CN110618676B - Method and system for generating safety deviation line during automatic driving of vehicle and vehicle - Google Patents
Method and system for generating safety deviation line during automatic driving of vehicle and vehicle Download PDFInfo
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- CN110618676B CN110618676B CN201811640988.2A CN201811640988A CN110618676B CN 110618676 B CN110618676 B CN 110618676B CN 201811640988 A CN201811640988 A CN 201811640988A CN 110618676 B CN110618676 B CN 110618676B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention provides a method and a system for generating a safety deviation line during automatic driving of a vehicle and the vehicle, wherein the method comprises the following steps: providing an electronic map of a preset range near a vehicle; judging whether the vehicle meets the preset condition of driving into the ramp or not; if the preset condition of driving into the ramp is not met, acquiring the transverse shortest distance between the vehicle and all vehicles in the ramp, which is determined according to the curvature of the lane line; generating a first lane parallel to the curvature of the lane line according to the transverse closest distance; acquiring a transverse position closest point of a vehicle in a current lane and a front vehicle; generating a safe driving area according to the first lane and the closest point of the vehicle and the front vehicle at the transverse position; and generating a safety deviation line according to the safety driving area. The method can determine whether the vehicle drives into the ramp or not according to the entrance road condition at the ramp, and generates the safety offset line, thereby providing the optimal route before the vehicle automatically drives into the ramp and improving the safety of the vehicle during automatic driving.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a method and a system for generating a safety deviation line during automatic driving of a vehicle and the vehicle.
Background
The vehicle unmanned driving means that the vehicle senses the road environment through the vehicle-mounted sensing system, automatically plans a driving route and controls the vehicle to drive. When a vehicle enters a ramp in an automatic driving state, the vehicle needs to enter the ramp or does not enter the ramp according to the road condition at the entrance of the ramp, but a technology for controlling whether the vehicle enters the ramp or not and driving according to a set route during automatic driving of the vehicle in the related technology is lacked.
Disclosure of Invention
In view of the above, a first objective of the present invention is to provide a method for generating a safety deviation line during automatic driving of a vehicle, where the method can determine whether the vehicle drives on a ramp according to an entrance road condition at the ramp, and generate the safety deviation line, so as to improve an optimal route before the vehicle automatically drives on the ramp.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for generating a safety deviation line during automatic driving of a vehicle comprises the following steps: providing an electronic map of a preset range near a vehicle, wherein the electronic map comprises lane lines of all lanes at a ramp entrance and vehicle information of all vehicles at the ramp entrance; judging whether the vehicle meets preset conditions of driving on a ramp or not; if the preset condition of the driving ramp is not met, acquiring a transverse closest distance between the vehicle and all vehicles in the ramp according to the curvature of a lane line; generating a first lane parallel to the curvature of the lane line according to the transverse closest distance; acquiring a transverse position closest point of the vehicle and a front vehicle in a current lane; generating a safe driving area according to the first lane, the current position of the vehicle and the closest point of the vehicle and the front vehicle in the transverse position; and generating a safety deviation line according to the safety driving area.
Further, the step of generating a safe driving area according to the first lane, the current position of the vehicle, and the closest point of the lateral position of the vehicle to the vehicle ahead specifically includes: translating the first lane by a preset distance in a direction passing through a closest point of the vehicle to a front vehicle in the transverse position to generate a second lane; generating a third lane perpendicular to the first lane passing through a lateral position closest point of the vehicle to a preceding vehicle; generating a fourth lane passing the current position of the vehicle and perpendicular to the lane line curvature; and generating the safe driving area according to the first lane, the second lane, the third lane and the fourth lane.
Further, the step of generating a safety deviation line according to the safety driving area specifically includes: generating the safety deviation line according to the first lane, the second lane, the third lane and the fourth lane; the curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively.
Further, the preset conditions of the driving-in ramp include: no vehicle is on the ramp at a lateral position of the vehicle; the predicted collision time of the vehicle with the front vehicle is greater than a first preset time and the distance between the vehicle and the front vehicle is greater than a first preset distance; and the predicted time of collision of the vehicle with a rear vehicle is greater than a second preset time and the distance of the vehicle from the rear vehicle is greater than a second preset distance.
