the traffic participant according to the predicted position of the traffic participant corresponding to the third moment and the planned position of the vehicle under the condition that the third moment exists.
In a fourth aspect, an embodiment of the present invention further provides a traffic participant information sending apparatus, including:
the destination instruction module is used for receiving a destination setting instruction;
the destination determining module is used for determining destination information according to the destination setting instruction;
the real-time position detection module is used for detecting the real-time position information of the traffic participants at least two moments;
and the sending module is used for sending the destination information and the real-time position information of the traffic participant at least two moments so as to adjust the current planned route and the current planned speed of the vehicle.
In a fifth aspect, an embodiment of the present invention provides a vehicle driving planning apparatus, where functions of the apparatus may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the apparatus includes a processor and a memory, the memory is used for storing a program for supporting the apparatus to execute the vehicle driving planning method, and the processor is configured to execute the program stored in the memory. The device may also include a communication interface for communicating with other devices or a communication network.
In a sixth aspect, an embodiment of the present invention provides a traffic participant information sending device, where functions of the device may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the structure of the device includes a processor and a memory, the memory is used for storing a program supporting the device/executing the transportation participant information sending method, and the processor is configured to execute the program stored in the memory. The device may also include a communication interface for communicating with other devices or a communication network.
In a seventh aspect, an embodiment of the present invention provides a vehicle, where the vehicle includes the vehicle travel planning apparatus.
In an eighth aspect, an embodiment of the present invention provides a human-vehicle cooperation system, which includes the vehicle driving planning device and at least one of the transportation participant information sending devices, where the vehicle driving planning device is in communication connection with each of the transportation participant information sending devices.
In a ninth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions for a vehicle driving planning device or the traffic participant information transmitting device, which includes a program for executing the vehicle driving planning method or the traffic participant information transmitting method.
One of the above technical solutions has the following advantages or beneficial effects: the vehicle can predict the movement of the traffic participants and is incorporated into the planning of the automatic driving system, adjustment is made in advance to avoid collision with the traffic participants, the fault tolerance rate is high, and the safety and the reliability of automatic driving are improved.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a flow chart of a vehicle driving planning method according to an embodiment of the invention;
FIG. 2 shows a flow chart of one implementation of step S12 of a vehicle driving planning method according to an embodiment of the invention;
FIG. 3 shows a flow chart of one implementation of step S13 of a vehicle driving planning method according to an embodiment of the invention;
fig. 4 shows a flow chart of another implementation of step S13 of the vehicle driving planning method according to an embodiment of the invention;
FIG. 5 illustrates an exemplary diagram of adjustment prompts for a vehicle travel planning method in accordance with embodiments of the present invention;
fig. 6 shows a flowchart of a transportation participant information transmission method according to an embodiment of the present invention;
FIG. 7 is a block diagram showing the structure of a vehicle travel planning apparatus according to an embodiment of the present invention
FIG. 8 is a block diagram illustrating the structure of a route and speed prediction module of the vehicle travel planning apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram showing a configuration of an embodiment of a merge location prediction module of the vehicle travel planning apparatus according to the embodiment of the present invention;
fig. 10 is a block diagram showing another embodiment of a merge location prediction module of the vehicle travel planning apparatus according to the embodiment of the present invention;
fig. 11 is a block diagram showing the construction of a traffic participant information transmitting apparatus according to an embodiment of the present invention;
fig. 12 is a block diagram showing the construction of a vehicle travel planning apparatus or a traffic participant information transmitting apparatus according to an embodiment of the present invention;
fig. 13 shows a device connection diagram of the human-vehicle cooperation system according to the embodiment of the invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flow chart of a vehicle driving planning method according to an embodiment of the invention. As shown in fig. 1, the method includes:
s11, receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
s12, determining a predicted route and a predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
s13, predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants, and the current planned route and the current planned speed of the vehicle;
and S14, adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participants to obtain the adjusted planned route and the adjusted planned speed of the vehicle.
