CN110316192A - Automatic Pilot method, apparatus, vehicle and storage medium - Google Patents
Automatic Pilot method, apparatus, vehicle and storage medium Download PDFInfo
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- CN110316192A CN110316192A CN201910586819.3A CN201910586819A CN110316192A CN 110316192 A CN110316192 A CN 110316192A CN 201910586819 A CN201910586819 A CN 201910586819A CN 110316192 A CN110316192 A CN 110316192A
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- vehicle
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- lane
- drive parameter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Abstract
The embodiment of the present application provides a kind of automatic Pilot method, apparatus, vehicle and storage medium, passes through the current running state of the information and vehicle that obtain road ahead；Corresponding relationship between driving status based on the vehicle and limit drive parameter judges whether the road can be crossed in the case where the limit drive parameter without departing from the vehicle with current running state；If wherein cannot, the driving condition of the vehicle is adjusted, so that the vehicle crosses the road without departing from the limit drive parameter.Technical solution provided by the embodiments of the present application can be improved safety and the driving experience of automatic Pilot.
Description
Technical field
The invention relates to field of artificial intelligence more particularly to a kind of automatic Pilot method, apparatus, vehicle and
Storage medium.
Background technique
Under kinetic limitations scene (such as limit turning, climbing etc.), it may appear that the case where limit controls, vehicle is in pole
It will appear in the case of limit control and control unstable, the problem of driving experience difference, or even limit control is more than in some scenes
Vehicle, which drives the limit that can bear, will lead to traffic accident, endanger driving safety.
Summary of the invention
The embodiment of the present application provides a kind of automatic Pilot method, apparatus, vehicle and storage medium, to improve automatic Pilot
Safety and experience, especially improve drive safety under the limit scene such as wide-angle detour and slope road and drive body
It tests.
The embodiment of the present application first aspect provides a kind of automatic Pilot method, comprising: obtains the information and vehicle of road ahead
Current running state；Corresponding relationship between driving status based on the vehicle and limit drive parameter judges to work as
Whether preceding driving status can cross the road in the case where limit drive parameter without departing from the vehicle；If wherein not
Can, then the driving condition of the vehicle is adjusted, so that the vehicle is crossed without departing from the limit drive parameter
The road.
The embodiment of the present application second aspect provides a kind of steering control device, comprising:
Module is obtained, for obtaining the information of road ahead and the current running state of vehicle.
Judgment module, for the corresponding relationship between the driving status based on the vehicle and limit drive parameter, judgement
Whether with current running state the road can be crossed in the case where the limit drive parameter without departing from the vehicle.
Module is adjusted, for can not be in the feelings of the limit drive parameter without departing from the vehicle with current running state
When crossing the road under condition, the driving condition of the vehicle is adjusted, so that the vehicle is driving ginseng without departing from the limit
The road is crossed in the case where number.
The embodiment of the present application third aspect provides a kind of automatic driving vehicle, comprising: one or more processors；Storage dress
It sets, for storing one or more programs, when one or more of programs are executed by one or more of processors, so that
One or more of processors execute the method as described in above-mentioned first aspect.
The embodiment of the present application fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer program,
The method as described in above-mentioned first aspect is executed when the program is executed by processor.
Based on aspects above, the embodiment of the present application passes through the information and vehicle current running state for obtaining road ahead,
Whether corresponding relationship between driving status based on vehicle and limit drive parameter, judging can be not with current running state
Road is crossed in the case where limit drive parameter beyond vehicle, if cannot, then the driving condition of vehicle is adjusted, so that vehicle
Road ahead is crossed in the case where the limit drive parameter without departing from vehicle.Since the embodiment of the present application drives into front in vehicle
Can prejudge the current driving condition of vehicle before road sail in the case where the limit drive parameter without departing from vehicle
Road ahead is crossed, and the driving condition that can pre-adjust in the case where judging intransitable situation vehicle allows the vehicle to smoothly
Cross road ahead, it is thus possible to avoid the problem that automatic Pilot fail and the driving behavior beyond the vehicle limit caused by peace
Full blast danger improves automatic Pilot safety and automatic Pilot experience, especially can be improved that angle of turn is larger or the gradient
The drive safety and driving experience of biggish limit road conditions.