Further, the step of providing the electronic map of the preset range near the vehicle specifically includes: acquiring the position information of the vehicle, the position, the speed and the size of a target object in a preset range near the vehicle, and the lane position and the lane width information in the preset range near the vehicle; and generating the electronic map according to the position information of the vehicle, the position, the speed and the size of the target object in the preset range near the vehicle, and the lane position and the lane width information in the preset range near the vehicle.
Compared with the prior art, the method for generating the safety deviation line during automatic driving of the vehicle has the following advantages:
the method for generating the safety deviation line during the automatic driving of the vehicle comprises the steps of firstly generating an electronic map in a preset range near the vehicle, providing lane lines of all lanes at an entrance of a ramp and vehicle information of all vehicles at the entrance of the ramp on the electronic map, then judging whether the vehicles can drive into the ramp, and generating a safety driving area according to the shortest transverse distance between the vehicles and the vehicles in the ramp and the nearest distance between the vehicles and the front vehicles when the vehicles cannot drive into the ramp, and further generating the safety deviation line according to the safety driving area so that the vehicles can drive according to the safety deviation line, thereby providing an optimal route before the vehicles automatically drive into the ramp and improving the safety during the automatic driving of the vehicles.
Another objective of the present invention is to provide a system for generating a safety deviation line when a vehicle is automatically driven, which can determine whether the vehicle is driven on a ramp according to the road conditions at the entrance of the ramp, and generate the safety deviation line.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a system for generating a safety offset line when a vehicle is automatically driven, comprising: the electronic map providing module is used for providing an electronic map of a preset range near a vehicle, and the electronic map comprises lane lines of all lanes at a ramp entrance and vehicle information of all vehicles at the ramp entrance; the acquisition module is used for acquiring the transverse closest distance between the vehicle and all vehicles in the ramp according to the curvature of the lane line and acquiring the transverse position closest point between the vehicle and the front vehicle in the current lane when the preset condition of entering the ramp is not met; and the lane line generating module is used for generating a first lane line parallel to the curvature of the lane line according to the transverse closest distance, generating a safe driving area according to the first lane line, the current position of the vehicle and the transverse position closest point of the vehicle and the front vehicle, and further generating a safe deviation line according to the safe driving area. And the control module is used for judging whether the vehicle meets the preset condition of the driving ramp or not.
Further, the lane line generating module is specifically configured to translate a preset distance from the first lane line in a direction passing through a closest point of a lateral position of the vehicle to a front vehicle to generate a second lane line, generate a third lane line passing through the closest point of the lateral position of the vehicle to the front vehicle and perpendicular to the first lane line, generate a fourth lane line passing through a current position of the vehicle and perpendicular to a curvature of the lane line, and generate the safe driving area according to the first lane line, the second lane line, the third lane line, and the fourth lane line.
Further, the lane line generating module is further configured to generate the safety deviation line according to the first lane line, the second lane line, the third lane line, and the fourth lane line; the curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the third lane line, and the safety deviation line is intersected with the second lane line and the fourth lane line respectively.
Further, the lane line generating module is further configured to generate the safety deviation line according to the first lane line, the second lane line, the third lane line, and the fourth lane line; the curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively.
Compared with the prior art, the system for generating the safety deviation line during the automatic driving of the vehicle and the method for generating the safety deviation line during the automatic driving of the vehicle have the same advantages, and are not repeated herein.
It is still another object of the present invention to provide a vehicle, which can determine whether the vehicle is driven on a ramp according to the road conditions at the entrance of the ramp, and generate a safety deviation line, so as to drive according to the generated safety deviation line when the vehicle is automatically driven.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle provided with the system for generating a safety offset line in automatic driving of a vehicle according to the above embodiment.
