CN110329260A - Vehicle travel control method, system and auxiliary driving controller - Google Patents
Vehicle travel control method, system and auxiliary driving controller Download PDFInfo
- Publication number
- CN110329260A CN110329260A CN201810264713.7A CN201810264713A CN110329260A CN 110329260 A CN110329260 A CN 110329260A CN 201810264713 A CN201810264713 A CN 201810264713A CN 110329260 A CN110329260 A CN 110329260A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- signal
- auxiliary driving
- driving
- whistle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- 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
- B60W40/04—Traffic 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Abstract
The application proposes a kind of vehicle travel control method, system and auxiliary driving controller, wherein above-mentioned vehicle travel control method includes: to obtain the voice signal of vehicle local environment in vehicle travel process；The whistle signal that target vehicle of the identification in addition to the vehicle issues from the voice signal, and the whistle signal is extracted from the voice signal；According to the whistle signal, the driving intention and travel route of the target vehicle are determined；According to the driving intention and travel route of the target vehicle, the driving strategy of the vehicle is determined, the auxiliary Driving control signal of the vehicle is generated according to the driving strategy；The vehicle driving is controlled according to the auxiliary Driving control signal.The whistle signal by identifying target vehicle may be implemented in the application, to determine the driving intention and travel route of target vehicle, and then improves the accuracy of determining driving strategy, so that auxiliary driving is more intelligent, reduces and drive hidden danger, ensure passenger's personal safety.
Description
Technical field
This application involves intelligent driving technical fields more particularly to a kind of vehicle travel control method, system and auxiliary to drive
Sail controller.
Background technique
It is existing in the related technology, car collision avoidance System rely primarily on the technologies such as radar and camera realize drive auxiliary
Function obtains image by camera, and then carries out image recognition, then provides support by radar range finding for driver.But
The prior art has a potential drawback, only simulates the vision system of driver, but has ignored the sense of hearing of drive simulating person
System, this has certain limitation for following intelligent driving.
In actual life, most vehicles will use whistle loudspeaker still in motion to alert pedestrian and other vehicles
It arouses attention, and the transmitting of this sound warning is a kind of important exchange between different drivers.However present mainstream vehicle
Configuration advanced driving assistance system (Advanced Driver Assistant Systems；Hereinafter referred to as: ADAS) anti-collision
System is hit there is no paying attention to the differentiation of sound, the sound transmitting for causing real-time bus to be blown a whistle is always unidirectional.For
For intelligent driving system, this is the equal of that the control loop of a not no sense of hearing is being driven, although its vision and reaction energy
Power is sufficiently fast, but lacks the reaction to whistle signal, not enough understands site traffic situation, be easy to cause danger.
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 a kind of vehicle travel control method, to realize through identification mesh
The whistle signal of vehicle is marked, to determine the driving intention and travel route of target vehicle, and then is anticipated according to the traveling of target vehicle
Figure and travel route determine the driving strategy of vehicle, improve the accuracy of determining driving strategy, so that auxiliary driving is more intelligent
Change, reduce and drive hidden danger, ensures passenger's personal safety.
Second purpose of the application is to propose a kind of vehicle travel control system.
The third purpose of the application is to propose a kind of auxiliary driving controller.
The 5th purpose of the application is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, the application first aspect embodiment proposes a kind of vehicle travel control method, comprising: in vehicle
In driving process, the voice signal of the vehicle local environment is obtained；From the voice signal identification except the vehicle it
The whistle signal that outer target vehicle issues, and the whistle signal is extracted from the voice signal；Believed according to the whistle
Number, determine the driving intention and travel route of the target vehicle；According to the driving intention and travel route of the target vehicle,
The driving strategy for determining the vehicle generates the auxiliary Driving control signal of the vehicle according to the driving strategy；According to institute
It states auxiliary Driving control signal and controls the vehicle driving.
