CN110316192B - Automatic driving method, device, vehicle and storage medium - Google Patents

Automatic driving method, device, vehicle and storage medium Download PDF

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Publication number
CN110316192B
CN110316192B CN201910586819.3A CN201910586819A CN110316192B CN 110316192 B CN110316192 B CN 110316192B CN 201910586819 A CN201910586819 A CN 201910586819A CN 110316192 B CN110316192 B CN 110316192B
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vehicle
road
lane
driving
steering angle
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CN110316192A (en
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杨凡
朱帆
吕雷兵
马霖
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Beijing Baidu Netcom Science and Technology Co Ltd
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Beijing Baidu Netcom Science and Technology Co Ltd
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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 application provides an automatic driving method, an automatic driving device, a vehicle and a storage medium, wherein information of a front road and the current driving state of the vehicle are acquired; determining whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relation between the driving state of the vehicle and the limit driving parameter; and if not, adjusting the driving state of the vehicle so that the vehicle can drive through the road without exceeding the limit driving parameter. The technical scheme provided by the embodiment of the application can improve the safety and the driving experience of automatic driving.

Description

Automatic driving method, device, vehicle and storage medium
Technical Field
The embodiment of the application relates to the technical field of artificial intelligence, in particular to an automatic driving method, an automatic driving device, a vehicle and a storage medium.
Background
Under dynamics limit scenes (such as limit turning, climbing and the like), limit control can occur, the problem that the control of a vehicle is unstable and the driving experience is poor can occur under the limit control condition, and even under some scenes, the limit control exceeds the limit which the vehicle can bear, so that traffic accidents can be caused, and the driving safety is damaged.
Disclosure of Invention
The embodiment of the application provides an automatic driving method, an automatic driving device, a vehicle and a storage medium, which are used for improving the safety and experience of automatic driving, in particular the driving safety and the driving experience in extreme scenes such as large-angle curves and slopes.
In a first aspect, an embodiment of the present application provides an automatic driving method, including: acquiring information of a front road and a current driving state of a vehicle; determining whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relation between the driving state of the vehicle and the limit driving parameter; and if not, adjusting the driving state of the vehicle so that the vehicle can drive through the road without exceeding the limit driving parameter.
A second aspect of the embodiments of the present application provides a driving control apparatus, including:
the acquisition module is used for acquiring information of a front road and the current running state of the vehicle.
And the judging module is used for judging whether the vehicle can drive on the road under the condition that the current driving state does not exceed the limit driving parameter of the vehicle or not based on the corresponding relation between the driving state of the vehicle and the limit driving parameter.
The adjusting module is used for adjusting the driving state of the vehicle when the vehicle cannot drive through the road under the condition that the current driving state does not exceed the limit driving parameter of the vehicle, so that the vehicle can drive through the road under the condition that the limit driving parameter is not exceeded.
A third aspect of the embodiments of the present application provides an autonomous vehicle, including: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to perform the method of the first aspect.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor performs the method according to the first aspect.
Based on the above aspects, the embodiment of the present application determines whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relationship between the driving state of the vehicle and the limit driving parameter by acquiring the information of the road ahead and the current driving state of the vehicle, and if not, adjusts the driving state of the vehicle so that the vehicle can drive through the road ahead without exceeding the limit driving parameter of the vehicle. According to the embodiment of the application, before the vehicle enters the front road, whether the current driving state of the vehicle can drive through the front road under the condition that the current driving state of the vehicle does not exceed the limit driving parameters of the vehicle can be judged in advance, and the driving state of the vehicle can be adjusted in advance under the condition that the vehicle cannot pass through the front road, so that the vehicle can smoothly drive through the front road, the problem of automatic driving failure and the safety risk caused by the driving behavior exceeding the limit of the vehicle can be avoided, the automatic driving safety and the automatic driving experience are improved, and particularly the driving safety and the driving experience of the limit road condition with a large turning angle or a large gradient can be improved.