It should be appreciated that content described in foregoing invention content part is not intended to limit the pass of embodiments herein
Key or important feature, it is also non-for limiting scope of the present application.The other feature of this public affairs application will be become by description below
It is readily appreciated that.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of a scenario of limit turning provided by the embodiments of the present application；
Fig. 2 is a kind of flow chart of automatic Pilot method provided by the embodiments of the present application；
Fig. 3 is a kind of flow chart of automatic Pilot method provided by the embodiments of the present application；
Fig. 4 is a kind of automatic Pilot schematic diagram of a scenario provided by the embodiments of the present application；
Fig. 5 is a kind of schematic diagram of automatic Pilot scene provided by the embodiments of the present application；
Fig. 6 is a kind of structural schematic diagram of steering control device provided by the embodiments of the present application；
A kind of Fig. 7 structural schematic diagram for adjusting module 63 provided by the embodiments of the present application.
Specific embodiment
Embodiments herein is more fully described below with reference to accompanying drawings.Although showing that the application's is certain in attached drawing
Embodiment, it should be understood that, the application can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the application.It should be understood that
It is that being given for example only property of the accompanying drawings and embodiments effect of the application is not intended to limit the protection scope of the application.
The specification and claims of the embodiment of the present application and the term " first " in above-mentioned attached drawing, " second ", "
Three ", the (if present)s such as " 4th " are to be used to distinguish similar objects, without for describing specific sequence or successive time
Sequence.It should be understood that the data used in this way are interchangeable under appropriate circumstances, for example so as to the embodiment of the present application described herein
It can be performed in other sequences than those illustrated or described herein.In addition, term " includes " and " having " and he
Any deformation, it is intended that cover it is non-exclusive include, for example, contain the process, method of a series of steps or units,
System, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include being not clearly listed
Or the other step or units intrinsic for these process, methods, product or equipment.
Fig. 1 is a kind of schematic diagram of a scenario of limit turning provided by the embodiments of the present application, is indicated in Fig. 1 with arrow direction
The driving direction of vehicle, as shown in Figure 1, vehicle is by this when the position of the excessive velocities of vehicle or entrance bend is bad
The limitation of body mechanical structure may be unable to reach curved steering requirement, there is the risk for going out lane, and even if vehicle is suitable
The bend for having passed through front of benefit, it is also possible to body sway is caused because excessive angle has been turned in a short time, from
And bring bad driving experience.
The embodiment of the present application provides a kind of automatic Pilot scheme, and the program is according to the current driving condition of vehicle and preceding
The information of Fang Daolu prejudges whether vehicle can cross road ahead without departing from the vehicle limit, when judging vehicle
When can not cross road ahead with current driving condition, the driving condition of vehicle is adjusted in advance, allows the vehicle to do not surpassing
In the case where crossing its own limit, road ahead is crossed safely.The program improves safety and the driving experience of automatic Pilot,
It especially can be improved that angle of turn is larger or the drive safety and driving experience of the biggish limit road conditions of the gradient.
It is explained in detail below with reference to technical solution of the embodiment to the application.
Fig. 2 is a kind of flow chart of automatic Pilot method provided by the embodiments of the present application, and this method can be by a kind of automatic
Steering control device executes, and the exemplary automatic Pilot control device may be mounted on automatic driving vehicle, or should be from
Dynamic steering control device is also possible to the entity being located at except automatic driving vehicle, can the control by way of remote control
The traveling of automatic driving vehicle processed.As shown in Fig. 2, this method comprises:
The current running state of S11, the information for obtaining road ahead and vehicle.