In the vehicle travel control method of the embodiment of the present application, in vehicle travel process, ring locating for above-mentioned vehicle is obtained
The voice signal in border, the whistle signal that target vehicle of the identification in addition to above-mentioned vehicle issues from above sound signal, and from
The whistle signal is extracted in above sound signal, then according to above-mentioned whistle signal, determines the traveling meaning of above-mentioned target vehicle
Figure and travel route according to the driving intention and travel route of above-mentioned target vehicle determine the driving strategy of above-mentioned vehicle, thus
The accuracy of determining driving strategy can be improved, finally, driving control according to the auxiliary that above-mentioned driving strategy generates the vehicle
Signal processed controls above-mentioned vehicle driving according to above-mentioned auxiliary Driving control signal, so that auxiliary driving is more intelligent, subtracts
Lack driving hidden danger, ensures passenger's personal safety.
In order to achieve the above object, the application second aspect embodiment proposes a kind of vehicle travel control system, comprising: auxiliary
Driving controller and sound transducer；The sound transducer, for collecting ring locating for the vehicle in vehicle travel process
The voice signal in border；The auxiliary driving controller, for obtaining voice signal by the sound transducer, from the sound
The whistle signal that target vehicle of the identification in addition to the vehicle issues in signal, and the ring is extracted from the voice signal
Flute signal；According to the whistle signal, the driving intention and travel route of the target vehicle are determined；According to the target vehicle
Driving intention and travel route, determine the driving strategy of the vehicle, the auxiliary of the vehicle generated according to the driving strategy
Help Driving control signal；And the vehicle driving is controlled according to the auxiliary Driving control signal.
In the vehicle travel control system of the embodiment of the present application, in vehicle travel process, sound transducer is collected above-mentioned
The voice signal of vehicle local environment, auxiliary driving controller obtain voice signal by sound transducer, believe from above sound
The whistle signal that target vehicle of the identification in addition to above-mentioned vehicle issues in number, and above-mentioned whistle is extracted from above sound signal
Signal determines the driving intention and travel route of above-mentioned target vehicle, according to above-mentioned target carriage then according to above-mentioned whistle signal
Driving intention and travel route, the driving strategy of above-mentioned vehicle is determined, so as to improve the standard of determining driving strategy
True property, finally, auxiliary driving controller generates the auxiliary Driving control signal of above-mentioned vehicle according to above-mentioned driving strategy, according to upper
It states auxiliary Driving control signal and controls above-mentioned vehicle driving, so that auxiliary driving is more intelligent, reduce driving hidden danger,
Passenger's personal safety is ensured.
To achieve the goals above, the application third aspect embodiment proposes a kind of auxiliary driving controller, including deposits
Reservoir, processor and it is stored in the computer program that can be run on the memory and on the processor, the processor
When executing the computer program, method as described above is realized.
To achieve the goals above, the application fourth aspect embodiment proposes a kind of computer-readable storage of non-transitory
Medium, is stored thereon with computer program, and the computer program realizes method as described above when being executed by processor.
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 flow chart of the application vehicle travel control method one embodiment；
Fig. 2 (a)~Fig. 2 (b) is the schematic diagram of the application vehicle travel control method application scenarios one embodiment；
Fig. 3 is the flow chart of another embodiment of the application vehicle travel control method；
Fig. 4 is the structural schematic diagram of the application vehicle travel control system one embodiment；
Fig. 5 is the structural schematic diagram of another embodiment of the application vehicle travel control system；
Fig. 6 is the structural schematic diagram of the application auxiliary driving controller 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.
Fig. 1 is the flow chart of the application vehicle travel control method one embodiment, as shown in Figure 1, above-mentioned vehicle driving
Control method may include:
Step 101, in vehicle travel process, the voice signal of above-mentioned vehicle local environment is obtained.
Specifically, in vehicle travel process, when vehicle traveling across crossing when, or traveling it is bad in driving sight
When on section, or when target vehicle tries to cut in, under only can not judging that vehicle is extraneous by traditional camera and radar
The variation at a moment, as shown in Fig. 2 (a) and Fig. 2 (b), but the driver of general objectives vehicle can issue prompting letter by blowing a whistle
Number, the voice signal of the available above-mentioned vehicle local environment of above-mentioned vehicle at this time.Fig. 2 (a)~Fig. 2 (b) is the application vehicle
The schematic diagram of travel control method application scenarios one embodiment.