Compared with the prior art, the vehicle and the system for generating the dynamic target line during the automatic driving of the vehicle have the same advantages, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a method for generating a safety offset line in automatic driving of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the generation of a security offset line in one embodiment of the present invention;
fig. 3 is a block diagram of a system for generating a safety offset line in automatic driving of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a method for generating a safety offset line during automatic driving of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a method for generating a safety offset line in automatic driving of a vehicle according to an embodiment of the present invention includes the steps of:
s1: an electronic map of a preset range near the vehicle is provided. The electronic map comprises lane lines of all lanes at the entrance of the ramp and vehicle information of all vehicles at the entrance of the ramp.
In an embodiment of the present invention, step S1 specifically includes: acquiring position information of a vehicle, the position, the speed and the size of a target object in a preset range near the vehicle, and lane position and lane width information in the preset range near the vehicle; and generating an electronic map according to the position information of the vehicle, the position, the speed and the size of the target object in the preset range near the vehicle, and the lane position and the lane width information in the preset range near the vehicle.
Specifically, an environment sensing system is arranged on the vehicle and replaces a driver sensing system to extract current running environment information of the vehicle, pedestrians, climate, roads, vehicle positions and vehicle sizes through different sensors. And screening, associating, tracking, filtering and other processing are carried out on the environment information so as to obtain more accurate road information, target object position, speed, size and other information, and finally an electronic map is generated. Wherein the electronic map outputs in real time lane position and lane width information within a preset range (e.g., 200 meters) in front and rear of the vehicle, and position, size and speed information of all vehicles and pedestrians (if any) within the preset range.
S2: and judging whether the vehicle meets the preset condition of driving into the ramp or not.
In one embodiment of the invention, the preset conditions for entering the ramp include:
1. there is no vehicle in the ramp at the lateral position of the vehicle. The method comprises the following steps that a vehicle drives into a lane adjacent to a ramp before the vehicle enters the ramp, and if the curvature of a current lane is zero (namely the current lane is horizontal or vertical), the transverse position of the vehicle is the position of a right lane (namely the ramp) of the current position of the vehicle; if the curvature of the current lane is not zero (i.e., the current lane is curved), the lateral position of the vehicle, i.e., the current position of the vehicle, is shifted to the position of the right lane (i.e., the ramp) (the curvature of the lane line needs to be considered).
2. The predicted time of collision of the vehicle with the vehicle ahead is greater than a first preset time and the distance of the vehicle from the vehicle ahead is greater than a first preset distance. The predicted collision time is the relative distance/relative speed, and the relative speed is the vehicle speed — the front vehicle speed (or the rear vehicle speed). In one embodiment of the invention, the first predetermined time is 2 seconds and the first predetermined distance is 10 meters.
3. The predicted time of collision of the vehicle with the rear vehicle is greater than a second preset time and the distance of the vehicle from the rear vehicle is greater than a second preset distance. In one embodiment of the invention, the second predetermined time is 2 seconds and the first predetermined distance is 8 meters.
That is, the vehicle can drive into the ramp when the above 3 conditions are satisfied, otherwise the vehicle cannot drive into the ramp.
S3: and if the preset condition of entering the ramp is not met, acquiring the transverse shortest distance between the vehicle and all vehicles in the ramp determined according to the curvature of the lane line. Wherein the transverse direction is a direction perpendicular to the lane lines.
Fig. 2 is a schematic diagram of generating a security offset line in one embodiment of the present invention. As shown in fig. 2, the current travel section of the autonomous vehicle Ego _ car includes three lanes, 1 lane, 2 lanes, and 3 lanes, respectively. The autonomous vehicle Ego _ car travels in lane2, and intends to enter the ramp when reaching point B (point AB is set according to the rules of autonomous driving). The autonomous vehicle Ego _ car acquires the lateral closest distance O1O2 between the object target (object target in target lane) and the autonomous vehicle within the effective detection area.
S4: the first lane, lane1, is generated parallel to the curvature of the lane line based on the lateral closest distance.
S5: and acquiring a transverse position closest point g of the vehicle in the current lane and the front vehicle.