So-called road ahead refers to positioned at the front of vehicle heading, and the road that vehicle will drive into the present embodiment
Road.
In one embodiment, the image of road ahead can be obtained by the capture apparatus shooting carried on vehicle,
Lane extraction process is carried out by the image to road ahead, obtains the lane information in front road.Wherein, which can show
Example property is interpreted as camera, which can be any one in following camera: RGB camera, depth camera,
Monocular cam and binocular camera, the lane information of the present embodiment include following one or more: lane shape (for example,
Camber or abrupt slope and the gradient on abrupt slope of bend and bend etc.), lane position, the obstacle information on lane width and lane
(for example, the regional location where barrier, form and dimension etc. of barrier).
One or more RGB cameras can be carried by taking RGB camera as an example, on vehicle, in the field of multiple RGB cameras
Under scape can by multiple RGB cameras shooting obtain image carry out splicing come obtain vehicle front range it is larger,
The more complete image of road conditions, further, then by obtaining front to operations such as image progress gray proces, lane extractions
The lane information of road.Certainly it is only for illustrate rather than unique restriction to the application.
In another embodiment, the road information that vehicle front road can be obtained by high-precision area, for example, vehicle
On road shape (for example, camber or abrupt slope and the gradient on abrupt slope etc. of bend and bend), lane position, lane width and lane
Obstacle information (for example, the regional location where barrier, form and dimension etc. of barrier).
Certain above two embodiment is only for the purposes of understanding carried out exemplary illustration rather than to road information
Unique restriction of acquisition modes.
The current running state of so-called vehicle in the present embodiment includes the travel speed of vehicle, in some embodiments
In the driving status can also include the relative position of driving mode, the vehicle lane and vehicle that are currently located in lane.
Wherein, relative position of the vehicle in lane can be obtained based on high-precision map.The travel speed of vehicle can take from vehicle
Obtained in the velocity sensor of load, or can also be calculated and be obtained based on distance that vehicle travels within the unit time, certainly this
Two kinds of acquisition modes are only the two ways for exemplary illustration extracted from a variety of acquisition modes, are not to traveling
Unique restriction of speed acquisition modes.
Corresponding relationship between S12, the driving status based on the vehicle and limit drive parameter, judges with current driving
Whether state can cross the road in the case where limit drive parameter without departing from the vehicle, wherein if cannot,
Then follow the steps S13.
Wherein, limit drive parameter refers to that the vehicle attainable limiting value of institute in all respects, such as limit velocity, the limit turn
To angle, ultimate torque etc..Corresponding relationship in the present embodiment between the driving status of so-called vehicle and limit drive parameter, packet
Include following at least one: relationship, car travel mode and vehicle peak torque between car speed and steering locking angle degree it
Between relationship, the peak torque and vehicle ruling grade that can climb between corresponding relationship, car speed and vehicle can climb
Corresponding relationship between ruling grade.Wherein, the relationship between car speed and steering locking angle degree refers to vehicle in corresponding speed
Spend the maximum angle that can be turned in the lower unit time.Car travel mode may include one of following or a variety of: high speed four
Drive mode, two area's modes, low speed 4 wheel driven mode, crawling mode etc..Vehicle can have different torques under different driving modes
Amplification factor, so that the attainable peak torque of institute may also be different.
It include: car speed and steering locking angle with the corresponding relationship between the driving status of vehicle and limit drive parameter
For relationship between degree, when judging that can vehicle pass through road ahead, it is primarily based on car speed and steering locking angle degree
Between relationship, determine the corresponding steering locking angle degree of present speed, then lane shape and present speed based on road ahead
Corresponding steering locking angle degree, whether with present speed can cross the road, for example there are bends in road ahead if determining
When, the corresponding steering locking angle of present speed and the bending angle of the bend can be compared, if steering locking angle be greater than or
Then judge that vehicle can be on the contrary then judgement cannot pass through road ahead by road ahead equal to the bending angle of bend.