Specifically, the voice signal for obtaining above-mentioned vehicle local environment can be with are as follows: receives the sound sensor on above-mentioned vehicle
The voice signal of device transmission, above sound signal is the voice signal of the above-mentioned vehicle local environment of above sound sensor collection,
And above sound signal is converted into what digital signal transmitted later.
Step 102, the whistle signal that target vehicle of the identification in addition to above-mentioned vehicle issues from above sound signal, and
Above-mentioned whistle signal is extracted from above sound signal.
Specifically, above-mentioned whistle signal is extracted from above sound signal can be with are as follows: by machine learning algorithm from above-mentioned
Above-mentioned whistle signal is extracted in voice signal.
Step 103, according to above-mentioned whistle signal, the driving intention and travel route of above-mentioned target vehicle are determined.
Step 104, according to the driving intention and travel route of above-mentioned target vehicle, the driving strategy of above-mentioned vehicle is determined,
The auxiliary Driving control signal of above-mentioned vehicle is generated according to above-mentioned driving strategy.
It specifically, can be according to the driving intention and row of above-mentioned target vehicle when determining the driving strategy of above-mentioned vehicle
Route is sailed, is linked up by multimedia and driver, in conjunction with the communication with driver as a result, determining the driving plan of above-mentioned vehicle
Slightly.
Step 105, above-mentioned vehicle driving is controlled according to above-mentioned auxiliary Driving control signal.
Specifically, above-mentioned auxiliary Driving control signal can be sent to auxiliary Driving control module, so that above-mentioned auxiliary
Driving control module controls above-mentioned vehicle driving according to above-mentioned auxiliary Driving control signal.
In above-mentioned vehicle travel control method, in vehicle travel process, the sound letter of above-mentioned vehicle local environment is obtained
Number, the whistle signal that target vehicle of the identification in addition to above-mentioned vehicle issues from above sound signal, and believe from above sound
The whistle signal is extracted in number, then according to above-mentioned whistle signal, determines driving intention and the traveling road of above-mentioned target vehicle
Line determines the driving strategy of above-mentioned vehicle according to the driving intention and travel route of above-mentioned target vehicle, so as to improve really
The accuracy of fixed driving strategy, finally, the auxiliary Driving control signal of the vehicle is generated according to above-mentioned driving strategy, according to
Above-mentioned auxiliary Driving control signal controls above-mentioned vehicle driving, so that auxiliary driving is more intelligent, it is hidden to reduce driving
Suffer from, has ensured passenger's personal safety.
Fig. 3 is the flow chart of another embodiment of the application vehicle travel control method, as shown in figure 3, the application Fig. 1 institute
Show in embodiment, step 103 may include:
Step 301, according to above-mentioned whistle signal, above-mentioned target vehicle is positioned in real time.
Specifically, according to above-mentioned whistle signal, carrying out positioning in real time to above-mentioned target vehicle can be with are as follows: obtains above-mentioned whistle
The acoustical phase of signal is poor, and the acoustical phase according to above-mentioned whistle signal is poor, using triangle polyester fibre algorithm, to above-mentioned target vehicle
It is positioned in real time.
Step 302, according to the position of above-mentioned target vehicle, combining global positioning system (Global Positioning
System；Map in hereinafter referred to as: GPS) determines the driving intention and travel route of above-mentioned target vehicle.
Specifically, after position in real time to above-mentioned target vehicle, mesh can be carried out in conjunction with the map system in GPS
Road positioning is marked, intention judgement is carried out to target vehicle travel route, determines that the form of above-mentioned target vehicle is intended to and travels road
Line.
Vehicle travel control method provided by the embodiments of the present application can be with using sound positioning and the technology that combines of GPS
By identifying that the whistle signal of target vehicle understands Real-time Traffic Information, in conjunction with camera image identification technology, radar range finding skill
Art can further promote the accuracy and reliability of ADAS DAS (Driver Assistant System).
