CN110626349A - Control method and device for automatic driving vehicle, automobile controller and storage medium - Google Patents
Control method and device for automatic driving vehicle, automobile controller and storage medium Download PDFInfo
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- CN110626349A CN110626349A CN201910891755.8A CN201910891755A CN110626349A CN 110626349 A CN110626349 A CN 110626349A CN 201910891755 A CN201910891755 A CN 201910891755A CN 110626349 A CN110626349 A CN 110626349A
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- 238000001514 detection method Methods 0.000 claims abstract description 23
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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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- 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
- B60W40/06—Road conditions
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- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention discloses a control method and a control device for an automatic driving vehicle, a vehicle controller and a storage medium, wherein a lane line in front of the current vehicle is detected; determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode; according to the technical scheme of controlling the current vehicle to run by the driving mode, different driving modes are selected according to the detection result of the lane line under the condition that the lane line is covered or damaged, and automatic driving is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a control method and device of an automatic driving vehicle, an automobile controller and a storage medium.
Background
At present, the automatic driving vehicle can ensure the safe driving of the vehicle in a proper area through lane line identification, and when the lane line is covered or damaged on a snowy road surface and the like, the lane line identification can not provide a proper driving area for the vehicle, so that the automatic driving can not be realized.
Disclosure of Invention
The invention provides a control method and device for an automatic driving vehicle, an automobile controller and a storage medium, which realize automatic driving under the condition that a lane line is covered or damaged.
In a first aspect, an embodiment of the present invention provides a control method for an autonomous vehicle, where the method includes:
detecting a lane line in front of a current vehicle;
determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode;
and controlling the current vehicle to run according to the driving mode.
In a second aspect, an embodiment of the present invention provides a control apparatus for an autonomous vehicle, the apparatus including:
the lane line detection module is used for detecting a lane line in front of the current vehicle;
the driving mode determining module is used for determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode; and the vehicle running control module is used for controlling the current vehicle to run according to the driving mode.
In a third aspect, an embodiment of the present invention provides an automobile controller, where the automobile controller includes:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the control method of an autonomous vehicle as described in the first aspect above.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a control method for an autonomous vehicle as described in any one of the first aspects above.
The control method, the control device, the control equipment and the storage medium for the automatic driving vehicle provided by the embodiment detect a lane line in front of the current vehicle; determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode; according to the technical scheme of controlling the current vehicle to run by the driving mode, different driving modes are selected according to the detection result of the lane line under the condition that the lane line is covered or damaged, and automatic driving is realized.
Drawings
FIG. 1 is a flow chart of a control method for an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method for an autonomous vehicle provided by an embodiment of the invention;
fig. 3 is a structural diagram of a control apparatus of an autonomous vehicle provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automobile controller according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Examples
Fig. 1 is a flowchart of a control method for an autonomous vehicle according to an embodiment of the present invention, where the embodiment is applicable to a case where the autonomous vehicle is controlled to travel when a lane line is covered or damaged, the method may be performed by control of the autonomous vehicle, and the apparatus may be implemented in hardware and/or software.
As shown in fig. 1, the control method of an autonomous vehicle provided in this embodiment mainly includes the following steps:
and S110, detecting a lane line in front of the current vehicle.
The lane line is a road traffic line, and the lane line in this embodiment is a white dotted line in the middle of the road section. The current vehicle is a vehicle currently traveling on a road. The present vehicle in the present embodiment is preferably an unmanned vehicle, which is also referred to as an autonomous vehicle. The front of the vehicle refers to the aspect seen by eyes when the vehicle is in a driving position, namely the aspect of the head of the vehicle.
It should be noted that, an on-vehicle camera is provided at the head of the vehicle, and the head of the vehicle may be a front hood position or a front lamp position. The position of the vehicle camera is set in this embodiment, and the image of the lane line in front of the vehicle may be acquired, which is not limited in this embodiment.
The vehicle-mounted camera may be a monocular camera or a binocular camera, and is not limited in this embodiment.
In the present embodiment, a method for detecting a lane line in front of a vehicle is provided. Firstly, receiving a road surface picture shot by a vehicle-mounted camera, extracting lane line characteristics in the road surface picture by using a color space, then extracting combined color and gradient characteristics, restoring depth information in a three-dimensional world through three-dimensional perspective, and positioning lane lines through a histogram filter.
It should be noted that the present embodiment is only an explanation, not a limitation, of a method of detecting a lane line in front of a vehicle. Other ways of detecting lane lines may be selected according to the actual application and design principles of the vehicle.
And S120, determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode.