S6: and generating a safe driving area according to the first lane, the current position of the vehicle and the closest point g of the vehicle and the front vehicle.
In an embodiment of the present invention, step S6 specifically includes:
the second lane2 is generated by translating the first lane1 a preset distance in a direction passing through the closest point g of the vehicle to the lateral position of the vehicle in front. Wherein the preset distance is the vehicle width + the redundant width threshold. In one example of the present invention, the vehicle width is 2m, the redundant width threshold is 0.8m, and the preset distance is 2.8 m.
A third lane3 is generated that passes through the closest point g of the lateral position of the vehicle to the vehicle in front, perpendicular to the first lane 1.
Generating a fourth lane4 passing the current position of the vehicle and perpendicular to the lane line curvature;
the safe travel area abcd is generated from the first lane1, the second lane2, the third lane3, and the fourth lane 4.
S7: and generating a safety deviation line according to the safety driving area abcd.
In an embodiment of the present invention, step S7 specifically includes: safety offset lines are generated from the first lane1, the second lane2, the third lane3, and the fourth lane 4. The curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively. Taking the midpoint e of ad and the midpoint f of bc generates the safety offset line ef.
The method for generating the safety deviation line during automatic driving of the vehicle comprises the steps of firstly generating an electronic map in a preset range near the vehicle, providing lane lines of all lanes at an entrance of a ramp and vehicle information of all vehicles at the entrance of the ramp on the electronic map, then judging whether the vehicles can drive into the ramp, and generating a safety driving area according to the shortest transverse distance between the vehicles and the vehicles in the ramp and the nearest distance between the vehicles and the front vehicles when the vehicles cannot drive into the ramp, and further generating the safety deviation line according to the safety driving area so that the vehicles can drive according to the safety deviation line, thereby providing an optimal route before the vehicles automatically drive into the ramp and improving the safety during automatic driving of the vehicles.
Fig. 3 is a block diagram of a system for generating a safety offset line in automatic driving of a vehicle according to an embodiment of the present invention. As shown in fig. 3, a system for generating a dynamic target line during automatic driving of a vehicle according to an embodiment of the present invention includes: an electronic map providing module 310, an obtaining module 320, a lane line generating module 330, and a control module 340.
The electronic map providing module 310 is configured to provide an electronic map of a preset range near a vehicle, where the electronic map includes lane lines of all lanes at a ramp entrance and vehicle information of all vehicles at the ramp entrance. The obtaining module 320 is configured to obtain a lateral closest distance between the vehicle and all vehicles on the ramp according to a curvature of a lane line and obtain a lateral position closest point between the vehicle in the current lane and a vehicle ahead when a preset condition of entering the ramp is not satisfied. The lane line generating module 330 is configured to generate a first lane line parallel to a curvature of the lane line according to the lateral closest distance, generate a safe driving area according to the first lane line, a current position of the vehicle, and a lateral position closest point of the vehicle to a vehicle ahead, and further generate a safe deviation line according to the safe driving area. The control module 340 is used for judging whether the vehicle meets the preset condition of driving on the ramp.
In an embodiment of the present invention, the lane line generating module 330 is specifically configured to translate a preset distance from the first lane line in a direction passing through a closest point of a lateral position of the vehicle to the vehicle in front to generate a second lane line, generate a third lane line perpendicular to the first lane line passing through the closest point of the lateral position of the vehicle to the vehicle in front, generate a fourth lane line passing through a current position of the vehicle and perpendicular to a curvature of the lane line, and generate the safe driving area according to the first lane line, the second lane line, the third lane line, and the fourth lane line.
In an embodiment of the present invention, the lane line generating module 330 is further configured to generate a safety deviation line according to the first lane line, the second lane line, the third lane line and the fourth lane line. The curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively.
In one embodiment of the invention, the preset conditions for entering the ramp include: no vehicle is in the ramp at the lateral position of the vehicle; the predicted collision time of the vehicle and the front vehicle is greater than a first preset time and the distance between the vehicle and the front vehicle is greater than a first preset distance; and the predicted collision time of the vehicle with the rear vehicle is greater than a second preset time and the distance between the vehicle and the rear vehicle is greater than a second preset distance.