The newly-increased sound location technology of the embodiment of the present application, extraneous vehicle can not be obtained in real time by solving traditional ADAS technology
The shortcomings that dynamic is intended to.The driving intention of target vehicle is judged by the way that whether identification target vehicle blows a whistle, and obtains target vehicle
Travel route, provide more accurate information for the decision making algorithm of ADAS so that auxiliary drive it is more intelligent, reduce
Hidden danger is driven, has ensured passenger's personal safety.
Fig. 4 is the structural schematic diagram of the application vehicle travel control system one embodiment, as shown in figure 4, above-mentioned vehicle
Drive-control system may include: auxiliary driving controller 41 and sound transducer 42；
Wherein, sound transducer 42, in vehicle travel process, collecting the sound letter of above-mentioned vehicle local environment
Number；Specifically, in vehicle travel process, when vehicle is when traveling is across crossing, or the traveling section bad in driving sight
When upper, or when target vehicle tries to cut in, vehicle extraneous lower a moment only can not be judged by traditional camera and radar
Variation, as shown in Fig. 2 (a) and Fig. 2 (b), but the driver of general objectives vehicle can issue alerting signal by blowing a whistle, this
When sound transducer 42 can collect the voice signal of above-mentioned vehicle local environment.
Auxiliary driving controller 41 is known from above sound signal for obtaining voice signal by sound transducer 42
The whistle signal that target vehicle not in addition to above-mentioned vehicle issues, and above-mentioned whistle signal is extracted from above sound signal；
According to above-mentioned whistle signal, the driving intention and travel route of above-mentioned target vehicle are determined；According to the traveling of above-mentioned target vehicle
Intention and travel route, determine the driving strategy of above-mentioned vehicle, are driven according to the auxiliary that above-mentioned driving strategy generates above-mentioned vehicle
Control signal；And above-mentioned vehicle driving is controlled according to above-mentioned auxiliary Driving control signal.
In the present embodiment, auxiliary driving controller 41 is transmitted specifically for the sound transducer 42 received on above-mentioned vehicle
Voice signal, above sound signal is sound transducer 42 to be converted into sending to after digital signal by the voice signal of collection
Auxiliary driving controller 41.
Auxiliary driving controller 41, specifically for extracting above-mentioned whistle from above sound signal by machine learning algorithm
Signal.
In the present embodiment, when determining the driving strategy of above-mentioned vehicle, auxiliary driving controller 41 can be according to above-mentioned mesh
Mark vehicle driving intention and travel route, linked up by multimedia and driver, in conjunction with the communication with driver as a result,
Determine the driving strategy of above-mentioned vehicle.
In the present embodiment, above-mentioned auxiliary driving controller 41 can be ADAS system.
In above-mentioned vehicle travel control system, in vehicle travel process, sound transducer 42 is collected locating for above-mentioned vehicle
The voice signal of environment, auxiliary driving controller 41 obtains voice signal by sound transducer 42, from above sound signal
It identifies the whistle signal that the target vehicle in addition to above-mentioned vehicle issues, and extracts above-mentioned whistle letter from above sound signal
Number, then according to above-mentioned whistle signal, the driving intention and travel route of above-mentioned target vehicle are determined, according to above-mentioned target vehicle
Driving intention and travel route, the driving strategy of above-mentioned vehicle is determined, so as to improve the accurate of determining driving strategy
Property, finally, auxiliary driving controller 41 generates the auxiliary Driving control signal of above-mentioned vehicle according to above-mentioned driving strategy, according to upper
It states auxiliary Driving control signal and controls above-mentioned vehicle driving, so that auxiliary driving is more intelligent, reduce driving hidden danger,
Passenger's personal safety is ensured.
Fig. 5 is the structural schematic diagram of another embodiment of the application vehicle travel control system, with vehicle row shown in Fig. 4
It sails control system to compare, vehicle travel control system shown in fig. 5 can also include: GPS43；
Auxiliary driving controller 41 is specifically used for positioning above-mentioned target vehicle in real time according to above-mentioned whistle signal,
Driving intention and the traveling road of above-mentioned target vehicle are determined in conjunction with the map in GPS43 according to the position of above-mentioned target vehicle
Line.
Auxiliary driving controller 41, it is poor specifically for the acoustical phase of the above-mentioned whistle signal of acquisition, believed according to above-mentioned whistle
Number acoustical phase it is poor, using triangle polyester fibre algorithm, above-mentioned target vehicle is positioned in real time.