It include: again that car speed can be climbed with vehicle with the corresponding relationship between the driving status of vehicle and limit drive parameter
For the corresponding relationship between ruling grade climbed, when judging that can vehicle pass through road ahead, it is primarily based on car speed
The corresponding relationship between ruling grade that can be climbed with vehicle, determines the ruling grade that present speed can be climbed, and by the maximum
The gradient of the gradient and road ahead compares, if the ruling grade that can currently climb is greater than or equal to the gradient of road ahead,
Then judge that vehicle can be by road ahead, otherwise judgement can not pass through road ahead.
In fact, based between car travel mode and vehicle peak torque relationship or peak torque can climb with vehicle
The corresponding relationship between ruling grade climbed judges that vehicle can also be referred to above-mentioned example by the method for road ahead
Executive mode just repeats no more here in order to describe simplicity.
Certainly above are only illustrate rather than unique restriction to the application.
The driving condition of S13, the adjustment vehicle, so that the vehicle is without departing from the limit drive parameter the case where
Under cross the road.
Illustrative the present embodiment can come the corresponding relationship between limit drive parameter according to the driving state of the vehicle
The driving condition for adjusting vehicle, enables and smoothly crosses road ahead with driving condition adjusted, wherein adjustable driving
State includes following one or more: the phase of lane, vehicle in lane where car speed, vehicle driving model, vehicle
To position.By taking car speed as an example, when judging that vehicle can not be without departing from vehicle limit drive parameter with current driving condition
In the case of when crossing road ahead, car speed can be adjusted according to the relationship between car speed and steering locking angle degree,
So that steering locking angle degree corresponding to car speed adjusted is greater than or equal to the camber of road ahead.Certainly it is only for
It illustrates rather than uniquely limits.In fact, in other embodiments can also be according to other preset adjustment plans
Slightly come the driving condition for adjusting vehicle, as long as vehicle can pass through road ahead with driving condition adjusted.
The present embodiment by obtaining the information and vehicle current running state of road ahead, driving status based on vehicle with
Corresponding relationship between limit drive parameter judges join so that whether current running state can drive in the limit without departing from vehicle
Road is crossed in the case where number, if cannot, then the driving condition of vehicle is adjusted, so that vehicle is driven in the limit without departing from vehicle
Road ahead is crossed in the case where sailing parameter.Since the embodiment of the present application can prejudge vehicle before vehicle drives into road ahead
Can current driving condition cross road ahead in the case where the limit drive parameter without departing from vehicle, and judge
The driving condition that vehicle can be pre-adjusted in intransitable situation allows the vehicle to smoothly cross road ahead, it is thus possible to
Avoid the problem that automatic Pilot fail and the driving behavior beyond the vehicle limit caused by security risk, improve automatic Pilot
Safety and automatic Pilot experience especially can be improved that angle of turn is larger or the driving of the biggish limit road conditions of gradient peace
Full property and driving experience.
Fig. 3 is a kind of flow chart of automatic Pilot method provided by the embodiments of the present application, as shown in figure 3, in Fig. 2 embodiment
On the basis of, this method comprises:
The current running state of S21, the information for obtaining road ahead and vehicle.
Wherein, lane information include lane shape (for example, camber or abrupt slope and the gradient on abrupt slope etc. of bend and bend),
Obstacle information on lane position, lane width and lane is (for example, the regional location where barrier, the shape of barrier
And size etc.).
Corresponding relationship between S22, the driving status based on the vehicle and limit drive parameter, judges with current driving
Whether state can cross the road in the case where limit drive parameter without departing from the vehicle.
S23, be based on the lane position and the lane width, adjust the vehicle into the road position so that
The vehicle is less than or equal to the corresponding maximum of the vehicle present speed from the steering angle that the road is crossed in the position
Steering angle.