The system for generating the safety deviation line during automatic driving of the vehicle comprises the steps of firstly generating an electronic map in a preset range near the vehicle, providing lane lines of all lanes at an entrance of a ramp and vehicle information of all vehicles at the entrance of the ramp on the electronic map, then judging whether the vehicles can drive into the ramp, and generating a safety driving area according to the shortest transverse distance between the vehicles and the vehicles in the ramp and the nearest distance between the vehicles and the front vehicles when the vehicles cannot drive into the ramp, and further generating the safety deviation line according to the safety driving area, so that the vehicles can drive according to the safety deviation line, the optimal route before the vehicles automatically drive into the ramp is provided, and the safety during automatic driving of the vehicles is also improved.
It should be noted that a specific implementation manner of the system for generating a safety offset line during automatic vehicle driving according to the embodiment of the present invention is similar to a specific implementation manner of the method for generating a safety offset line during automatic vehicle driving according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the present invention discloses a vehicle provided with the system for generating a safety offset line in automatic driving of a vehicle as in any one of the above embodiments. The vehicle can determine whether the vehicle drives into the ramp according to the road conditions at the entrance of the ramp, and a safety deviation line is generated, so that the vehicle can drive according to the generated safety deviation line when the vehicle is automatically driven.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for generating a safety deviation line during automatic driving of a vehicle is characterized by comprising the following steps:
providing an electronic map of a preset range near a vehicle, wherein the electronic map comprises lane lines of all lanes at a ramp entrance and vehicle information of all vehicles at the ramp entrance;
judging whether the vehicle meets preset conditions of driving on a ramp or not;
if the preset condition of the driving ramp is not met, acquiring a transverse closest distance between the vehicle and all vehicles in the ramp according to the curvature of a lane line;
generating a first lane parallel to the curvature of the lane line according to the transverse closest distance;
acquiring a transverse position closest point of the vehicle and a front vehicle in a current lane;
generating a safe driving area according to the first lane, the current position of the vehicle and the closest point of the vehicle and the front vehicle in the transverse position;
and generating a safety deviation line according to the safety driving area.
2. The method for generating a safety deviation line during automatic vehicle driving according to claim 1, wherein the step of generating a safety driving area according to the first lane, the current position of the vehicle, and a closest point of a lateral position of the vehicle to a preceding vehicle specifically includes:
translating the first lane by a preset distance in a direction passing through a closest point of the vehicle to a front vehicle in the transverse position to generate a second lane;
generating a third lane passing through a closest point of a lateral position of the vehicle to a preceding vehicle and perpendicular to the first lane;
generating a fourth lane passing the current position of the vehicle and perpendicular to the lane line curvature;
and generating the safe driving area according to the first lane, the second lane, the third lane and the fourth lane.
3. The method for generating a safety offset line during automatic driving of a vehicle according to claim 2, wherein the step of generating a safety offset line according to the safety driving area specifically includes:
generating the safety deviation line according to the first lane, the second lane, the third lane and the fourth lane;
the curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively.
4. The method for generating a safety deviation line in automatic driving of a vehicle according to claim 1, wherein the preset condition for the on-ramp comprises:
no vehicle is on the ramp at a lateral position of the vehicle;
the predicted collision time of the vehicle with the front vehicle is greater than a first preset time and the distance between the vehicle and the front vehicle is greater than a first preset distance; and
the predicted collision time of the vehicle with a rear vehicle is greater than a second preset time and the distance between the vehicle and the rear vehicle is greater than a second preset distance.
5. The method for generating the safety deviation line during automatic driving of the vehicle according to claim 1, wherein the step of providing the electronic map of the preset range near the vehicle specifically comprises:
acquiring the position information of the vehicle, the position, the speed and the size of a target object in a preset range near the vehicle, and the lane position and the lane width information in the preset range near the vehicle;
and generating the electronic map according to the position information of the vehicle, the position, the speed and the size of the target object in the preset range near the vehicle, and the lane position and the lane width information in the preset range near the vehicle.