Specifically, after position in real time to above-mentioned target vehicle, auxiliary driving controller 41 can be in conjunction in GPS
Map system carry out target road positioning, intention judgement is carried out to target vehicle travel route, determines above-mentioned target vehicle
Form is intended to and travel route.
Further, above-mentioned vehicle travel control system can also include: auxiliary Driving control module 44；
Auxiliary driving controller 41, specifically for above-mentioned auxiliary Driving control signal is sent to auxiliary Driving control module
44；
Driving control module 44 is assisted, for controlling above-mentioned vehicle driving according to above-mentioned auxiliary Driving control signal.
Vehicle travel control system provided by the embodiments of the present application, the skill combined using sound transducer 42 and GPS43
Art can understand Real-time Traffic Information by identifying the whistle signal of target vehicle, in conjunction with camera image identification technology, radar
Ranging technology can further promote the accuracy and reliability of ADAS DAS (Driver Assistant System).
Vehicle travel control system provided by the embodiments of the present application increases sound location technology newly, solves traditional ADAS technology
The shortcomings that extraneous vehicle dynamic is intended to can not be obtained in real time.The row of target vehicle is judged by the way that whether identification target vehicle blows a whistle
Intention is sailed, the travel route of target vehicle is obtained, provides more accurate information for the decision making algorithm of ADAS, so that auxiliary
It drives more intelligent, reduces driving hidden danger, ensured passenger's personal safety.
Fig. 6 is the structural schematic diagram of the application auxiliary driving controller one embodiment, and above-mentioned auxiliary driving controller can
To include memory, processor and be stored in the computer program that can be run on above-mentioned memory and on above-mentioned processor, on
When stating the processor above-mentioned computer program of execution, the vehicle driving controlling party of the application embodiment illustrated in fig. 1 offer may be implemented
Method.
Wherein, above-mentioned auxiliary driving controller can be ADAS system, or others have auxiliary Driving control
The equipment of function, the present embodiment are not construed as limiting the form of above-mentioned auxiliary driving controller.
Fig. 6 shows the block diagram for being suitable for the exemplary auxiliary driving controller 12 for being used to realize the application embodiment.Fig. 6
The auxiliary driving controller 12 of display is only an example, should not function to the embodiment of the present application and use scope bring and appoint
What is limited.
As shown in fig. 6, auxiliary driving controller 12 is showed in the form of universal computing device.Auxiliary driving controller 12
Component can include but is not limited to: one or more processor or processing unit 16, system storage 28, connect not homology
The bus 18 of system component (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (Industry Standard
Architecture；Hereinafter referred to as: ISA) bus, microchannel architecture (Micro Channel Architecture；Below
Referred to as: MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics Standards
Association；Hereinafter referred to as: VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnection；Hereinafter referred to as: PCI) bus.
Auxiliary driving controller 12 typically comprises a variety of computer system readable media.These media can be any energy
Enough usable mediums accessed by auxiliary driving controller 12, including volatile and non-volatile media, it is movably and not removable
Dynamic medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory；Hereinafter referred to as: RAM) 30 and/or cache memory 32.Assist Driving control
Device 12 may further include other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only
As an example, storage system 34 can be used for reading and writing immovable, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as
" hard disk drive ").Although being not shown in Fig. 6, can provide for reading removable non-volatile magnetic disk (such as " floppy disk ")
The disc driver write, and to removable anonvolatile optical disk (such as: compact disc read-only memory (Compact Disc Read
Only Memory；Hereinafter referred to as: CD-ROM), digital multi CD-ROM (Digital Video Disc Read Only
Memory；Hereinafter referred to as: DVD-ROM) or other optical mediums) read-write CD drive.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, and it is each that these program modules are configured to perform the application
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 includes --- but being not limited to --- operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 42 usually executes function and/or method in embodiments described herein.
