CN110285981A - The method for detecting abnormality and device of traffic light detection module in automatic vehicle of driving - Google Patents
The method for detecting abnormality and device of traffic light detection module in automatic vehicle of driving Download PDFInfo
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- CN110285981A CN110285981A CN201910698988.6A CN201910698988A CN110285981A CN 110285981 A CN110285981 A CN 110285981A CN 201910698988 A CN201910698988 A CN 201910698988A CN 110285981 A CN110285981 A CN 110285981A
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- vehicle
- detection module
- light detection
- traffic lights
- traffic light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
Abstract
The application proposes the method for detecting abnormality and device of traffic light detection module in the automatic vehicle of driving of one kind, wherein, this method comprises: during driving vehicle driving automatically, obtain the operating range driven between vehicle and traffic lights crossing automatically, and when determining that operating range is less than pre-determined distance threshold value, in conjunction with the traffic lights testing result of traffic light detection module, traffic light detection module is detected with the presence or absence of abnormal, to realize the abnormality detection to traffic light detection module in automatic driving vehicle, it can note abnormalities in time, improve validity and safety that automatic driving vehicle passes through traffic lights crossing.
Description
Technical field
This application involves traffic light detection modules in automatic Pilot technical field, more particularly to a kind of vehicle of driving automatically
Method for detecting abnormality and device.
Background technique
Currently, in automatic driving vehicle, in order to enable automatic driving vehicle safely, effectively passes through traffic lights crossing,
Traffic light detection module is configured in automatic driving vehicle, vehicle of driving automatically knows upcoming traffic by traffic light detection module
The traffic lights information at lamp crossing, and traffic lights crossing is passed through according to the automatic vehicle of driving of traffic information control.
It in practical applications, may be due to some, for example, traffic during driving vehicle driving automatically
There are abnormal or sensor arrangement abnormalities in traffic lights image acquisition units in lamp detection module, and traffic lights is caused to detect mould
Block dysfunction, so cause automatic driving vehicle by traffic lights crossing there are security risks.
Summary of the invention
The application is intended to solve at least some of the technical problems in related technologies.
For this purpose, first purpose of the application is to propose the exception of traffic light detection module in the automatic vehicle of driving of one kind
Detection method.
Second purpose of the application is to propose the abnormality detection of traffic light detection module in the automatic vehicle of driving of one kind
Device.
The third purpose of the application is to propose a kind of automatic driving vehicle.
The 4th purpose of the application is to propose a kind of computer readable storage medium.
The 5th purpose of the application is to propose a kind of computer program product.
In order to achieve the above object, the application first aspect embodiment proposes traffic lights detection mould in the automatic vehicle of driving of one kind
The method for detecting abnormality of block, comprising: obtain the operating range driven between vehicle and traffic lights crossing automatically；Determining
When stating operating range less than pre-determined distance threshold value, according to the traffic lights testing result of the traffic light detection module, determine described in
Traffic light detection module is with the presence or absence of abnormal.
Automatically the method for detecting abnormality of traffic light detection module in the vehicle of driving of the embodiment of the present application, in vehicle of driving automatically
During traveling, the operating range driven between vehicle and traffic lights crossing automatically is obtained, and determining that operating range is small
When pre-determined distance threshold value, in conjunction with the traffic lights testing result of traffic light detection module, traffic light detection module whether there is
Exception is detected, to realize the abnormality detection to traffic light detection module in automatic driving vehicle, can be found in time
It is abnormal, improve validity and safety that automatic driving vehicle passes through traffic lights crossing.
In order to achieve the above object, the application third aspect embodiment proposes traffic lights detection mould in the automatic vehicle of driving of one kind
The abnormal detector of block, comprising: module is obtained, for obtaining the traveling driven between vehicle and traffic lights crossing automatically
Distance；Abnormality detection module, for being detected according to the traffic lights when determining that the operating range is less than pre-determined distance threshold value
The traffic lights testing result of module determines the traffic light detection module with the presence or absence of abnormal.