The method can be applied to an automatic vehicle driving system, the received destination information and the real-time position information of the traffic participants can predict the movement of the traffic participants, and the movement is brought into the planning of the automatic driving system to be adjusted in advance, so that the collision with the traffic participants is avoided, and the safety and the reliability of automatic driving are improved.
In one embodiment, the automatic driving system of the vehicle is a full automatic driving system of an L4 level. The full-automatic driving system at the L4 level is a highly automated driving system capable of realizing driving, and a vehicle can complete all driving operations as long as a user inputs a departure place and a destination. In the driving process, the user does not need to judge the road condition, and only needs to give a response when the system requests response. The above-mentioned full-automatic driving system of the L4 level is only a preferable solution, and the present embodiment may be applied to driving systems of other levels.
The pedestrian on which the traffic participant of the present embodiment walks or runs without the assistance of the vehicle may also include a person riding a bicycle, a person riding a motorcycle, a person riding instead of walk through a wheelchair, a child riding instead of walk through a baby carriage, a person wearing a pulley, a person riding a skateboard, a person riding a balance bike, or the like.
In one embodiment, the destination information of the transportation participant and the real-time position information of the transportation participant at least two moments can be obtained from electronic devices on the transportation participant side, wherein the electronic devices can include, but are not limited to, a smart wearable device and a mobile terminal. An example, a transportation participant sets a travel destination through an application installed in an electronic device, and allows the application to acquire real-time location information of the electronic device, and then sends out a data packet containing the real-time location information and the destination information of the transportation participant, and a vehicle communicates with the electronic device to acquire the data packet and reads the real-time location information and the destination information of the transportation participant from the data packet.
In one embodiment, the vehicle may be connected to the electronic device of the transportation participant through a third-party device such as a road-side device, a cloud server, or a road scheduling center, in addition to directly communicating with the electronic device of the transportation participant to obtain the destination information and the real-time location information of the transportation participant. Specifically, the third-party device acquires the destination information and the real-time position information of the traffic participant from the electronic device of the traffic participant and further distributes the destination information and the real-time position information to the corresponding vehicle, so that the vehicle acquires the destination information and the real-time position information of the traffic participant.
In one embodiment, referring to fig. 2, step S12 includes:
s21, determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments.
In an example, the real-time position information of two moments is selected from the real-time position information of at least two moments, and the predicted speed is obtained according to the time interval of the selected two moments, the distance of the real-time positions of the two moments and the ratio of the distance to the time interval. The two selected moments can be required to meet the requirement that the time interval between the two moments is greater than the preset time, can also be required to select the initial starting moment and the latest moment, and can also be two randomly selected moments.
Besides selecting the real-time position information at two moments to solve the prediction speed, the real-time position information at a plurality of moments can be selected to solve the prediction speed, specifically: first, the predicted speed in a plurality of time intervals is obtained from the execution position information at a plurality of times. Then, the weighting values are set in chronological order, and the weighting value of the prediction speed in the time interval closer to the current time is larger. And finally, determining the predicted speed of the traffic participant according to the predicted speeds of the plurality of time intervals and the corresponding weight values.
And S22, determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment. For example, a route of the traffic participant from the real-time location of the at least one time to the destination is determined as the predicted route of the traffic participant. Furthermore, if the real-time position information at a plurality of moments is obtained, the walking direction of the traffic participant can be determined, and the predicted route of the traffic participant is determined based on the moving direction and the real-time position of the traffic participant, so that the accuracy of the predicted route of the traffic participant can be improved.
In one embodiment, referring to fig. 3, step S13 includes:
s31, judging whether the intersection position exists on the predicted route of the traffic participant and the current planned route of the vehicle;
s32, under the condition that the intersection point position exists, predicting the first moment when the traffic participant reaches the intersection point position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the position of the intersection point according to the current planned route and the current planned speed of the vehicle;
s33, judging whether the time interval between the first moment and the second moment is smaller than a preset time threshold value or not; and under the condition that the time is less than the preset time threshold, determining that the intersection position is the intersection position of the vehicle and the traffic participant.