Auxiliary driving controller 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display
24 etc.) it communicates, the equipment interacted with the auxiliary driving controller 12 can be also enabled a user to one or more and is communicated, and/
Or with any equipment (such as net that the auxiliary driving controller 12 is communicated with one or more of the other calculating equipment
Card, modem etc.) communication.This communication can be carried out by input/output (I/O) interface 22.Also, auxiliary drives
Controller 12 can also pass through network adapter 20 and one or more network (such as local area network (Local Area
Network；Hereinafter referred to as: LAN), wide area network (Wide Area Network；Hereinafter referred to as: WAN) and/or public network, example
Such as internet) communication.As shown in fig. 6, network adapter 20 is logical by bus 18 and other modules of auxiliary driving controller 12
Letter.It should be understood that although being not shown in Fig. 6 other hardware and/or software mould can be used in conjunction with auxiliary driving controller 12
Block, including but not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape
Driver and data backup storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as the vehicle travel control method that the application embodiment illustrated in fig. 1 provides is realized in manner described above.
The embodiment of the present application also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
Vehicle travel control method provided by the embodiments of the present application may be implemented in sequence, above-mentioned computer program when being executed by processor.
Above-mentioned non-transitorycomputer readable storage medium can appointing using one or more computer-readable media
Meaning combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer can
Reading storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device
Or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes:
Electrical connection, portable computer diskette, hard disk, random access memory (RAM), read-only storage with one or more conducting wires
Device (Read Only Memory；Hereinafter referred to as: ROM), erasable programmable read only memory (Erasable
Programmable Read Only Memory；Hereinafter referred to as: EPROM) or flash memory, optical fiber, portable compact disc are read-only deposits
Reservoir (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer
Readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded execution system, device
Either device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the application operation computer
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
It is related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (Local
Area Network；Hereinafter referred to as: LAN) or wide area network (Wide Area Network；Hereinafter referred to as: WAN) it is connected to user
Computer, or, it may be connected to outer computer (such as being connected using ISP by internet).
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 (Random Access
Memory；Hereinafter referred to as: RAM), read-only memory (Read Only Memory；Hereinafter referred to as: ROM), erasable editable
Read memory (Erasable Programmable Read Only Memory；Hereinafter referred to as: EPROM) or flash memory,
Fiber device and portable optic disk read-only storage (Compact Disc Read Only Memory；Hereinafter referred to as: CD-
ROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable media, because
Can then to be edited for example by carrying out optical scanner to paper or other media, be interpreted or suitable with other when necessary
Mode 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 (Programmable
Gate Array；Hereinafter referred to as: PGA), field programmable gate array (Field Programmable Gate Array；Below
Referred to as: 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. a kind of vehicle travel control method characterized by comprising
In vehicle travel process, the voice signal of the vehicle local environment is obtained；
The whistle signal that target vehicle of the identification in addition to the vehicle issues from the voice signal, and believe from the sound
The whistle signal is extracted in number；
According to the whistle signal, the driving intention and travel route of the target vehicle are determined；
According to the driving intention and travel route of the target vehicle, the driving strategy of the vehicle is determined, according to the driving
The auxiliary Driving control signal of vehicle described in strategy generating；
The vehicle driving is controlled according to the auxiliary Driving control signal.
2. the method according to claim 1, wherein the voice signal packet for obtaining the vehicle local environment
It includes:
The voice signal of the sound transducer transmission on the vehicle is received, the voice signal is that the sound transducer is collected
The voice signal of the vehicle local environment, and the voice signal is converted into what digital signal transmitted later.
3. the method according to claim 1, wherein described extract the whistle signal from the voice signal
Include:
The whistle signal is extracted from the voice signal by machine learning algorithm.
4. determining the target carriage the method according to claim 1, wherein described according to the whistle signal
Driving intention and travel route include:
According to the whistle signal, the target vehicle is positioned in real time；
According to the position of the target vehicle, map in combining global positioning system determines the traveling meaning of the target vehicle
Figure and travel route.
5. according to the method described in claim 4, it is characterized in that, described according to the whistle signal, to the target vehicle
Carrying out positioning in real time includes:
The acoustical phase for obtaining the whistle signal is poor；
Acoustical phase according to the whistle signal is poor, using triangle polyester fibre algorithm, is positioned in real time to the target vehicle.