It should be understood that what is described in the summary section above is not intended to limit key or critical features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present disclosure will become apparent from the following description.
Drawings
FIG. 1 is a schematic view of a corner turning scenario provided in an embodiment of the present application;
FIG. 2 is a flow chart of an automatic driving method provided by an embodiment of the present application;
FIG. 3 is a flow chart of an automatic driving method provided by an embodiment of the present application;
FIG. 4 is a schematic view of an automatic driving scenario provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of an automatic driving scenario provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of a driving control device provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of an adjusting module 63 according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are for illustration purposes only and are not intended to limit the scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the embodiments of the application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic view of a limit turning scene provided by an embodiment of the present application, in which an arrow direction in fig. 1 indicates a driving direction of a vehicle, as shown in fig. 1, when a speed of the vehicle is too high or a position of entering a curve is not good, the vehicle may not meet a turning requirement of the curve due to a mechanical structure of the vehicle, there is a risk of rushing out of a lane, and even if the vehicle smoothly passes through the curve ahead, the vehicle may tilt due to turning over an excessively large angle in a short time, thereby bringing a bad driving experience.
The embodiment of the application provides an automatic driving scheme, which judges whether a vehicle can drive through a front road without exceeding the limit of the vehicle in advance according to the current driving state of the vehicle and the information of the front road, and adjusts the driving state of the vehicle in advance when judging that the vehicle cannot drive through the front road in the current driving state, so that the vehicle can safely drive through the front road without exceeding the limit of the vehicle. According to the scheme, the safety and the driving experience of automatic driving are improved, and particularly the driving safety and the driving experience of the extreme road condition with a large turning angle or a large gradient can be improved.
The technical solution of the present application is explained in detail with reference to the following examples.
Fig. 2 is a flowchart of an automatic driving method provided in an embodiment of the present application, which may be executed by an automatic driving control device, which may be installed on an automatic driving vehicle, for example, or may be an entity located outside the automatic driving vehicle, and which may control the automatic driving vehicle to run in a remote control manner. As shown in fig. 2, the method includes:
and S11, acquiring the information of the front road and the current running state of the vehicle.
The front road in this embodiment refers to a road that is located ahead of the vehicle in the traveling direction and into which the vehicle is about to travel.
In one embodiment, an image of the road ahead may be captured by a capturing device mounted on the vehicle, and lane information of the road ahead may be obtained by performing lane extraction processing on the image of the road ahead. The shooting device can be understood as a camera by way of example, and the camera can be any one of the following cameras: RGB camera, degree of depth camera, monocular camera and binocular camera, the lane information of this embodiment includes one or more as follows: the shape of the lane (e.g., the curve degree of the curve and the curve, or the slope of the steep slope and the steep slope, etc.), the location of the lane, the width of the lane, and the obstacle information on the lane (e.g., the location of the area where the obstacle is located, the shape and size of the obstacle, etc.).
Taking the RGB camera as an example, one or more RGB cameras may be mounted on the vehicle, and in a scene with multiple RGB cameras, images captured by the multiple RGB cameras may be spliced to obtain an image with a large front range and a complete road condition of the vehicle, and further, the image may be subjected to grayscale processing, lane extraction, and other operations to obtain lane information of a front road. It is understood that this is by way of illustration and not by way of limitation.
In another embodiment, road information of a road ahead of the vehicle, such as a lane shape (e.g., a curve and a curve curvature or a slope of a steep slope and a steep slope, etc.), a lane position, a lane width, and obstacle information on the lane (e.g., a position of an area where an obstacle is located, a shape and a size of the obstacle, etc.) may be acquired through a high-precision region.
Of course, the above two embodiments are only exemplary illustrations for easy understanding and are not the only limitations on the road information acquisition manner.