In addition, step S33 further includes: and under the condition that the time interval between the first moment and the second moment is greater than or equal to a preset time threshold, determining that the intersection position is not the intersection position of the vehicle and the traffic participant.
In one embodiment, step S31 includes: determining a first position of a predicted route of the vehicle closest to the traffic participant in the currently planned route, and a shortest distance of the first position to the predicted route of the traffic participant; and judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold, and determining the position of the intersection point according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold.
In another embodiment, referring to fig. 4, step S13, comprises:
s41, determining the predicted travel of the traffic participants according to the predicted routes and the predicted speeds of the traffic participants, wherein the predicted travel comprises the predicted positions of the traffic participants corresponding to all the time points;
s42, determining a planned route of the vehicle according to the current planned route and the current planned speed of the vehicle, wherein the planned route comprises the planned positions of the vehicle corresponding to all the time points;
s43, judging whether a third moment exists at which the relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold value according to the predicted travel of the traffic participant and the planned travel of the vehicle;
s44, under the condition that the third moment exists, determining the intersection position of the vehicle and the traffic participant according to the predicted position of the traffic participant and the planned position of the vehicle corresponding to the third moment;
and S45, under the condition that the third moment does not exist, determining that the vehicle and the traffic participant do not have a junction position.
In one example, the manner of adjusting the currently planned route and the currently planned speed of the vehicle in step S14 may include: one is to use a re-planned route to eliminate the meeting location with the traffic participant, such as a transition from route a to route B, which does not contain the meeting location. Another way is to adjust the planned speed, for example, from speed V1 to speed V2, where V2 may be greater or less than V1 and V2 may be zero, so that the time for the vehicle to pass through the junction location changes, thereby eliminating the junction location with the traffic participants.
It should be noted that, due to the complexity of driving, the planned route and the planned speed are not adjusted in a single manner, and the two manners may be adjusted simultaneously, or the change of the route and the speed is not single, for example, the planned route may be adjusted in different road sections.
The currently planned route and the currently planned speed of the vehicle are usually adjusted in a way that does not affect the normal driving of the vehicle. When an adjustment scheme for eliminating the intersection position without influencing the normal running of the vehicle cannot be obtained, the method plans to carry out parking avoidance at a preset distance before reaching the intersection position of the traffic participant, namely, plans that the planning speed of the vehicle is zero at the moment.
In one embodiment, the steps S11 to S14 are performed continuously in real time for the vehicle. The vehicle acquires the information of the traffic participants at preset time intervals, and adjusts the planned route and the planned speed according to the information of the traffic participants so as to deal with the complex road driving environment.
In one embodiment, step S14 includes: and adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant and the traffic light signal of the intersection position to obtain the adjusted planned route and the adjusted planned speed of the vehicle. The intersection position of the traffic participant and the vehicle is usually present at the intersection, and the possibility of setting the traffic light signal at the intersection is high. It is therefore also necessary to consider traffic light signaling at the junction. For example, the indication of the traffic light signal at the time of the intersection, which determines the location of the intersection of the traffic participant with the vehicle, is that the vehicle is passing first, at which time the vehicle can maintain the current planned route and the current planned speed without making adjustments.
In one embodiment, after step S14, the method further includes: and updating the display data of the planned route and the planned speed of the vehicle-mounted display screen according to the adjusted planned route and the adjusted planned speed of the vehicle.
In one embodiment, after step S14, the method further includes: generating a meeting adjustment prompt according to the meeting position and/or the adjusted planned route and the adjusted planned speed of the vehicle, which may refer to fig. 5, includes: and the time for reaching the intersection position when the planned route and the planned speed are not adjusted, and the planned route and the planned speed are readjusted to prompt. The intersection adjustment prompt can be prompted in an image and character display mode and a voice mode.
In order to protect the safety of the information of the traffic participants, the destination information of the traffic participants and the predicted route determined according to the destination information of the traffic participants can be only used for driving planning of the vehicle, and the destination information of the traffic participants is not displayed. For example, fig. 5 shows only traffic participants who are likely to make an intersection, and a route where the traffic participants intersect the route of the vehicle, and does not show destination information of the traffic participants and the entire predicted route.