Automatically the abnormal detector of traffic light detection module, is driving automatically in vehicle provided by the embodiments of the present application of driving
During vehicle vehicle driving, obtain the operating range driven between vehicle and traffic lights crossing automatically, and determine traveling away from
When from being less than pre-determined distance threshold value, in conjunction with the traffic lights testing result of traffic light detection module, to traffic light detection module whether
It is detected in the presence of abnormal, so that the abnormality detection to traffic light detection module in automatic driving vehicle is realized, it can be timely
It notes abnormalities, improves validity and safety that automatic driving vehicle passes through traffic lights crossing.
In order to achieve the above object, the application third aspect embodiment proposes a kind of automatic driving vehicle, including memory, place
The computer program managing device and storage on a memory and can running on a processor, the processor execute real when described program
It now drives automatically as described above the method for detecting abnormality of traffic light detection module in vehicle.
To achieve the goals above, the application fourth aspect embodiment proposes a kind of computer readable storage medium, when
When instruction in the storage medium is executed by processor, traffic light detection module in vehicle of driving automatically as described above is realized
Method for detecting abnormality.
To achieve the goals above, the 5th aspect embodiment of the application proposes a kind of computer program product, when described
When instruction processing unit in computer program product executes, aptitude checking method as described above is realized.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the method for detecting abnormality of traffic light detection module in the vehicle of driving automatically according to the application one embodiment
Flow diagram；
Fig. 2 is the exemplary diagram of the position at automatic driving vehicle and traffic lights crossing；
Fig. 3 is the abnormality detection side of traffic light detection module in the vehicle of driving automatically according to another embodiment of the application
The flow diagram of method；
Fig. 4 is the abnormal detector of traffic light detection module in the vehicle of driving automatically according to the application one embodiment
Structural schematic diagram；
Fig. 5 is the abnormality detection dress of traffic light detection module in the vehicle of driving automatically according to another embodiment of the application
The structural schematic diagram set；
Fig. 6 is the structural schematic diagram according to the automatic driving vehicle of the application one embodiment.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
Automatically below with reference to the accompanying drawings the abnormality detection of traffic light detection module in the vehicle of driving of the embodiment of the present application is described
Method, apparatus and automatic driving vehicle.
Fig. 1 is the method for detecting abnormality of traffic light detection module in the vehicle of driving automatically according to the application one embodiment
Flow diagram.Wherein, it should be noted that, the method for detecting abnormality of the present embodiment is applied in automatic driving vehicle, this is different
The executing subject of normal detection method can be the controller for vehicle of driving automatically, can also be the abnormality detection for vehicle of driving automatically
System, the embodiment are not especially limited this.
As shown in Figure 1, this drives automatically, the method for detecting abnormality of traffic light detection module may include: in vehicle
Step 101, the operating range driven between vehicle and traffic lights crossing automatically is obtained.
The embodiment of property as an example, in order to improve the safety of automatic driving vehicle, in vehicle of driving automatically
In the scene for needing to know by traffic light detection module traffic lights information, the present bit confidence for vehicle of driving automatically can be obtained
Breath, and according to current location information, when determining that vehicle front of driving automatically has the traffic lights crossing wait pass through, it can obtain automatic
The operating range driven between vehicle and traffic lights crossing.
The specific implementation for the operating range driven between vehicle and traffic lights crossing automatically is obtained in the present embodiment
It can be with are as follows: when automatic driving vehicle is configured with global position system GPS (Global Positioning System) module,
The current location information for vehicle of driving automatically can be obtained according to the location data in GPS module；Information according to the map, determination are worked as
Operating range between front position information and traffic lights crossing.
Specifically, according to the location data in GPS module, the current location information for vehicle of driving automatically is obtained, and according to
Cartographic information obtains the location information at the traffic lights crossing, then, can current location information according to vehicle of driving automatically and friendship
The location information of access mouth determines the operating range driven between vehicle and traffic lights crossing automatically.
Wherein it is possible to understand, automatic driving vehicle and traffic can be obtained at interval of preset time in the present embodiment
Operating range between lamp crossing is also possible to obtain the operating range between automatic driving vehicle and traffic lights crossing in real time,
The embodiment is not construed as limiting.