The current driving state of the vehicle in this embodiment includes the driving speed of the vehicle, and in some embodiments, the driving state may further include a driving mode, a lane in which the vehicle is currently located, and a relative position of the vehicle in the lane. Wherein the relative position of the vehicle in the lane may be obtained based on a high precision map. The traveling speed of the vehicle may be obtained from a speed sensor mounted on the vehicle, or may be calculated based on the distance traveled by the vehicle per unit time, and these two acquisition manners are only two manners extracted from the plurality of acquisition manners for illustrative purposes, and are not limited to the traveling speed acquisition manner.
And S12, judging whether the vehicle can drive on the road under the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relation between the driving state of the vehicle and the limit driving parameter, wherein if the vehicle cannot drive on the road, the step S13 is executed.
The limit driving parameters refer to limit values that the vehicle can reach in various aspects, such as limit speed, limit steering angle, limit torque and the like. The correspondence relationship between the driving state of the vehicle and the limit driving parameter referred to in this embodiment includes at least one of: the relationship between vehicle speed and maximum steering angle, the relationship between vehicle travel mode and vehicle torque capacity, the relationship between torque capacity and maximum grade the vehicle can climb, the relationship between vehicle speed and maximum grade the vehicle can climb. The relation between the vehicle speed and the maximum steering angle refers to the maximum angle which can be rotated by the vehicle in unit time at the corresponding speed. The vehicle travel pattern may include one or more of the following: high speed four drive mode, two zone mode, low speed four drive mode, creep mode, etc. The vehicle may have different torque amplification factors in different driving modes, and thus the maximum torque that can be achieved may also be different.
The correspondence relationship between the running state of the vehicle and the limit driving parameter includes: for example, when determining whether the vehicle can pass through the front road, the maximum steering angle corresponding to the current speed is determined based on the relationship between the vehicle speed and the maximum steering angle, and then whether the vehicle can pass through the road at the current speed is determined based on the lane shape of the front road and the maximum steering angle corresponding to the current speed.
The corresponding relation between the driving state of the vehicle and the limit driving parameters comprises the following steps: the method comprises the steps that the corresponding relation between the speed of a vehicle and the maximum gradient which can be climbed by the vehicle is taken as an example, when whether the vehicle can pass through the front road is judged, firstly, the maximum gradient which can be climbed at the current speed is determined based on the corresponding relation between the speed of the vehicle and the maximum gradient which can be climbed by the vehicle, the maximum gradient is compared with the gradient of the front road, if the maximum gradient which can be climbed at the current time is larger than or equal to the gradient of the front road, the fact that the vehicle can pass through the front road is judged, and if not, the.
In fact, the method for determining that the vehicle can pass through the road ahead based on the relationship between the vehicle running mode and the maximum torque of the vehicle or the corresponding relationship between the maximum torque and the maximum gradient that the vehicle can climb may refer to the implementation manner of the above example, and for the sake of brevity, the description is omitted here.
The foregoing is, of course, illustrative only and is not intended to be the only limitation on the scope of the application.
And S13, adjusting the driving state of the vehicle so that the vehicle can drive through the road without exceeding the limit driving parameter.
The exemplary embodiment may adjust the driving state of the vehicle according to the corresponding relationship between the driving state of the vehicle and the limit driving parameter, so that the vehicle can smoothly drive through the road ahead in the adjusted driving state, wherein the adjustable driving state includes one or more of the following: vehicle speed, vehicle driving mode, lane in which the vehicle is located, relative position of the vehicle in the lane. Taking the vehicle speed as an example, when it is determined that the vehicle cannot drive through the front road in the current driving state without exceeding the vehicle limit driving parameter, the vehicle speed may be adjusted according to a relationship between the vehicle speed and the maximum steering angle, so that the maximum steering angle corresponding to the adjusted vehicle speed is greater than or equal to the curve of the front road. It is of course only illustrative and not exclusive here. In fact, in other embodiments, the driving state of the vehicle may be adjusted according to other preset adjustment strategies, as long as the vehicle can pass through the road ahead in the adjusted driving state.