In the present embodiment, the detection result of the front lane line includes that the front lane line can be detected and that the front lane line cannot be detected. Failure to detect the forward lane line may be the forward lane line being covered by a fault, such as: covered by heavy snow, covered by road foreign matter, etc., and may be a road without a lane line drawn on the road ahead, for example: and road sections without lane lines, such as construction road sections, newly repaired road sections or rural road sections.
The automatic driving mode is a mode that the vehicle receives surrounding environment information fed back by sensors arranged around the vehicle, makes corresponding decisions according to the environment information and a preset algorithm, and controls the vehicle to run.
The manual driving mode refers to a mode in which the driver controls the vehicle to travel.
The following mode is a mode in which the vehicle travels following a vehicle directly ahead, left-front, or right-front based on the surrounding vehicle information fed back by the sensor.
In the present embodiment, if the current vehicle is running in the automatic driving mode and a preceding lane line is detected, the running in the automatic driving mode is continued.
If the current vehicle runs in the automatic driving mode and the front lane line is not monitored, the situation that the front lane line is covered or damaged is shown, the automatic driving mode cannot be used continuously, if the automatic driving mode is used continuously, accidents can be caused due to inaccurate lane line test, and life and property loss is brought to drivers and passengers. If the current vehicle runs in the automatic driving mode and the front lane line is not monitored, whether vehicles running in the same direction exist in front of or on the left and the right of the current vehicle is detected, if the vehicles running in the same direction exist in front of or on the left and the right of the current vehicle is detected, a following mode is started, the vehicle runs along with the front vehicle according to the front vehicle track, and the front lane line is detected in real time in the following mode.
Further, if it is not detected that there is no vehicle traveling in the same direction in front of or to the left and right of the current vehicle, the driver mode is immediately activated, the driver is notified to take over the vehicle, and safety measures such as deceleration stop and the like are synchronously taken. Further, after the driver mode is started, if the situation that the driver fails to take over the vehicle within the preset time is detected, the vehicle is forced to stop by the side, and accidents are avoided. During the driver mode driving, the front lane line is detected in real time.
And detecting a front lane line in real time in the driving process of the driver mode or the following mode, and repeating the started automatic driving mode if the front lane line is detected.
And S130, controlling the current vehicle to run according to the driving mode.
Further, when the driving mode is switched from the automatic driving mode to the following mode, the current vehicle travels along the same-direction traveling vehicle in the form of a same-direction traveling vehicle.
In this embodiment, when the driving mode is switched from the automatic driving mode to the manual driving mode, the driving speed of the current vehicle is reduced, and a prompt message is sent to remind the driver to control the current vehicle to drive.
The control method for the automatic driving vehicle provided by the embodiment comprises the steps of detecting a lane line in front of a current vehicle; determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode; according to the technical scheme of controlling the current vehicle to run by the driving mode, different driving modes are selected according to the detection result of the lane line under the condition that the lane line is covered or damaged, and automatic driving is realized.
In an exemplary embodiment, fig. 2 is a flowchart of a control method of an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 2, the control method of an optimized autonomous vehicle according to the embodiment mainly includes:
s201, detecting a lane line in front of the current vehicle.
In this embodiment, detecting the lane line in front of the current vehicle means that the lane line in front of the current vehicle is detected in real time when the current vehicle is in the automatic driving mode.
Further, the present embodiment further includes, before detecting a lane line ahead of the current vehicle: the in-vehicle map receives a departure place and a destination inputted by a user. And planning a driving route according to the departure place and the destination input by the user. And starting an automatic driving mode by the current vehicle, driving according to the planned driving route, and detecting a lane line in front of the current vehicle on the driving route in real time.
The manner of inputting the departure point and the destination and generating the travel route may be performed by a car navigation system of the vehicle, or may be performed by a smartphone or other terminal device linked to the vehicle network data. The internet of vehicles server can generate a driving route according to the departure place and the destination input by the smart phone or other smart terminals and the digital map, and the driving route is sent to the current vehicle through the vehicle network.
Further, the input of the originating location can be manually input by a user at the vehicle navigation system or the intelligent terminal, or the originating address can be automatically located and acquired through an automatic location system of the vehicle navigation system or the intelligent terminal.
Further, the digital map may plan three driving routes in advance, and then manually select the most reasonable route as the final planned form route by the user.
It should be noted that the present embodiment is only a simple description of the planning of the driving route, and is not limited thereto, and the route may be planned in another way according to actual situations.
The method for detecting the route ahead of the current vehicle may refer to the description in the above embodiments, and the description in this embodiment is omitted.
S202, judging whether a lane line in front of the current vehicle is detected or not, if so, executing S203, and if not, executing S204.