Exemplary, Fig. 4 is a kind of automatic Pilot schematic diagram of a scenario provided by the embodiments of the present application, as shown in figure 4, when judgement
When vehicle can not cross front detour with current driving condition without departing from limit drive parameter, basis is worked as first
Vehicle in front converts vehicle according to lane width and exists in the position in lane and the relative position between other lanes and vehicle
Position in lane enters front detour from P point position, due to P so that vehicle is switched to P point position in figure from current location
In the outer ring in entire two lane, thus under the premise of identical speed, vehicle is required within the unit time to be turned in lane where point
Angle be less than vehicle in the angle of inner ring Shi Suozhuan, to just reduce the steering pressure of vehicle, allow the vehicle to suitable
Benefit passes through front detour.Certainly here merely to illustrate the exemplary illustration that the technical solution of the present embodiment is done, rather than
Unique restriction to the application.
In addition, the case where there may be barriers in practical Driving Scene, in order to guarantee drive safety, in adjustment vehicle
Driving condition when can also by obstacle information (such as Obstacle Position, shape etc.) as important reference factor, according to
Based on lane position, lane width and obstacle information, the position that the vehicle enters road ahead is adjusted, so that vehicle is avoided
While barrier, the road of road ahead is crossed.
Exemplary, Fig. 5 is a kind of schematic diagram of automatic Pilot scene provided by the embodiments of the present application, and N indicates barrier in Fig. 5
Hinder object, H indicates that vehicle enters the position of bend, as shown in figure 5, due on lane there are barrier N, vehicle be adjusted into it is curved
When the position in road, avoiding obstacles N is needed, is needed at this time according to the position of barrier, speed, the direction of motion and vehicle certainly
The movement velocity of body formulates travel route and makes vehicle cut-through object N, reaches the position H so that vehicle enter from the position H it is curved
Road can either avoiding obstacles N to enable to vehicle to cross the steering angle of bend again corresponding less than or equal to vehicle list money speed
Steering locking angle, improve the safety of automatic Pilot.Certainly here merely to illustrating the technical solution institute of the present embodiment
The exemplary illustration done, rather than unique restriction to the application
The present embodiment, by the way that when vehicle can not pass through road ahead with current running state, adjustment vehicle enters front
The position of road improves the safety of automatic Pilot to reduce the steering pressure of vehicle by transformation in-position.
Fig. 6 is a kind of structural schematic diagram of steering control device provided by the embodiments of the present application, which can be set
On automatic driving vehicle, as shown in fig. 6, device 60 includes:
Module 61 is obtained, for obtaining the information of road ahead and the current running state of vehicle.
Judgment module 62 is sentenced for the corresponding relationship between the driving status based on the vehicle and limit drive parameter
It is disconnected that whether the road can be crossed in the case where the limit drive parameter without departing from the vehicle with current running state.
Module 63 is adjusted, for can not be in the limit drive parameter without departing from the vehicle with current running state
In the case of when crossing the road, the driving condition of the vehicle is adjusted, so that the vehicle drives without departing from the limit
The road is crossed in the case where parameter.
In one embodiment, the acquisition module 61, comprising:
Image Acquisition submodule, for obtaining the image of road ahead based on the capture apparatus shooting carried on vehicle；
Image procossing submodule obtains the lane information of road ahead for carrying out lane extraction process to described image.
In one embodiment, the lane information includes lane shape.
In one embodiment, the current running state of the vehicle includes the present speed of the vehicle, the vehicle
Driving status and limit drive parameter between corresponding relationship include relationship between car speed and steering locking angle degree.
The judgment module 62, comprising:
First determines submodule, for determining present speed based on the relationship between car speed and steering locking angle degree
Corresponding steering locking angle degree.
Second determine submodule, for based on road ahead lane shape and the steering locking angle degree, determine to work as
Whether preceding speed can cross the road.
The adjustment module 63, comprising:
The first adjustment submodule, for adjusting the speed of the vehicle, so that corresponding to car speed adjusted most
Big steering angle is greater than or equal to the camber of road ahead.