In the embodiment, the information of the front road and the current driving state of the vehicle are acquired, whether the vehicle can drive through the road under the condition that the current driving state does not exceed the limit driving parameter of the vehicle is judged based on the corresponding relation between the driving state of the vehicle and the limit driving parameter, and if the vehicle cannot drive through the road, the driving state of the vehicle is adjusted, so that the vehicle can drive through the front road under the condition that the vehicle does not exceed the limit driving parameter of the vehicle. According to the embodiment of the application, before the vehicle enters the front road, whether the current driving state of the vehicle can drive through the front road under the condition that the current driving state of the vehicle does not exceed the limit driving parameters of the vehicle can be judged in advance, and the driving state of the vehicle can be adjusted in advance under the condition that the vehicle cannot pass through the front road, so that the vehicle can smoothly drive through the front road, the problem of automatic driving failure and the safety risk caused by the driving behavior exceeding the limit of the vehicle can be avoided, the automatic driving safety and the automatic driving experience are improved, and particularly the driving safety and the driving experience of the limit road condition with a large turning angle or a large gradient can be improved.
Fig. 3 is a flowchart of an automatic driving method provided in an embodiment of the present application, and as shown in fig. 3, on the basis of the embodiment of fig. 2, the method includes:
and S21, acquiring the information of the front road and the current running state of the vehicle.
The lane information includes a lane shape (for example, a curve or a curvature of a curve or a slope of a steep slope, etc.), a lane position, a lane width, and obstacle information on the lane (for example, a position of an area where an obstacle is located, a shape and a size of the obstacle, etc.).
And S22, judging whether the vehicle can drive on the road under the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relation between the driving state of the vehicle and the limit driving parameter.
And S23, adjusting the position of the vehicle entering the road based on the lane position and the lane width so that the steering angle of the vehicle driving on the road from the position is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle.
For example, fig. 4 is a schematic view of an automatic driving scenario provided by an embodiment of the present application, as shown in fig. 4, when it is determined that a vehicle cannot drive through a forward curved road without exceeding a limit driving parameter in a current driving state, first, a position of the vehicle in a lane is changed according to a position of the current vehicle in the lane and a relative position between the other lane and the vehicle, and according to a lane width, so that the vehicle is switched from a current position to a point P in the figure, and enters the forward curved road from the point P, and since the point P is located at an outer ring of the whole two lanes, an angle that the vehicle needs to turn in a unit time is smaller than an angle that the vehicle turns when the vehicle is located at an inner ring under the premise of the same vehicle speed, thereby reducing a steering pressure of the vehicle, and enabling the vehicle to smoothly pass through the forward curved road. Of course, the present invention is only exemplary for explaining the technical solutions of the present embodiment, and is not limited to the present application.
In addition, in order to ensure driving safety when there may be an obstacle in an actual driving scene, obstacle information (such as obstacle position, shape, and the like) may be used as an important reference factor when adjusting the driving state of the vehicle, and the position of the vehicle entering the road ahead may be adjusted based on the lane position, the lane width, and the obstacle information so that the vehicle travels through the road ahead while avoiding the obstacle.
For example, fig. 5 is a schematic diagram of an automatic driving scene provided by an embodiment of the present application, where N in fig. 5 represents an obstacle, and H represents a position where a vehicle enters a curve, and as shown in fig. 5, because the obstacle N exists on a lane, when the vehicle adjusts the position where the vehicle enters the curve, the vehicle needs to avoid the obstacle N, at this time, a driving route needs to be made according to the position, speed, and moving direction of the obstacle, and the moving speed of the vehicle itself, so that the vehicle bypasses the obstacle N to reach the position H, and the vehicle enters the curve from the position H to avoid the obstacle N and enable a steering angle at which the vehicle passes the curve to be smaller than or equal to a maximum steering angle corresponding to a single-money speed of the vehicle, thereby improving safety of automatic driving. Of course, the description is only for the purpose of illustrating the technical solutions of the present embodiment, and is not the only limitation of the present application
According to the embodiment, when the vehicle cannot pass through the front road in the current running state, the position of the vehicle entering the front road is adjusted, so that the steering pressure of the vehicle is reduced by changing the entering position, and the safety of automatic driving is improved.