6. A system for generating a safety offset line in automatic driving of a vehicle, comprising:
the electronic map providing module is used for providing an electronic map of a preset range near a vehicle, and the electronic map comprises lane lines of all lanes at a ramp entrance and vehicle information of all vehicles at the ramp entrance;
the acquisition module is used for acquiring the transverse closest distance between the vehicle and all vehicles in the ramp according to the curvature of the lane line and acquiring the transverse position closest point between the vehicle and the front vehicle in the current lane when the preset condition of entering the ramp is not met;
the lane line generating module is used for generating a first lane line parallel to the curvature of the lane line according to the transverse closest distance, generating a safe driving area according to the first lane line, the current position of the vehicle and the transverse position closest point of the vehicle and a front vehicle, and further generating a safe deviation line according to the safe driving area;
and the control module is used for judging whether the vehicle meets the preset condition of the driving ramp or not.
7. The system according to claim 6, wherein the lane line generation module is specifically configured to generate a second lane line from the first lane line by translating a preset distance in a direction passing through a closest point of a lateral position of the vehicle to a vehicle ahead, generate a third lane line perpendicular to the first lane line passing through the closest point of the lateral position of the vehicle to the vehicle ahead, and generate a fourth lane line passing through a current position of the vehicle and perpendicular to a curvature of the lane line, and further generate the safe driving area according to the first lane line, the second lane line, the third lane line, and the fourth lane line.
8. The system for generating a safety deviation line during automatic driving of a vehicle according to claim 7, wherein the lane line generation module is further configured to generate the safety deviation line according to the first lane line, the second lane line, the third lane line, and the fourth lane line;
the curvature of the safety deviation line is equal to the curvature of the lane line, the distance between the safety deviation line and the first lane line is equal to the distance between the safety deviation line and the second lane line, and the safety deviation line is intersected with the third lane line and the fourth lane line respectively.
9. The system for generating a safety offset line when a vehicle is automatically driven according to claim 7, wherein the preset condition for the on-ramp includes:
no vehicle is on the ramp at a lateral position of the vehicle;
the predicted collision time of the vehicle with the front vehicle is greater than a first preset time and the distance between the vehicle and the front vehicle is greater than a first preset distance; and
the predicted collision time of the vehicle with a rear vehicle is greater than a second preset time and the distance between the vehicle and the rear vehicle is greater than a second preset distance.
10. A vehicle characterized by comprising the system for generating a vehicle-time safety offset line according to any one of claims 6 to 9.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640988.2A CN110618676B (en) | 2018-12-29 | 2018-12-29 | Method and system for generating safety deviation line during automatic driving of vehicle and vehicle |
| PCT/CN2019/129386 WO2020135772A1 (en) | 2018-12-29 | 2019-12-27 | Generation method and generation system for dynamic target line during automatic driving of vehicle, and vehicle |
| EP19904248.2A EP3889722A4 (en) | 2018-12-29 | 2019-12-27 | Generation method and generation system for dynamic target line during automatic driving of vehicle, and vehicle |
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| CN201811640988.2A CN110618676B (en) | 2018-12-29 | 2018-12-29 | Method and system for generating safety deviation line during automatic driving of vehicle and vehicle |
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| CN110618676B true CN110618676B (en) | 2020-11-20 |
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| CN107901909B (en) * | 2017-10-31 | 2020-05-05 | 北京新能源汽车股份有限公司 | Control method and device for automatic lane replacement and controller |
| CN108594812A (en) * | 2018-04-16 | 2018-09-28 | 电子科技大学 | A kind of intelligent vehicle smooth track planing method of structured road |
| CN108958242B (en) * | 2018-06-25 | 2021-12-24 | 武汉中海庭数据技术有限公司 | Lane change decision-making auxiliary method and system based on high-precision map |
| CN108930206B (en) * | 2018-07-25 | 2020-08-14 | 长沙理工大学 | Method for setting crossing passing path under automatic driving |
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