The method that device provided in this embodiment is able to carry out Fig. 2 embodiment, executive mode is similar with beneficial effect,
Which is not described herein again.
A kind of Fig. 7 structural schematic diagram of steering control device provided by the embodiments of the present application, the in the present embodiment vehicle
Road information further includes lane position and lane width.Adjust module 63, comprising:
Second adjustment submodule 631 adjusts the vehicle and enters for being based on the lane position and the lane width
The position of the road is so that the vehicle is less than or equal to the vehicle from the steering angle that the road is crossed in the position
The corresponding steering locking angle degree of present speed.
In one embodiment, the lane information further includes the obstacle information on lane.
The second adjustment submodule 631, is used for: being based on the lane position, the lane width and the barrier
Information adjusts the position that the vehicle enters the road, while so that the vehicle avoids the barrier, crosses described
The steering angle of road is less than or equal to the corresponding steering locking angle degree of the vehicle present speed.
The method that device provided in this embodiment is able to carry out Fig. 3 embodiment, executive mode is similar with beneficial effect,
Which is not described herein again.
The embodiment of the present application also provides a kind of automatic driving vehicle, comprising: one or more processors；
Storage device, for storing one or more programs, when one or more of programs are one or more of
Processor executes, so that one or more of processors realize method described in any of the above-described embodiment.
The embodiment of the present application is also provided in a kind of computer readable storage medium, is stored thereon with computer program, the journey
Method described in any of the above-described embodiment is realized when sequence is executed by processor.
Function described herein can be executed at least partly by one or more hardware logic components.Example
Such as, without limitation, the hardware logic component for the exemplary type that can be used includes: field programmable gate array (FPGA), dedicated
Integrated circuit (ASIC), Application Specific Standard Product (ASSP), the system (SOC) of system on chip, load programmable logic device
(CPLD) etc..
For implement disclosed method program code can using any combination of one or more programming languages come
It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units
Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution
Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software
Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.
In the context of the disclosure, machine readable media can be tangible medium, may include or is stored for
The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can
Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity
Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction
Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter
Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM
Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or
Any appropriate combination of above content.
Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order
Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result.
Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above
Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment
Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized
Various features can also realize individually or in any suitable subcombination in multiple realizations.
Although having used specific to this theme of the language description of structure feature and/or method logical action, answer
When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary,
Special characteristic described in face and movement are only to realize the exemplary forms of claims.
Claims (16)
1. a kind of automatic Pilot method characterized by comprising
Obtain the information of road ahead and the current running state of vehicle；
Corresponding relationship between driving status based on the vehicle and limit drive parameter, judge with current running state whether
The road can be crossed in the case where the limit drive parameter without departing from the vehicle；
If wherein cannot, the driving condition of the vehicle is adjusted, so that the vehicle is without departing from the limit drive parameter
In the case where cross the road.
2. the method according to claim 1, wherein the information for obtaining road ahead, comprising:
The image of road ahead is obtained based on the capture apparatus shooting carried on vehicle；
Lane extraction process is carried out to described image, obtains the lane information of road ahead.
3. according to the method described in claim 2, it is characterized in that, the lane information includes lane shape.
4. according to the method described in claim 3, it is characterized in that, the current running state of the vehicle includes the vehicle
Present speed, the corresponding relationship between the driving status and limit drive parameter of the vehicle include car speed and maximum steering
Relationship between angle；
Corresponding relationship between the driving status based on the vehicle and limit drive parameter, judges with current running state
Whether the road can be crossed in the case where the limit drive parameter without departing from the vehicle, comprising:
Based on the relationship between car speed and steering locking angle degree, the corresponding steering locking angle degree of present speed is determined；
Whether lane shape and the steering locking angle degree based on road ahead, the road can be crossed with present speed by determining
Road.