And S203, determining that the driving mode is the automatic driving mode.
In this embodiment, if the lane line ahead of the current vehicle is detected, which indicates that the vehicle can continue to use the automatic driving mode according to the lane line ahead, the driving mode is not changed, but the automatic driving mode is continuously used, and the vehicle continues to run according to the planned driving route.
And S204, searching vehicles running in the same direction in a preset range.
In this embodiment, when it is detected that there is no lane line in front of the vehicle, it is started to search for the front or left-right direction of the current vehicle, and whether there is a vehicle traveling in the same direction. The vehicles running in the same direction comprise the vehicles in the lane where the current vehicle is located and the vehicles running in the left lane and the right lane.
The searching capability can utilize the sensing capability of the current vehicle-mounted automatic driving system and can also utilize the data and the computing capability of a vehicle network server. This embodiment is not limited.
In the present embodiment, it is a basic requirement that the preceding vehicle travels in the same direction as the current vehicle. And after the existence of the vehicles running in the same direction is detected, sending a request to a vehicle network server to request the vehicle network server to judge the coincidence degree of the running route of the current vehicle and the currently determined running routes of all the vehicles running in the same direction, and taking the vehicle with the highest coincidence degree of the running routes in the vehicles running in the same direction as a final vehicle running in the same direction.
In one exemplary embodiment, the searched speed of the vehicle running in the same direction may also be acquired. And comparing each speed decibel with the speed of the current vehicle, and taking the equidirectional running vehicle closest to the speed of the current vehicle as the final equidirectional running vehicle.
And judging whether the front vehicle can be used as a vehicle running in the same direction or not, so that the current vehicle runs along with the front vehicle. This can be done directly by means of an on-board automatic driving system of the current vehicle. The vehicle-mounted automatic driving system can judge the real-time distance from the current vehicle to the front vehicle by utilizing the sensor and the processor, so that whether the front or left and right vehicles run in the same direction or in the reverse direction relative to the current vehicle, the speed and the like of the front or left and right vehicles are calculated.
The vehicle network server may determine whether or not the preceding vehicle is a vehicle capable of traveling in the same direction. Further, the current vehicle uploads the current position to a vehicle network server, the server inquires whether other vehicles exist in the current position, the driving directions and the distances between the vehicles are calculated according to the real-time positions and the driving routes of the other vehicles, the vehicles which are the same in driving direction and are positioned in front of the current vehicle or at the left side and the right side and are close in distance are selected as vehicles which drive in the same direction, and after information of successful matching is sent to the vehicles through the vehicle network, the current vehicle starts a following mode.
It should be noted that the specific method for calculating the driving direction, speed, path, distance, etc. of the vehicle according to the real-time position data and the driving route is not limited in this embodiment, and may adopt a specific method in the prior art.
S205, whether the vehicles running in the same direction are searched or not is judged, if yes, S206 is executed, and if not, S209 is executed.
And S206, switching the driving mode from the automatic driving mode to the following mode.
In the present embodiment, the following mode refers to traveling following the trajectory of the vehicle ahead or on both the left and right sides.
It should be noted that, when the current vehicle is in the following mode, the distance between the current vehicle and the followed vehicle may be detected in real time, and if the distance between the two vehicles is gradually reduced, the speed is reduced according to the current vehicle speed and the distance between the two vehicles. And if the distance between the two vehicles is less than the safe braking distance of the current vehicle, starting a manual driving mode, and prompting a driver to take over the vehicle to control the running of the vehicle.
And S207, detecting a lane line in front of the current vehicle in real time when the current vehicle is in a following mode.
In this embodiment, when the current vehicle is in the following mode, it is also necessary to detect the lane line in front of the current vehicle in real time. The way of detecting the lane line in front of the vehicle is the same as that provided in the above embodiments, and is not described again in this embodiment.
And S208, if the front lane line is detected, converting the following mode into the automatic driving mode, and returning to execute the S201.
In this embodiment, if the front lane line is detected when the current vehicle is in the following mode, which indicates that the current vehicle meets the condition of automatic driving, the driving mode is switched from the following mode to the automatic driving mode.
And S209, switching the driving mode from the automatic driving mode to the manual driving mode.
In this embodiment, if before switching from the automatic driving mode to the manual mode, the method further includes: and sending out the information to propose that the driver takes over the vehicle, and if the driver is still detected to take over the vehicle within the preset time, the vehicle can be decelerated and stopped in order to avoid the occurrence of danger.
Further, in the driving process of the manual driving mode, a front lane line is detected in real time, if the front lane line is detected, the driver is prompted, the front lane line is detected, the automatic driving condition is met, and whether the automatic driving mode is started or not is judged. And if the fact that the driver determines to start the automatic driving mode is received, the driving mode is switched from the manual driving mode to the automatic driving mode.