Fig. 6 is a schematic structural diagram of a driving control device provided in an embodiment of the present application, which may be disposed on an autonomous vehicle, as shown in fig. 6, where the device 60 includes:
the acquiring module 61 is used for acquiring information of a road ahead and the current running state of the vehicle.
A determining module 62, configured to determine whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relationship between the driving state of the vehicle and the limit driving parameter.
An adjusting module 63, configured to adjust the driving state of the vehicle so that the vehicle can drive through the road without exceeding the limit driving parameter when the vehicle cannot drive through the road without exceeding the limit driving parameter in the current driving state.
In one embodiment, the obtaining module 61 includes:
the image acquisition submodule is used for acquiring an image of a front road based on shooting of shooting equipment carried on a vehicle;
and the image processing submodule is used for carrying out lane extraction processing on the image to obtain lane information of a front road.
In one embodiment, the lane information includes a lane shape.
In one embodiment, the current running state of the vehicle includes a current speed of the vehicle, and the correspondence relationship between the running state of the vehicle and the limit driving parameter includes a relationship between a vehicle speed and a maximum steering angle.
The determining module 62 includes:
and the first determining submodule is used for determining the maximum steering angle corresponding to the current speed based on the relation between the vehicle speed and the maximum steering angle.
A second determination sub-module for determining whether or not the road can be traveled at a current speed based on a lane shape of a road ahead and the maximum steering angle.
The adjusting module 63 includes:
and the first adjusting submodule is used for adjusting the speed of the vehicle so that the maximum steering angle corresponding to the adjusted vehicle speed is larger than or equal to the camber of the front road.
The apparatus provided in this embodiment can execute the method in the embodiment of fig. 2, and the execution manner and the beneficial effects are similar, which are not described herein again.
Fig. 7 is a schematic structural diagram of a driving control apparatus according to an embodiment of the present application, where the lane information further includes a lane position and a lane width. An adjustment module 63, comprising:
a second adjusting sub-module 631, configured to adjust a position where the vehicle enters the road based on the lane position and the lane width, so that a steering angle of the vehicle driving from the position through the road is smaller than or equal to a maximum steering angle corresponding to a current speed of the vehicle.
In one embodiment, the lane information further includes obstacle information on the lane.
The second adjusting sub-module 631 is configured to: and adjusting the position of the vehicle entering the road based on the lane position, the lane width and the obstacle information, so that the steering angle of the vehicle driving through the road is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle while the vehicle avoids the obstacle.
The apparatus provided in this embodiment can execute the method in the embodiment of fig. 3, and the execution manner and the beneficial effects are similar, which are not described herein again.
The embodiment of the present application further provides an automatic driving vehicle, including: one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of any of the above embodiments.
The present application also provides a computer readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the method of any one of the above embodiments.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims (10)

1. An automatic driving method, characterized by comprising:
acquiring information of a front road and a current driving state of a vehicle;
determining whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the corresponding relation between the driving state of the vehicle and the limit driving parameter;
if not, adjusting the driving state of the vehicle so that the vehicle can drive through the road without exceeding the limit driving parameter;
wherein, the acquiring of the information of the road ahead comprises:
acquiring an image of a road ahead by shooting based on a shooting device mounted on the vehicle;
performing lane extraction processing on the image to obtain lane information of a road in front, wherein the lane information comprises a lane shape;
the current running state of the vehicle comprises a current speed of the vehicle, and the corresponding relationship between the running state of the vehicle and the limit driving parameter comprises a relationship between the vehicle speed and a maximum steering angle;
the determining whether the vehicle can drive through the road in the current driving state without exceeding the limit driving parameter of the vehicle based on the correspondence between the driving state of the vehicle and the limit driving parameter includes:
determining a maximum steering angle corresponding to the current speed based on the relationship between the vehicle speed and the maximum steering angle;
determining whether the road can be driven through at the current speed based on the lane shape of the road ahead and the maximum steering angle.