6. method described in -5 any one according to claim 1, which is characterized in that described to be believed according to the auxiliary Driving control
Number control vehicle driving includes:
By the auxiliary Driving control signal be sent to auxiliary Driving control module so that the auxiliary Driving control module according to
The auxiliary Driving control signal controls the vehicle driving.
7. a kind of vehicle travel control system characterized by comprising auxiliary driving controller and sound transducer；
The sound transducer, for collecting the voice signal of the vehicle local environment in vehicle travel process；
The auxiliary driving controller is known from the voice signal for obtaining voice signal by the sound transducer
The whistle signal that target vehicle not in addition to the vehicle issues, and the whistle signal is extracted from the voice signal；
According to the whistle signal, the driving intention and travel route of the target vehicle are determined；According to the traveling of the target vehicle
Intention and travel route, determine the driving strategy of the vehicle, are driven according to the auxiliary that the driving strategy generates the vehicle
Control signal；And the vehicle driving is controlled according to the auxiliary Driving control signal.
8. system according to claim 7, which is characterized in that
The auxiliary driving controller, it is described specifically for receiving the voice signal of the sound transducer transmission on the vehicle
Voice signal is that the voice signal of collection is converted into sending the auxiliary driving after digital signal to by the sound transducer
Controller.
9. system according to claim 7, which is characterized in that
The auxiliary driving controller is believed specifically for extracting the whistle from the voice signal by machine learning algorithm
Number.
10. system according to claim 7, which is characterized in that further include: global positioning system；
The auxiliary driving controller is specifically used for positioning the target vehicle in real time, root according to the whistle signal
According to the position of the target vehicle, map in combining global positioning system determines the driving intention and row of the target vehicle
Sail route.
11. system according to claim 10, which is characterized in that
The auxiliary driving controller, it is poor specifically for the acoustical phase of the acquisition whistle signal, according to the whistle signal
Acoustical phase it is poor, using triangle polyester fibre algorithm, the target vehicle is positioned in real time.
12. according to system described in claim 7-11 any one, which is characterized in that further include: auxiliary Driving control module；
The auxiliary driving controller, specifically for the auxiliary Driving control signal is sent to auxiliary Driving control module；
The auxiliary Driving control module, for controlling the vehicle driving according to the auxiliary Driving control signal.
13. a kind of auxiliary driving controller, which is characterized in that including memory, processor and be stored on the memory simultaneously
The computer program that can be run on the processor when the processor executes the computer program, is realized as right is wanted
Seek any method in 1-6.
14. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the meter
Such as method as claimed in any one of claims 1 to 6 is realized when calculation machine program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264713.7A CN110329260A (en) | 2018-03-28 | 2018-03-28 | Vehicle travel control method, system and auxiliary driving controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264713.7A CN110329260A (en) | 2018-03-28 | 2018-03-28 | Vehicle travel control method, system and auxiliary driving controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110329260A true CN110329260A (en) | 2019-10-15 |
Family
ID=68138820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810264713.7A Pending CN110329260A (en) | 2018-03-28 | 2018-03-28 | Vehicle travel control method, system and auxiliary driving controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329260A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110718093A (en) * | 2019-10-16 | 2020-01-21 | 联想(北京)有限公司 | Processing method for vehicle whistle and first vehicle |
| CN111572540A (en) * | 2020-04-09 | 2020-08-25 | 大连理工大学 | Safety auxiliary driving system for detecting whether coming vehicle is out of sight or not and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8676427B1 (en) * | 2012-10-11 | 2014-03-18 | Google Inc. | Controlling autonomous vehicle using audio data |