In the present embodiment, preset time can be in conjunction with the current driving speed of vehicle of driving automatically and/or automatic
The current driving distance driven between vehicle and traffic lights crossing predefines.
Wherein, the current driving speed of automatic driving vehicle is faster, and preset time is shorter.
Wherein, the current driving distance between automatic driving vehicle and traffic lights crossing, if current driving distance is less than
Or be equal to the first pre-determined distance threshold value, then automatic driving vehicle, which is controlled, at interval of the first preset time obtains automatic driving vehicle
With the operating range between traffic lights crossing, if current driving distance is greater than the first pre-determined distance threshold value, control is driven automatically
Vehicle is sailed at interval of the operating range between the second preset time acquisition automatic driving vehicle and traffic lights crossing, wherein second
Preset time is greater than the first preset time.
Step 102, when determining that operating range is less than pre-determined distance threshold value, according to the traffic lamp inspection of traffic light detection module
It surveys as a result, determining traffic light detection module with the presence or absence of abnormal.
Specifically, after obtaining the operating range driven between vehicle and traffic lights crossing automatically, judgement is currently obtained
Whether the operating range taken is less than pre-determined distance threshold value, if whether current acquired operating range is less than pre-determined distance threshold
Value, then obtain the traffic lights testing result of traffic light detection module, if can not determine that front is handed over according to traffic lights testing result
Traffic light status information in logical lamp crossing, at this time, it may be determined that traffic light detection module is abnormal.
Wherein, pre-determined distance threshold value is the distance between pre-set automatic driving vehicle and traffic lights crossing threshold value,
When reaching the distance threshold, traffic light detection module is carried out abnormality detection.
For example, pre-determined distance threshold value is 10 meters, the position exemplary diagram between automatic driving vehicle and traffic lights crossing is such as schemed
Shown in 2, when the operating range between automatic driving vehicle and traffic lights routing is equal to 10 meters, automatic driving vehicle will be in conjunction with friendship
The traffic lights testing result of logical lamp detection module, carries out abnormality detection traffic light detection module.
In the present embodiment, in order to improve the accuracy to traffic light detection module abnormality detection, traffic can repeatedly be obtained
The traffic lights testing result of lamp detection module output, if according to the traffic lights testing result repeatedly obtained, before can not determining
The status information of traffic lights in square traffic lights crossing, at this time, it may be determined that traffic light detection module is abnormal.
In another embodiment, in order to improve the accuracy to traffic light detection module abnormality detection, if it is determined that
Continue status information not comprising traffic lights in preset time in traffic lights testing result, it is determined that the failure of traffic lights detection module
It is abnormal.
Wherein, it should be noted that the traffic light detection module in the present embodiment refers to traffic light detection module not extremely
The status information of traffic lights can be provided.
Wherein, the status information of traffic lights may include traffic lights red light phase, red green state and amber light state etc..
Automatically the method for detecting abnormality of traffic light detection module in the vehicle of driving of the embodiment of the present application, in vehicle of driving automatically
During traveling, the operating range driven between vehicle and traffic lights crossing automatically is obtained, and determining that operating range is small
When pre-determined distance threshold value, in conjunction with the traffic lights testing result of traffic light detection module, traffic light detection module whether there is
Exception is detected, to realize the abnormality detection to traffic light detection module in automatic driving vehicle, can be found in time
It is abnormal, improve validity and safety that automatic driving vehicle passes through traffic lights crossing.
It is understood that in practical applications, being deposited when abnormal in traffic light detection module, due to automatic driving vehicle
The traffic lights information at upcoming traffic crossing can not be known at this time, in order to improve the drive safety for vehicle of driving automatically, can be based on
The control strategy of setting accordingly controls automatic driving vehicle.Below with reference to Fig. 3 to the vehicle of driving automatically of the present embodiment
The method for detecting abnormality of middle traffic light detection module is described further.