Fig. 6 shows a flowchart of a transportation participant information transmission method according to an embodiment of the present invention. Referring to fig. 6, the method includes:
s61, receiving a destination setting instruction;
s62, determining destination information according to the destination setting instruction;
s63, detecting real-time position information of the traffic participants at least two moments;
and S64, sending the destination information and the real-time position information of the traffic participants at least two moments so as to adjust the current planned route and the current planned speed of the vehicle.
The method can be applied to electronic equipment on the traffic participant side, and the electronic equipment can include but is not limited to intelligent wearable equipment and a mobile terminal.
In one embodiment, the destination setting instruction of step S61 may be input by a traffic participant, and the received destination setting instruction may be a text instruction or a voice instruction.
In one embodiment, step S63 includes: the real-time position information of the traffic participant at least two moments is detected through a positioning module of the electronic equipment.
In one embodiment, step S64 includes: and sending the destination information with the identification information of the traffic participants and the real-time position information of the traffic participants at least two moments. The transportation participant identification information may include a unique identification code of the electronic device of the transportation participant, a registered user name of the transportation participant, or a code assigned by the electronic device to the current trip of the transportation participant, etc. This embodiment facilitates that the vehicle can distinguish between different traffic participants based on the traffic participant identification information.
In one embodiment, step S64 includes: and transmitting the destination information and the real-time position information of the traffic participants at least two moments in a broadcasting mode so that all vehicles in a preset area can receive the destination information and the real-time position information.
In one embodiment, step S64 may include a process of transmitting the destination information and the real-time location information at the current time once every preset time; the transmission may be performed once, and each transmission may be performed by using the destination information and the real-time location information at a plurality of times.
For details, the traffic participant information sending method described in this embodiment may refer to the description of the corresponding content in the vehicle driving planning method of the above embodiment, and details are not repeated here.
Fig. 7 is a block diagram showing the configuration of a vehicle travel planning apparatus according to an embodiment of the present invention. Referring to fig. 7, the apparatus includes:
the traffic participant information receiving module 71 is configured to receive destination information of traffic participants in a preset area and real-time location information of the traffic participants at least two moments;
a route and speed prediction module 72, configured to determine a predicted route and a predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time location information of the traffic participant at least two moments;
a junction position prediction module 73 for predicting a junction position of the vehicle and the traffic participant according to the predicted route and the predicted speed of the traffic participant, and the currently planned route and the currently planned speed of the vehicle;
and the planning module 74 is configured to adjust the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant, so as to obtain an adjusted planned route and an adjusted planned speed of the vehicle.
In one embodiment, referring to FIG. 8, route and speed prediction module 72 includes:
the speed prediction submodule 81 is used for determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments;
and the route predicting sub-module 82 is used for determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment.
In one embodiment, referring to fig. 9, the junction location prediction module 73 includes:
the route intersection judging submodule 91 is used for judging whether the intersection positions exist in the predicted route of the traffic participant and the current planned route of the vehicle;
an intersection time determination submodule 92, configured to predict, when an intersection position exists, a first time at which a traffic participant arrives at the intersection position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the position of the intersection point according to the current planned route and the current planned speed of the vehicle;
a first intersection position determining submodule 93, configured to determine whether a time interval between the first time and the second time is smaller than a preset time threshold; and under the condition that the time is less than the preset time threshold, determining that the intersection position is the intersection position of the vehicle and the traffic participant.
In one embodiment, the route intersection determining sub-module 91 includes:
a shortest distance determination unit for determining a first position of the predicted route of the closest traffic participant in the currently planned route of the vehicle and a shortest distance of the first position to the predicted route of the traffic participant;
and the intersection point position determining unit is used for judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold value or not, and determining the intersection point position according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold value.
In one embodiment, referring to fig. 10, the junction location prediction module 73 includes:
the traffic participant prediction journey sub-module 101 is used for determining the prediction journey of the traffic participant according to the prediction route and the prediction speed of the traffic participant, wherein the prediction journey comprises the prediction positions of the traffic participants corresponding to all the time points;
the vehicle planning journey sub-module 102 is configured to determine a planning journey of the vehicle according to a current planning route and a current planning speed of the vehicle, where the planning journey includes a planning position of the vehicle corresponding to each time point;
the third time determining submodule 103 is configured to determine whether a third time exists at which a relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold according to the predicted route of the traffic participant and the planned route of the vehicle;
and the second intersection position determining submodule 104 is configured to determine, when the third time exists, an intersection position between the vehicle and the traffic participant according to the predicted position of the traffic participant and the planned position of the vehicle, which correspond to the third time.
Fig. 11 is a block diagram showing the configuration of a traffic participant information transmitting apparatus according to an embodiment of the present invention. Referring to fig. 11, the apparatus includes:
a destination instruction module 111, configured to receive a destination setting instruction;
a destination determining module 112, configured to determine destination information according to the destination setting instruction;
a real-time position detection module 113, configured to detect real-time position information of a traffic participant at least two moments;
and the sending module 114 is used for sending the destination information and the real-time position information of the traffic participant at least two moments so as to adjust the current planned route and the current planned speed of the vehicle.
The functions of each module in each apparatus in the embodiments of the present invention may refer to the corresponding description in the above method, and are not described herein again.
Fig. 12 is a block diagram showing the configuration of a vehicle travel planning apparatus or a traffic participant information transmitting apparatus according to an embodiment of the present invention. As shown in fig. 12, the vehicle travel planning apparatus and the traffic participant information transmitting apparatus each include: a memory 910 and a processor 920, the memory 910 having stored therein computer programs operable on the processor 920. The processor 920 implements the vehicle driving planning method or the traffic participant information transmitting method in the above embodiments when executing the computer program. The number of the memory 910 and the processor 920 may be one or more.
The vehicle travel planning apparatus or the traffic participant information transmitting apparatus further includes:
the communication interface 930 is used for communicating with an external device to perform data interactive transmission.
Memory 910 may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 910, the processor 920 and the communication interface 930 are implemented independently, the memory 910, the processor 920 and the communication interface 930 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 12, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 910, the processor 920 and the communication interface 930 are integrated on a chip, the memory 910, the processor 920 and the communication interface 930 may complete communication with each other through an internal interface.
The embodiment of the invention also provides a vehicle which comprises the vehicle running planning equipment.
In one embodiment, the vehicle may further include:
and the display screen is used for displaying the intersection position of the vehicle and the traffic participants, and the adjusted planned route and the adjusted planned speed of the vehicle.
And the positioning module is used for determining the real-time position of the vehicle and providing data support for determining a planned route and a planned speed for the vehicle.
Referring to fig. 13, an embodiment of the present invention further provides a human-vehicle cooperation system, which includes the vehicle driving planning device 131 and at least one traffic participant information sending device 132. A direct or indirect communication connection exists between the vehicle driving planning device 131 and the respective traffic participant information transmitting devices 132.
For specific implementation of the vehicle driving planning device 131 and the traffic participant information sending device 132, reference may be made to the content of the above embodiments, and details are not described here.
In one embodiment, the manner of the direct communication connection of the vehicle travel planning device 131 and the traffic participant information transmitting device 132 may include an infrared ray connection manner or a radio wave connection manner.
In one embodiment, the indirect communication connection between the vehicle driving planning device 131 and the traffic participant information transmitting device 132 may include: indirect data connection is achieved through third-party devices 133 such as a road-side device, a cloud server or a road scheduling center.
The embodiment of the invention provides a computer readable storage medium for storing computer software instructions used by a vehicle driving planning device or a traffic participant information sending device, which comprises a program for executing the vehicle driving planning method or the traffic participant information sending method.
An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program is used for implementing the method of any one of the above embodiments when being executed by a processor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (15)