5. according to the method described in claim 4, it is characterized in that, the driving condition of the adjustment vehicle, so that described
Vehicle crosses the road without departing from the limit drive parameter, comprising:
The speed of the vehicle is adjusted, so that steering locking angle degree corresponding to car speed adjusted is greater than or equal to front
The camber of road.
6. according to the method described in claim 4, it is characterized in that, the lane information further includes that lane position and lane are wide
Degree；
The driving condition of the adjustment vehicle, so that the vehicle is sailed without departing from the limit drive parameter
Cross the road, comprising:
Based on the lane position and the lane width, the vehicle is adjusted into the position of the road so that the vehicle
The steering angle for crossing the road from the position is less than or equal to the corresponding steering locking angle degree of the vehicle present speed.
7. according to the method described in claim 6, it is characterized in that, the lane information further includes the barrier letter on lane
Breath；
Based on the lane position and the lane width, the vehicle is adjusted into the position of the road so that the vehicle
The steering angle for crossing the road from the position is less than or equal to the corresponding steering locking angle degree of the vehicle present speed,
Include:
Based on the lane position, the lane width and the obstacle information, the vehicle is adjusted into the road
Position, while so that the vehicle avoids the barrier, the steering angle for crossing the road is less than or equal to the vehicle
The corresponding steering locking angle degree of present speed.
8. a kind of steering control device characterized by comprising
Module is obtained, for obtaining the information of road ahead and the current running state of vehicle；
Judgment module judges for the corresponding relationship between the driving status based on the vehicle and limit drive parameter to work as
Whether preceding driving status can cross the road in the case where limit drive parameter without departing from the vehicle；
Module is adjusted, for can not be in the case where the limit drive parameter without departing from the vehicle with current running state
When crossing the road, the driving condition of the vehicle is adjusted, so that the vehicle is without departing from the limit drive parameter
In the case of cross the road.
9. device according to claim 8, which is characterized in that the acquisition module, comprising:
Image Acquisition submodule, for obtaining the image of road ahead based on the capture apparatus shooting carried on vehicle；
Image procossing submodule obtains the lane information of road ahead for carrying out lane extraction process to described image.
10. device according to claim 9, which is characterized in that the lane information includes lane shape.
11. device according to claim 10, which is characterized in that the current running state of the vehicle includes the vehicle
Present speed, the corresponding relationship between the driving status and limit drive parameter of the vehicle includes car speed and maximum turns
To the relationship between angle；
The judgment module, comprising:
First determines submodule, for determining that present speed is corresponding based on the relationship between car speed and steering locking angle degree
Steering locking angle degree；
Second determines submodule, for based on road ahead lane shape and the steering locking angle degree, determine with current speed
Whether degree can cross the road.
12. device according to claim 11, which is characterized in that the adjustment module, comprising:
The first adjustment submodule, for adjusting the speed of the vehicle, so that maximum corresponding to car speed adjusted turns
It is greater than or equal to the camber of road ahead to angle.
13. device according to claim 11, which is characterized in that the lane information further includes that lane position and lane are wide
Degree；
The adjustment module, comprising:
Second adjustment submodule adjusts the vehicle into the road for being based on the lane position and the lane width
The position on road so that the vehicle from the steering angle that the road is crossed in the position to be less than or equal to the vehicle currently fast
Spend corresponding steering locking angle degree.
14. device according to claim 13, which is characterized in that the lane information further includes the barrier letter on lane
Breath；
The second adjustment submodule, is used for: being based on the lane position, the lane width and the obstacle information, adjusts
The whole vehicle enters the position of the road, while so that the vehicle avoids the barrier, crosses the road
Steering angle is less than or equal to the corresponding steering locking angle degree of the vehicle present speed.
15. a kind of automatic driving vehicle characterized by comprising
One or more processors；
Storage device, for storing one or more programs, when one or more of programs are by one or more of processing
Device executes, so that one or more of processors execute such as method of any of claims 1-7 in fact.
16. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Such as method of any of claims 1-7 is executed when execution.
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