Fig. 3 is the abnormality detection side of traffic light detection module in the vehicle of driving automatically according to another embodiment of the application
The flow diagram of method.
As shown in figure 3, this drives automatically, the method for detecting abnormality of traffic light detection module may include: in vehicle
Step 301, the operating range driven between vehicle and traffic lights crossing automatically is obtained.
Wherein, it should be noted that step 301 is identical as abovementioned steps 101, the aforementioned explanation to step 101
Suitable for step 301, details are not described herein again.
Step 302, when determining that operating range is less than pre-determined distance threshold value, the traffic lights of Vehicle Detection module output is obtained
Testing result, and judge in traffic lights testing result whether include traffic lights status information.
Step 303, if it is determined that do not include the status information of traffic lights in traffic lights testing result, it is determined that traffic lamp inspection
It is abnormal to survey module.
Step 304, according to preset control strategy, vehicle of driving automatically is accordingly controlled.
In the present embodiment, according to preset control strategy in different application scene, phase is carried out to vehicle of driving automatically
The mode that should be controlled is different, is exemplified below:
As an example, control automatic driving vehicle issues prompt information, to prompt driver by automatic driving vehicle
Driving mode be switched to manual drive mode.
Specifically, when determining traffic light detection module exception, it can further determine that and drive to whether there is in vehicle automatically
Driver, if it is determined that there are drivers in automatic driving vehicle, and automatic driving vehicle can control to issue prompt information, with
Prompt driver that the driving mode of automatic driving vehicle is switched to manual drive mode.
In this embodiment, prompt information can be issued in a manner of voice broadcasting and/or interface display, the implementation is to automatic
The mode for driving vehicle sending prompt information is not construed as limiting.
As another example, controllable traffic light detection module is restarted；Institute after if traffic light detection module is restarted
The traffic lights detection data of output does not still include the status information of traffic lights, then closes traffic light detection module, and prompts to drive
The driving mode of automatic driving vehicle is switched to manual drive mode by the person of sailing.
As another example, controllable vehicle parking of driving automatically, and issue corresponding prompting message.
It can control automatic driving vehicle when determining that driver is not present in vehicle of driving automatically as another example
Parking, and there is abnormal prompt information to the traffic light detection module that remote control terminal sends automatic driving vehicle, so that far
Prompt information carries out respective handling to process control terminal based on the received.
Automatically the method for detecting abnormality of traffic light detection module in the vehicle of driving of the embodiment of the present application, in vehicle of driving automatically
During traveling, the operating range driven between vehicle and traffic lights crossing automatically is obtained, and determining that operating range is small
When pre-determined distance threshold value, according to Vehicle Detection module export traffic lights testing result, judge be in traffic lights testing result
The no status information comprising traffic lights, and determining status information not comprising traffic lights, determine traffic light detection module exception,
And according to preset control strategy, vehicle of driving automatically is accordingly controlled, is handed over to realize in automatic driving vehicle
The abnormality detection of logical lamp detection module, can note abnormalities in time, and when traffic light detection module occurs abnormal, in conjunction with default
Vehicle is controlled, automatic driving vehicle is controlled, automatic driving vehicle is further improved and passes through the effective of traffic lights crossing
Property and safety, ensure that traffic safety.
Fig. 4 is the abnormal detector of traffic light detection module in the vehicle of driving automatically according to the application one embodiment
Structural schematic diagram.
Shown in Fig. 4, the abnormal detector of traffic light detection module includes obtaining 110 He of module in the vehicle of driving automatically
Abnormality detection module 120, in which:
Module 110 is obtained, for obtaining the operating range driven between vehicle and traffic lights crossing automatically.
Abnormality detection module 120, for detecting mould according to traffic lights when determining that operating range is less than pre-determined distance threshold value
The traffic lights testing result of block determines traffic light detection module with the presence or absence of abnormal.
In one embodiment of the application, abnormality detection module 120 is specifically used for: judging in traffic lights testing result
Whether include traffic lights status information；Wherein, if it is determined that it does not include the status information of traffic lights in traffic lights testing result,
Then determine that traffic light detection module is abnormal.