Furthermore, in the driving process of the manual driving mode, whether vehicles running in the same direction exist in the front and the left and the right sides or not is detected in real time, if the vehicles running in the same direction are detected, a driver is prompted, the vehicles running in the same direction are detected, the vehicle following condition is met, and whether the vehicle following driving mode is started or not is judged. And if the fact that the driver determines to start the following mode is received, the driving mode is switched from the manual driving mode to the automatic driving mode.
In the embodiment, a preferable example is provided, and the vehicle has an automatic driving function, can detect lane lines in real time, automatically change lanes, and travel with the vehicle, and has a mode of interacting with a driver.
Firstly, the vehicle detects that a clear lane line exists in the front and drives automatically along the lane line.
And secondly, the vehicle detects that the front lane line disappears, and the vehicle immediately searches in a certain range in front and left and right, such as a range of 6 meters around the central axis of the vehicle: if the vehicles running in the same direction are found, the following mode is started immediately, and the vehicles run along with the front vehicles according to the tracks of the front vehicles. If the vehicles running in the same direction are not searched, the driver is immediately informed to take over the vehicles, and safety measures such as deceleration and parking are synchronously taken.
And thirdly, in the process that the vehicle runs along with the front vehicle, if the lane line information is detected again, the automatic driving mode along the lane line is changed.
The second and third steps are repeated until the destination is reached or the driver takes over the vehicle.
According to the technical scheme of the embodiment, a front lane line is detected in real time in the automatic driving process of the vehicle, and if the lane line can be detected, the vehicle is automatically driven along the lane line; if the lane line cannot be detected, detecting whether vehicles running in the same direction exist in front of or on the left and the right of the vehicle, and if the vehicles running in the same direction are detected, automatically driving along the vehicle; and if the vehicles running in the same direction are detected, taking safety measures and informing the driver of the original take-over vehicle. The technical scheme of the embodiment provides an automatic driving path planning method for scenes that lane lines are damaged or cannot be detected, the application range of automatic driving is expanded, the vehicle following strategy is expanded, vehicles running in the left direction and the right direction in the same direction are introduced as reference, and the scheme is more in line with practical application scenes. For example, when the automatically driven vehicle finds that the lane line in front disappears, the vehicle running in the same direction is not necessarily in front, but the vehicles are likely to pass left and right, so that the selection range of the target vehicle is expanded, and the continuity of the automatic driving function is improved.
The control method for the automatic driving vehicle provided by the embodiment detects the lane line in front of the current vehicle in real time. And if the front lane line is detected, determining that the driving mode is the automatic driving mode, and if the front lane line is not detected, searching for the driving vehicle in a preset range. And if the vehicles running in the same direction are searched, switching the driving mode from the automatic driving mode to the following mode. When the current vehicle is in a following mode, detecting a lane line in front of the current vehicle in real time; and if the front lane line is detected, converting the following mode into an automatic driving mode. According to the technical scheme of the embodiment, when the lane line is covered or damaged and cannot be detected, surrounding vehicles running in the same direction are searched, and if the vehicles running in the same direction are searched, the vehicles run along the track of the front vehicle, so that automatic driving is realized.
In one exemplary embodiment, the present invention also provides an apparatus for controlling an autonomous vehicle. Fig. 3 is a structural diagram of a control device of an autonomous vehicle according to an embodiment of the present invention, where the embodiment is applicable to a situation where the autonomous vehicle is controlled to run when a lane line is covered or damaged, and the device may be implemented by hardware and/or software, and the device is integrated in the autonomous vehicle.
As shown in fig. 3, the control device of an autonomous vehicle according to the present embodiment mainly includes the following components:
a lane line detection module 31 for detecting a lane line ahead of the current vehicle;
a driving mode determining module 32, configured to determine a driving mode according to a detection result of the lane line ahead, where the driving mode is any one of an automatic driving mode, a manual driving mode, and a following mode;
and a vehicle running control module 33 for controlling the current vehicle to run according to the driving mode.
The control device of the automatic driving vehicle provided by the embodiment detects a lane line in front of the current vehicle; determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode; according to the technical scheme of controlling the current vehicle to run by the driving mode, different driving modes are selected according to the detection result of the lane line under the condition that the lane line is covered or damaged, and automatic driving is realized.
Further, the driving mode determining module 32 is specifically configured to determine that the driving mode is the automatic driving mode if the front lane line is detected.
Further, the driving mode determination module 32 includes:
the searching unit is used for searching vehicles running in the same direction within a preset range if a front lane line is not detected;
and the driving mode determining unit is used for determining the driving mode according to the search result.