2. The method of claim 1, wherein the adjusting the driving state of the vehicle to cause the vehicle to drive across the roadway without exceeding the threshold driving parameter comprises:
and adjusting the speed of the vehicle so that the maximum steering angle corresponding to the adjusted vehicle speed is larger than or equal to the camber of the front road.
3. The method of claim 1, wherein the lane information further comprises lane position and lane width;
the adjusting the driving state of the vehicle to cause the vehicle to drive across the road without exceeding the limit driving parameters includes:
and adjusting the position of the vehicle entering the road based on the lane position and the lane width so that the steering angle of the vehicle driving through the road from the position is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle.
4. The method of claim 3, wherein the lane information further includes obstacle information on a lane;
based on the lane position and the lane width, adjusting a position of the vehicle entering the road so that a steering angle of the vehicle driving from the position through the road is smaller than or equal to a maximum steering angle corresponding to a current speed of the vehicle, including:
and adjusting the position of the vehicle entering the road based on the lane position, the lane width and the obstacle information, so that the steering angle of the vehicle driving through the road is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle while the vehicle avoids the obstacle.
5. A driving control apparatus, characterized by comprising:
the acquisition module is used for acquiring information of a front road and the current running state of a vehicle;
the judging module is used for judging whether the vehicle can drive on the road under the condition that the current driving state does not exceed the limit driving parameter of the vehicle or not based on the corresponding relation between the driving state of the vehicle and the limit driving parameter;
the adjusting module is used for adjusting the driving state of the vehicle when the vehicle cannot drive through the road under the condition that the current driving state does not exceed the limit driving parameter of the vehicle, so that the vehicle can drive through the road under the condition that the limit driving parameter is not exceeded;
the acquisition module includes:
the image acquisition submodule is used for acquiring an image of a front road based on shooting of shooting equipment carried on a vehicle;
the image processing submodule is used for carrying out lane extraction processing on the image to obtain lane information of a front road, and the lane information comprises a lane shape;
the current running state of the vehicle comprises a current speed of the vehicle, and the corresponding relationship between the running state of the vehicle and the limit driving parameter comprises a relationship between the vehicle speed and a maximum steering angle;
the judging module comprises:
the first determining submodule is used for determining the maximum steering angle corresponding to the current speed based on the relation between the vehicle speed and the maximum steering angle;
a second determination sub-module for determining whether or not the road can be traveled at a current speed based on a lane shape of a road ahead and the maximum steering angle.
6. The apparatus of claim 5, wherein the adjustment module comprises:
and the first adjusting submodule is used for adjusting the speed of the vehicle so that the maximum steering angle corresponding to the adjusted vehicle speed is larger than or equal to the camber of the front road.
7. The apparatus of claim 5, wherein the lane information further comprises a lane position and a lane width;
the adjustment module includes:
and the second adjusting submodule is used for adjusting the position of the vehicle entering the road based on the lane position and the lane width so that the steering angle of the vehicle driving through the road from the position is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle.
8. The apparatus of claim 7, wherein the lane information further includes obstacle information on a lane;
the second adjustment submodule is configured to: and adjusting the position of the vehicle entering the road based on the lane position, the lane width and the obstacle information, so that the steering angle of the vehicle driving through the road is smaller than or equal to the maximum steering angle corresponding to the current speed of the vehicle while the vehicle avoids the obstacle.
9. An autonomous vehicle, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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