It is shown in Fig. 4 in order to further increase the traffic safety of automatic driving vehicle in one embodiment of the application
Embodiment on the basis of, as shown in figure 5, the device can also include:
Control module 130 is also used to if it is determined that traffic light detection module is abnormal, then right according to preset control strategy
Automatic vehicle of driving accordingly is controlled.
In one embodiment of the application, control module 130 is specifically used for: control traffic light detection module is restarted；Such as
The traffic lights detection data that fruit traffic light detection module is exported after restarting still does not include the status information of traffic lights, then closes
Traffic light detection module is closed, and prompts driver that the driving mode of automatic driving vehicle is switched to manual drive mode.
In one embodiment of the application, control module 130 is specifically used for: the automatic vehicle parking of driving of control, concurrently
Corresponding prompting message out.
In one embodiment of the application, vehicle of driving automatically includes GPS module, obtains module 110, is specifically used for:
According to the location data in GPS module, the current location information for vehicle of driving automatically is obtained；Information according to the map determines current
Operating range between location information and traffic lights crossing.
Wherein, it should be noted that the aforementioned method for detecting abnormality to traffic light detection module in vehicle of driving automatically is real
The explanation for applying example is also applied for the abnormal detector of traffic light detection module in the vehicle of driving automatically of the embodiment,
Realization principle is similar, and details are not described herein again.
Automatically the abnormal detector of traffic light detection module in the vehicle of driving of the embodiment of the present application, in vehicle of driving automatically
During traveling, the operating range driven between vehicle and traffic lights crossing automatically is obtained, and determining that operating range is small
When pre-determined distance threshold value, in conjunction with the traffic lights testing result of traffic light detection module, traffic light detection module whether there is
Exception is detected, to realize the abnormality detection to traffic light detection module in automatic driving vehicle, can be found in time
It is abnormal, improve validity and safety that automatic driving vehicle passes through traffic lights crossing.
Fig. 6 is the structural schematic diagram according to the automatic driving vehicle of the application one embodiment.The automatic driving vehicle packet
It includes:
Memory 1001, processor 1002 and it is stored in the calculating that can be run on memory 1001 and on processor 1002
Machine program.
Processor 1002 realizes traffic lights detection mould in the vehicle of driving automatically provided in above-described embodiment when executing program
The method for detecting abnormality of block.
Further, automatic driving vehicle further include:
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for storing the computer program that can be run on processor 1002.
Memory 1001 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.
Processor 1002 realizes traffic light detection module in the vehicle of driving automatically of above-described embodiment when for executing program
Method for detecting abnormality.
If memory 1001, processor 1002 and the independent realization of communication interface 1003, communication interface 1003, memory
1001 and processor 1002 can be connected with each other by bus and complete mutual communication.Bus can be Industry Standard Architecture
Structure (Industry Standard Architecture, referred to as ISA) bus, external equipment interconnection (Peripheral
Component, referred to as PCI) bus or extended industry-standard architecture (Extended Industry Standard
Architecture, referred to as EISA) bus etc..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, Fig. 6, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
It is realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can be completed mutual by internal interface
Communication.
Processor 1002 may be a central processing unit (Central Processing Unit, referred to as CPU), or
Person is specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC) or quilt
It is configured to implement one or more integrated circuits of the embodiment of the present application.
The present embodiment also provides a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that
The method for detecting abnormality of traffic light detection module in vehicle of driving automatically as above is realized when the program is executed by processor.
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 contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
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.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
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 custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application 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 by the application
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 optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the application 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.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey 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, can integrate in a processing module in each functional unit in each embodiment of the application
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 read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
Embodiments herein is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the application
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of application
Type.
Claims (14)
1. the method for detecting abnormality of traffic light detection module in a kind of vehicle of driving automatically, which is characterized in that the described method includes:
Obtain the operating range driven between vehicle and traffic lights crossing automatically；
When determining that the operating range is less than pre-determined distance threshold value, is detected and tied according to the traffic lights of the traffic light detection module
Fruit determines the traffic light detection module with the presence or absence of abnormal.