| CN104460667A (en) * | 2014-10-31 | 2015-03-25 | 成都众易通科技有限公司 | Automatic drive system of automobile |
| CN106125731A (en) * | 2016-07-21 | 2016-11-16 | 上海海事大学 | A kind of automatic driving vehicle kinetic control system and method travelling intention assessment based on front vehicle |
| CN106364430A (en) * | 2015-07-22 | 2017-02-01 | Lg电子株式会社 | Vehicle control device and vehicle control method thereof |
| GB2545053A (en) * | 2015-10-06 | 2017-06-07 | Ford Global Tech Llc | Collision avoidance using auditory data augmented with map data |
| CN106926779A (en) * | 2017-03-09 | 2017-07-07 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lane change accessory system |
-
2018
- 2018-03-28 CN CN201810264713.7A patent/CN110329260A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8676427B1 (en) * | 2012-10-11 | 2014-03-18 | Google Inc. | Controlling autonomous vehicle using audio data |
| CN104460667A (en) * | 2014-10-31 | 2015-03-25 | 成都众易通科技有限公司 | Automatic drive system of automobile |
| CN106364430A (en) * | 2015-07-22 | 2017-02-01 | Lg电子株式会社 | Vehicle control device and vehicle control method thereof |
| GB2545053A (en) * | 2015-10-06 | 2017-06-07 | Ford Global Tech Llc | Collision avoidance using auditory data augmented with map data |
| CN106125731A (en) * | 2016-07-21 | 2016-11-16 | 上海海事大学 | A kind of automatic driving vehicle kinetic control system and method travelling intention assessment based on front vehicle |
| CN106926779A (en) * | 2017-03-09 | 2017-07-07 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lane change accessory system |
Non-Patent Citations (3)
| Title |
|---|
| 李征宇等: "《计算机类高等学校应用型本科‘十三五’规划教材：人工智能及其应用》", 31 August 2017, 哈尔滨工程大学出版社 * |
| 白彦霞等: "《数字电子技术基础》", 30 September 2017, 华中科技大学出版社 * |
| 贾志淳等: "《移动云计算技术专题研究》", 30 April 2016, 东北大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110718093A (en) * | 2019-10-16 | 2020-01-21 | 联想(北京)有限公司 | Processing method for vehicle whistle and first vehicle |
| CN111572540A (en) * | 2020-04-09 | 2020-08-25 | 大连理工大学 | Safety auxiliary driving system for detecting whether coming vehicle is out of sight or not and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6915009B2 (en) | Sensor calibration methods and equipment, computer equipment, media and vehicles | |
| US20210394787A1 (en) | Simulation test method for autonomous driving vehicle, computer equipment and medium | |
| US20220005348A1 (en) | Detecting and responding to sirens | |
| CN108268033A (en) | The method and system to operate automatic driving vehicle is instructed using the lane changing based on figure | |
| CN108859938A (en) | The method and system that automotive vehicle emergency light for automatic driving vehicle controls | |
| CN109195841A (en) | The speed control stopped completely for automatic driving vehicle | |
| CN110377025A (en) | Sensor aggregation framework for automatic driving vehicle | |
| CN109429518A (en) | Automatic Pilot traffic forecast based on map image | |
| CN107943016A (en) | Colony's driving style learning framework for autonomous vehicle | |
| CN110377024A (en) | Automaticdata for automatic driving vehicle marks | |
| CN108137015A (en) | For the sideslip compensating control method of automatic driving vehicle | |
| CN108733046A (en) | The system and method that track for automatic driving vehicle is planned again | |
| CN108622003A (en) | The advance development system of prediction of collision and air bag for automatic driving vehicle | |
| CN108267322A (en) | The method and system tested automatic Pilot performance | |
| CN106878934A (en) | A kind of display method for electronic map and device | |
| CN108973990A (en) | Method, medium and system for automatic Pilot control | |
| CN109709961A (en) | Road barricade object detecting method, device and autonomous driving vehicle | |
| CN110525451A (en) | Driving safety auxiliary method, device, vehicle and readable storage medium storing program for executing | |
| CN108628298A (en) | Control type planning for automatic driving vehicle and control system | |
| US10495480B1 (en) | Automated travel lane recommendation | |
| CN109711285A (en) | Training, test method and the device of identification model | |
| CN109840654A (en) | Analysis method, device, system and the computer equipment of vehicle drive behavior | |
| CN109828583A (en) | Automatic driving vehicle control method and device | |
| CN110390240A (en) | Lane post-processing in automatic driving vehicle | |
| CN109117690A (en) | Drivable region detection method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191015 |
|
| RJ01 | Rejection of invention patent application after publication |