1. A vehicle driving planning method, comprising:
receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
determining a predicted route and a predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
according to the intersection position of the vehicle and the traffic participants, adjusting the current planned route and the current planned speed of the vehicle to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
wherein the predicting the meeting location of the vehicle and the traffic participant comprises:
judging whether the predicted route of the traffic participant and the current planned route of the vehicle have intersection positions or not;
under the condition that the predicted route of the traffic participant and the current planned route of the vehicle have an intersection point position, predicting a first moment when the traffic participant reaches the intersection point position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
determining the intersection position as the intersection position of the vehicle and the traffic participant under the condition that the time interval between the first moment and the second moment is smaller than a preset time threshold;
the adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle comprises:
and determining the adjusted planned route of the vehicle as the current planned route and determining the adjusted planned speed of the vehicle as the current planned speed under the condition that the indication of the vehicle and the traffic participant at the intersection moment is that the vehicle passes preferentially.
2. The method of claim 1, wherein determining the predicted route and predicted speed of the traffic participant based on the destination information of the traffic participant and the real-time location information of the traffic participant at least two time instances comprises:
determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments;
and determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment.
3. The method of claim 1, wherein the determining whether there is an intersection location between the predicted route of the traffic participant and the currently planned route of the vehicle comprises:
determining a first location in a currently planned route of the vehicle that is closest to a predicted route of the traffic participant and a shortest distance of the first location to the predicted route of the traffic participant;
and judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold, and determining the position of the intersection point according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold.
4. A vehicle driving planning method, comprising:
receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
determining a predicted route and a predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
according to the intersection position of the vehicle and the traffic participants, adjusting the current planned route and the current planned speed of the vehicle to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
the predicting the intersection position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle comprises the following steps:
determining a predicted travel of the traffic participants according to the predicted routes and the predicted speeds of the traffic participants, wherein the predicted travel comprises the predicted positions of the traffic participants corresponding to all the time points;
determining a planned route of the vehicle according to the current planned route and the current planned speed of the vehicle, wherein the planned route comprises planned positions of the vehicle corresponding to all time points;
judging whether a third moment exists at which the relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold according to the predicted journey of the traffic participant and the planned journey of the vehicle;
under the condition that the third moment exists, determining the intersection position of the vehicle and the traffic participant according to the predicted position of the traffic participant corresponding to the third moment and the planned position of the vehicle;
the adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle comprises:
and determining the adjusted planned route of the vehicle as the current planned route and determining the adjusted planned speed of the vehicle as the current planned speed under the condition that the indication of the vehicle and the traffic participant at the intersection moment is that the vehicle passes preferentially.
5. A method for sending information of traffic participants is characterized by comprising the following steps:
receiving a destination setting instruction;
determining destination information according to the destination setting instruction;
detecting real-time position information of a traffic participant at least two moments;
sending the destination information and the real-time position information of the traffic participants at least two moments so as to adjust the current planned route and the current planned speed of the vehicle;
wherein the adjusting comprises:
judging whether the predicted route of the traffic participant and the current planned route of the vehicle have intersection positions or not;
under the condition that the predicted route of the traffic participant and the current planned route of the vehicle have an intersection position, predicting a first moment when the traffic participant reaches the intersection position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
under the condition that the time interval between the first moment and the second moment is smaller than a preset time threshold, determining that the intersection position is the intersection position of the vehicle and the traffic participant;
according to the intersection position of the vehicle and the traffic participants, adjusting the current planned route and the current planned speed of the vehicle to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
the adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle comprises:
and determining the adjusted planned route of the vehicle as the current planned route and determining the adjusted planned speed of the vehicle as the current planned speed under the condition that the indication of the vehicle and the traffic participant at the intersection moment is that the vehicle passes preferentially.
6. A vehicle travel planning apparatus, comprising:
the system comprises a traffic participant information receiving module, a traffic participant information receiving module and a traffic participant information processing module, wherein the traffic participant information receiving module is used for receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
the route and speed prediction module is used for determining the predicted route and the predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
the junction position prediction module is used for predicting the junction position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
the planning module is used for adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
wherein the junction location prediction module comprises:
the route intersection judging submodule is used for judging whether the intersection point position exists between the predicted route of the traffic participant and the current planned route of the vehicle;
the intersection time determining submodule is used for predicting the first time when the traffic participant reaches the intersection position according to the predicted route and the predicted speed of the traffic participant under the condition that the intersection position exists between the predicted route of the traffic participant and the current planned route of the vehicle; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
the first intersection position determining submodule is used for determining that the intersection position is the intersection position of the vehicle and the traffic participant under the condition that the time interval between the first moment and the second moment is smaller than a preset time threshold;