2. the method as described in claim 1, which is characterized in that described to be detected according to the traffic lights of the traffic light detection module
As a result, determining whether the traffic light detection module is effective, comprising:
Judge in the traffic lights testing result whether include traffic lights status information；
Wherein, if it is determined that do not include the status information of the traffic lights in the traffic lights testing result, it is determined that the friendship
Logical lamp detection module is abnormal.
3. the method as described in claim 1, which is characterized in that further include:
If it is determined that the traffic light detection module is abnormal, then according to preset control strategy, to it is described drive automatically vehicle into
The corresponding control of row.
4. method as claimed in claim 3, which is characterized in that it is described according to preset control strategy, it drives automatically to described
Vehicle is accordingly controlled, comprising:
The traffic light detection module is controlled to restart；
If the traffic lights detection data that the traffic light detection module is exported after restarting still does not include the shape of traffic lights
State information then closes the traffic light detection module, and driver is prompted to switch the driving mode of the automatic driving vehicle
For manual drive mode.
5. the method as described in claim 1, which is characterized in that it is described according to preset control strategy, it drives automatically to described
Vehicle is accordingly controlled, comprising:
The vehicle parking of driving automatically is controlled, and issues corresponding prompting message.
6. method according to any of claims 1-4, which is characterized in that the vehicle of driving automatically includes GPS module, institute
It states and obtains the operating range driven between vehicle and traffic lights crossing automatically, comprising:
According to the location data in GPS module, the current location information of the vehicle of driving automatically is obtained；
Information according to the map determines the operating range between the current location information and the traffic lights crossing.
7. the abnormal detector of traffic light detection module in a kind of vehicle of driving automatically, which is characterized in that described device includes:
Module is obtained, for obtaining the operating range driven between vehicle and traffic lights crossing automatically；
Abnormality detection module, for being detected according to the traffic lights when determining that the operating range is less than pre-determined distance threshold value
The traffic lights testing result of module determines the traffic light detection module with the presence or absence of abnormal.
8. device as claimed in claim 7, which is characterized in that the abnormality detection module is specifically used for:
Judge in the traffic lights testing result whether include traffic lights status information；
Wherein, if it is determined that do not include the status information of the traffic lights in the traffic lights testing result, it is determined that the friendship
Logical lamp detection module is abnormal.
9. device as claimed in claim 7, which is characterized in that further include:
Control module is also used to if it is determined that the traffic light detection module is abnormal, then according to preset control strategy, to described
Automatic vehicle of driving accordingly is controlled.
10. device as claimed in claim 9, which is characterized in that the control module is specifically used for:
The traffic light detection module is controlled to restart；
If the traffic lights detection data that the traffic light detection module is exported after restarting still does not include the shape of traffic lights
State information then closes the traffic light detection module, and driver is prompted to switch the driving mode of the automatic driving vehicle
For manual drive mode.
11. device as claimed in claim 7, which is characterized in that the control module is specifically used for:
The vehicle parking of driving automatically is controlled, and issues corresponding prompting message.
12. such as the described in any item devices of claim 7-11, which is characterized in that the vehicle of driving automatically includes GPS module,
The acquisition module, is specifically used for:
According to the location data in GPS module, the current location information of the vehicle of driving automatically is obtained；
Information according to the map determines the operating range between the current location information and the traffic lights crossing.
13. a kind of automatic driving vehicle characterized by comprising
Memory, processor and storage are on a memory and the computer program that can run on a processor, which is characterized in that institute
It states when processor executes described program and realizes such as multi-party joint modeling method as claimed in any one of claims 1 to 6.
14. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The abnormality detection side such as traffic light detection module in vehicle as claimed in any one of claims 1 to 6 of driving automatically is realized when execution
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698988.6A CN110285981A (en) | 2019-07-31 | 2019-07-31 | The method for detecting abnormality and device of traffic light detection module in automatic vehicle of driving |
Applications Claiming Priority (1)
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