Further, the driving mode determining unit is used for switching the driving mode from the automatic driving mode to the following mode if the vehicles running in the same direction are searched; and if the vehicles running in the same direction are not searched, switching the driving mode from the automatic driving mode to the manual driving mode.
Further, the lane line detection module 31 is further configured to detect a lane line in front of the current vehicle in real time when the current vehicle is in the following mode;
the driving mode determination module 32 is further configured to convert the following mode into an automatic driving mode if the lane line ahead is detected.
Further, the vehicle running control module 33 is specifically configured to, when the driving mode is switched from the automatic driving mode to the following mode, run the current vehicle along the same-direction running vehicle in the form of a same-direction running vehicle.
Further, the vehicle driving control module 33 is specifically configured to reduce the driving speed of the current vehicle and send a prompt message to prompt the driver to control the current vehicle to drive when the driving mode is switched from the automatic driving mode to the manual driving mode.
The control device of the automatic driving vehicle provided by the embodiment of the invention can execute the control method of the automatic driving vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the control method of the automatic driving vehicle.
On the basis of the foregoing embodiments, an automobile controller according to an embodiment of the present invention is provided, fig. 4 is a schematic structural diagram of an automobile controller according to an embodiment of the present invention, as shown in fig. 4, the automobile controller includes a processor 41, a memory 43, and the number of the processors 41 in the automobile controller may be one or more, and fig. 4 takes one processor 41 as an example; the processor 41, the memory 43, the input device 43 and the output device 44 in the automobile controller may be connected by a bus or other means, and fig. 4 illustrates the connection by the bus as an example.
The memory 43 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the control method of the autonomous vehicle in the embodiment of the present invention (for example, the lane line detection module 31, the driving mode determination module 32, and the vehicle travel control module 33 in the control apparatus of the autonomous vehicle). The processor 41 executes various functional applications and data processing of the vehicle controller by executing software programs, instructions and modules stored in the memory 43, that is, implements the above-described control method of the autonomous vehicle.
The memory 43 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 43 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 43 may further include memory located remotely from the processor 41, which may be connected to the automotive controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle controller. The output device 44 may include a display screen or the like to display the vehicle controller.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of controlling an autonomous vehicle, the method comprising:
detecting a lane line in front of a current vehicle;
determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode;
and controlling the current vehicle to run according to the driving mode.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the control method of the autonomous vehicle provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the control device for an autonomous vehicle, the units and modules included in the control device are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method of an autonomous vehicle, the method comprising:
detecting a lane line in front of a current vehicle;
determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode;
and controlling the current vehicle to run according to the driving mode.
2. The method according to claim 1, wherein determining a driving pattern according to the detection result of the forward lane line includes:
if a front lane line is detected, the driving mode is determined to be the automatic driving mode.
3. The method according to claim 2, wherein the determining a driving pattern according to the detection result of the lane line further comprises:
if the front lane line is not detected, searching vehicles running in the same direction within a preset range;
and determining a driving mode according to the search result.
4. The method of claim 3, wherein determining a driving pattern based on the search results comprises:
if the vehicles running in the same direction are searched, switching the driving mode from the automatic driving mode to a following mode;
and if the vehicles running in the same direction are not searched, switching the driving mode from the automatic driving mode to the manual driving mode.
5. The method of claim 4, further comprising:
when the current vehicle is in a following mode, detecting a lane line in front of the current vehicle in real time;
and if the front lane line is detected, converting the following mode into an automatic driving mode.
6. The method according to claim 1, wherein controlling the current vehicle to travel according to the driving mode includes:
when the driving mode is switched from the automatic driving mode to the following mode, the current vehicle travels along the same-direction traveling vehicle in the form of a same-direction traveling vehicle.
7. The method according to claim 1, wherein controlling the current vehicle to travel according to the driving mode includes:
when the driving mode is switched from the automatic driving mode to the manual driving mode, the driving speed of the current vehicle is reduced, and prompt information is sent to remind a driver of controlling the current vehicle to drive.
8. A control apparatus of an autonomous vehicle, characterized in that the apparatus comprises:
the lane line detection module is used for detecting a lane line in front of the current vehicle;
the driving mode determining module is used for determining a driving mode according to the detection result of the front lane line, wherein the driving mode is any one of an automatic driving mode, a manual driving mode or a following mode;
and the vehicle running control module is used for controlling the current vehicle to run according to the driving mode.
9. An automotive controller, characterized in that the automotive controller comprises:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the control method of the autonomous vehicle of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the control method of an autonomous vehicle as recited in any one of claims 1-7.
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