the planning module is specifically configured to determine that the adjusted planned route of the vehicle is the current planned route and determine that the adjusted planned speed of the vehicle is the current planned speed when the indication of the vehicle and the traffic participant at the intersection time is that the vehicle is preferentially passed through, the traffic light signal is provided at the traffic intersection.
7. The apparatus of claim 6, wherein the route and speed prediction module comprises:
the speed prediction sub-module is used for determining the predicted speed of the traffic participant according to the real-time position information of the traffic participant at least two moments;
and the route prediction sub-module is used for determining the predicted route of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least one moment.
8. The apparatus of claim 6, wherein the route intersection determination submodule comprises:
a shortest distance determination unit for determining a first position in the currently planned route of the vehicle that is closest to the predicted route of the traffic participant, and a shortest distance of the first position to the predicted route of the traffic participant;
and the intersection point position determining unit is used for judging whether the shortest distance from the first position to the predicted route of the traffic participant is smaller than a first preset distance threshold value or not, and determining the intersection point position according to the first position under the condition that the shortest distance is smaller than the first preset distance threshold value.
9. A vehicle travel planning apparatus, comprising:
the system comprises a traffic participant information receiving module, a traffic participant information receiving module and a traffic participant information processing module, wherein the traffic participant information receiving module is used for receiving destination information of traffic participants in a preset area and real-time position information of the traffic participants at least two moments;
the route and speed prediction module is used for determining the predicted route and the predicted speed of the traffic participant according to the destination information of the traffic participant and the real-time position information of the traffic participant at least two moments;
the junction position prediction module is used for predicting the junction position of the vehicle and the traffic participants according to the predicted route and the predicted speed of the traffic participants and the current planned route and the current planned speed of the vehicle;
the planning module is used for adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
wherein the junction location prediction module comprises:
the traffic participant prediction journey sub-module is used for determining the prediction journey of the traffic participant according to the predicted route and the predicted speed of the traffic participant, and the prediction journey comprises the predicted position of the traffic participant corresponding to each time point;
the vehicle planning journey sub-module is used for determining a planning journey of the vehicle according to a current planning route and a current planning speed of the vehicle, and the planning journey comprises planning positions of the vehicle corresponding to all time points;
a third time determining submodule, configured to determine, according to the predicted trip of the traffic participant and the planned trip of the vehicle, whether a third time exists at which a relative distance between the predicted position of the traffic participant and the planned position of the vehicle is smaller than a second preset distance threshold;
a second intersection position determining submodule, configured to determine, when the third time exists, an intersection position of the vehicle and the traffic participant according to the predicted position of the traffic participant and the planned position of the vehicle, where the predicted position corresponds to the third time;
the planning module is specifically configured to determine that the adjusted planned route of the vehicle is the current planned route and determine that the adjusted planned speed of the vehicle is the current planned speed when the indication of the vehicle and the traffic participant at the intersection time is that the vehicle is preferentially passed through, where the traffic light signal is provided at the traffic intersection.
10. A traffic participant information transmitting apparatus, comprising:
the destination instruction module is used for receiving a destination setting instruction;
the destination determining module is used for determining destination information according to the destination setting instruction;
the real-time position detection module is used for detecting the real-time position information of the traffic participants at least two moments;
the sending module is used for sending the destination information and the real-time position information of the traffic participant at least two moments so as to adjust the current planned route and the current planned speed of the vehicle;
wherein the adjusting comprises:
judging whether the predicted route of the traffic participant and the current planned route of the vehicle have intersection positions or not;
under the condition that the predicted route of the traffic participant and the current planned route of the vehicle have an intersection position, predicting a first moment when the traffic participant reaches the intersection position according to the predicted route and the predicted speed of the traffic participant; predicting a second moment when the vehicle reaches the intersection point position according to the current planned route and the current planned speed of the vehicle;
determining the intersection position as the intersection position of the vehicle and the traffic participant under the condition that the time interval between the first moment and the second moment is smaller than a preset time threshold;
according to the intersection position of the vehicle and the traffic participants, adjusting the current planned route and the current planned speed of the vehicle to obtain the adjusted planned route and the adjusted planned speed of the vehicle;
the adjusting the current planned route and the current planned speed of the vehicle according to the intersection position of the vehicle and the traffic participant to obtain the adjusted planned route and the adjusted planned speed of the vehicle comprises:
and determining the adjusted planned route of the vehicle as the current planned route and determining the adjusted planned speed of the vehicle as the current planned speed under the condition that the indication of the vehicle and the traffic participant at the intersection moment is that the vehicle passes preferentially.
11. A vehicle travel planning apparatus, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-4.
12. A traffic participant information transmitting apparatus, characterized by comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 5.
13. A vehicle characterized by comprising the vehicle travel planning apparatus of claim 11.
14. A human-vehicle cooperation system, comprising the vehicle driving planning device of claim 11 and at least one traffic participant information sending device of claim 12, wherein a communication connection exists between the vehicle driving planning device and each traffic participant information sending device.
15. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 5.
CN201910499931.3A 2019-06-10 2019-06-10 Vehicle driving planning method, device, equipment and readable storage medium Active CN110162062B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910499931.3A CN110162062B (en) 2019-06-10 2019-06-10 Vehicle driving planning method, device, equipment and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910499931.3A CN110162062B (en) 2019-06-10 2019-06-10 Vehicle driving planning method, device, equipment and readable storage medium

Publications (2)

Publication Number Publication Date
CN110162062A CN110162062A (en) 2019-08-23
CN110162062B true CN110162062B (en) 2023-04-18

Family

ID=67628353

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910499931.3A Active CN110162062B (en) 2019-06-10 2019-06-10 Vehicle driving planning method, device, equipment and readable storage medium

Country Status (1)

Country Link
CN (1) CN110162062B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110782688B (en) * 2019-10-31 2022-03-18 腾讯科技（深圳）有限公司 Vehicle driving state display method and device, storage medium and computer equipment
CN111645705A (en) * 2020-06-17 2020-09-11 广州小鹏车联网科技有限公司 Method for issuing driving route adjustment and server
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
CN112732859B (en) * 2021-01-25 2022-05-06 腾讯科技（深圳）有限公司 Prompt information generation method and device, electronic equipment and storage medium
CN113706927B (en) * 2021-08-16 2023-02-28 中汽创智科技有限公司 Vehicle early warning method, device, electronic equipment, storage medium and program product
CN114582119A (en) * 2022-01-21 2022-06-03 北京佰才邦技术股份有限公司 Traffic information pushing method, electronic device and storage medium

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108715163A (en) * 2018-05-14 2018-10-30 吕杉 Safe stable control system for blowout of automobile tyre

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10245795A1 (en) * 2002-10-01 2004-04-15 Daimlerchrysler Ag Traffic situation determination method, wherein the traffic situation in current and approaching areas is determined from measured temporal vector sequences of the user and other mobile phone users in the respective areas
CN102564438A (en) * 2010-12-30 2012-07-11 上海博泰悦臻电子设备制造有限公司 Method and device for vehicle navigation route planning based on vehicle-mounted terminal
CN104851320A (en) * 2015-04-28 2015-08-19 奇瑞汽车股份有限公司 Method and device for prompting driver
EP3437022A4 (en) * 2017-06-22 2019-02-06 Baidu.com Times Technology (Beijing) Co., Ltd. Traffic prediction based on map images for autonomous driving
DE102017114876A1 (en) * 2017-07-04 2019-01-10 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Driver assistance system for collision avoidance by means of warning and intervention cascade
CN107886772A (en) * 2017-11-10 2018-04-06 重庆长安汽车股份有限公司 Weak tendency traffic participant collision warning systems
CN113753081A (en) * 2019-01-15 2021-12-07 北京百度网讯科技有限公司 Method and device for avoiding traffic participants in roadside blind areas of laser radar
CN109855641B (en) * 2019-02-20 2021-06-11 百度在线网络技术（北京）有限公司 Method, device, storage medium and terminal equipment for predicting motion trail

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108715163A (en) * 2018-05-14 2018-10-30 吕杉 Safe stable control system for blowout of automobile tyre

Also Published As

Publication number Publication date
CN110162062A (en) 2019-08-23

Similar Documents

Publication Publication Date Title
CN110162062B (en) Vehicle driving planning method, device, equipment and readable storage medium
US9969405B2 (en) Alarm apparatus, alarm system, alarm method and portable terminal
JP4984244B2 (en) Intersection safe driving support device
US8130119B2 (en) Apparatus and program for controlling traffic signal in road construction section
US20210063178A1 (en) Method and apparatus for providing alert notifications of high-risk driving areas in a connected vehicle
US20170016737A1 (en) Driving assistance system, method, and program for a vehicle
JP2000500878A (en) Intra-vehicle traffic-related information supply apparatus and method
KR20170129251A (en) Occlusion control device
JP2021111332A (en) Movement information providing system, server device, and vehicle
CN112558834A (en) Method and device for smoothly displaying dynamic icons on human-computer interaction interface in vehicle management system
CN111757288A (en) Perception base station in road traffic environment and message sending method and device thereof
US11333516B2 (en) Lane guidance system and lane guidance program
KR101850254B1 (en) Inter-Vehicle Communication System For Supporting Connected Car Environment
CN110738871A (en) prompting method and system
CN112863207B (en) Vehicle running control method and device
KR20200081570A (en) Apparatus, system and method for providing traffic condition
CN112017438B (en) Driving decision generation method and system
JP2008234164A (en) Traffic situation calculation system
CN115662171A (en) Lane change prompting method and device, electronic equipment and vehicle
JP2019079454A (en) Vehicle control system, function notification apparatus, function notification method, and computer program
JP6443255B2 (en) Signal passing support device
JP2006224904A (en) Vehicle control device
JP7144124B2 (en) system
CN110517519A (en) A kind of method and device carrying out traffic law prompt by sensory perceptual system
WO2016120948A1 (en) Information output device for mobile body

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20211021

Address after: 100176 Room 101, 1st floor, building 1, yard 7, Ruihe West 2nd Road, economic and Technological Development Zone, Daxing District, Beijing

Applicant after: Apollo Zhilian (Beijing) Technology Co.,Ltd.

Address before: 2 / F, baidu building, 10 Shangdi 10th Street, Haidian District, Beijing 100085

Applicant before: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd.

GR01 Patent grant
GR01 Patent grant