CN110641480B - Automatic driving function pushing method and system based on traffic flow and vehicle - Google Patents
Automatic driving function pushing method and system based on traffic flow and vehicle Download PDFInfo
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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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
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
Abstract
The invention discloses a traffic flow-based automatic driving function pushing method, a system and a vehicle, wherein a high-precision map positioning module is adopted to calculate and process information acquired by a sensing module in real time and information sent by a navigation map module to obtain high-precision positioning information and traffic flow information, the high-precision positioning information and the traffic flow information are output to an environment cognition module, electronic fence information is output to a pushing decision module, the environment cognition module is used for fusing and calculating the distance between traffic jam and a vehicle according to the received information and the information acquired by the sensing module, and sends the information to a push decision module, the push decision module carries out comprehensive calculation and judgment according to the information output by other modules, when the automatic driving function is started, the user can be informed to start the automatic driving function and send the automatic driving function to the information pushing module, and the information pushing module controls the display module and the sound output module to prompt after receiving the information. The invention can automatically inform the user of starting the automatic driving function under the complex working condition of predicting traffic jam.
Description
Technical Field
The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to an automatic driving function pushing method and system based on traffic flow and a vehicle.
Background
The current automatic driving is generally used by two strategies, wherein one strategy is that after a user is required to be familiar with an instruction manual, whether the current environment of a vehicle is suitable for automatic driving is judged, and then the user starts an automatic driving function through a switch; the second strategy is automatic aided navigation, and after a user sets a navigation destination, when the vehicle travels to a road section supporting an automatic aided navigation driving function along a navigation planned route, the system informs the driver through vision or sound, and the function is automatically started.
The first strategy requires the user to be familiar with the instruction manual and needs the user to judge whether the current traffic environment is suitable for automatic driving, but few people of the current user carefully learn the instruction manual, and after-sales personnel usually have no targeted training, so that most users have the problems of not knowing when and how to use the vehicle, and the charm function but not the necessary vehicle function may not be used by the user in the life cycle or the use frequency is very low, so that brand promotion is not supported, and the user satisfaction is not improved.
In the second strategy, because the current navigation technology is still incomplete, for example, the precision is not high enough, the updating frequency is not fast enough, so that the user basically cannot meet the requirement of completely driving according to the navigation planning route, and the current road traffic environment is complex and changeable, so that the number of road sections supported by the automatic auxiliary navigation driving is very small, the application range is narrow, and the complaint of the user is easily caused.
Therefore, it is necessary to develop an automatic driving function pushing method, system and vehicle based on traffic flow.
Disclosure of Invention
The invention aims to provide an automatic driving function pushing method, an automatic driving function pushing system and a vehicle based on traffic flow, which can automatically inform a user of starting an automatic driving function under a complex working condition of predicting traffic jam so that the user can easily and comfortably deal with the traffic jam, and the dysphoric mood of the user during traffic jam is relieved, so that the user experience is enhanced, and the user utilization rate is improved.
The invention relates to an automatic driving function pushing system based on traffic flow, which comprises a sensing module, a navigation map module, a high-precision map positioning module, an environment cognition module, a pushing decision module, an information pushing module, a display module and a sound output module, wherein the sensing module is used for sensing the position of a road map;
the sensing module is used for detecting road marks, road edges and target object information in lanes in real time; wherein the road markings comprise road markings comprising lane line information
The navigation map module is used for detecting the coordinate information of the vehicle in real time and carrying out global path planning according to the destination;
the high-precision map positioning module is used for acquiring vehicle motion information, output information of the sensing module and output information of the navigation map module, positioning the acquired information to high-precision map elements in a corresponding range on a high-precision map, and outputting high-precision map information, high-precision positioning information, electronic fence information and traffic flow information of high-precision positioning; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle;
the environment cognition module is used for acquiring information output by the high-precision map positioning module and the sensing module, performing information fusion processing, calculating the traffic flow speed in the current visual range, and identifying the traffic flow and the distance between a congested road section and the vehicle;
the push decision module is used for judging whether the current vehicle is suitable for automatic driving according to the information output by the environment cognition module and the high-precision map positioning module and deciding whether to inform a user of starting an automatic driving function;
and the information push module is used for driving the display module and the sound output module to carry out text and sound prompt after receiving the notice of starting the automatic driving function output by the push decision module.
Further, the navigation map module outputs the GNSS signal, the RTK differential signal, and the position of the vehicle, and if a destination is set by the navigation map module, the navigation map module performs global road planning and outputs according to the destination, and outputs the position of the destination and a traffic flow situation in a planned route.
Further, the target object information includes the number of target objects, corresponding types, lateral distances, longitudinal distances, velocities, and accelerations.
Further, the high-precision map positioning module receives and fuses vehicle motion information and GNSS signals and RTK differential signals output by the navigation map module, and also receives and matches road marks and road edges output by the sensing module with map elements inside the high-precision map positioning module, and after matching is completed, fusion processing is performed, and high-precision positioning information and high-precision map information are output, wherein the high-precision positioning information comprises longitude, latitude and course angle of the current vehicle; the high-precision map information comprises lane line and gradient information within a certain distance ahead, and a ramp distance within a certain distance ahead; the high-precision map positioning module can also perform internal fusion calculation according to the destination position, the global road plan and the vehicle coordinate information output by the navigation map module, and output electronic fence information and traffic flow information.
Further, the environment cognition module is used for calculating the traffic flow speed in the current visual range, identifying the traffic flow and the distance between the congested road segment and the vehicle, wherein:
calculating the traffic flow speed in the current visible range: when the navigation map module is not started, calculating the traffic flow speed in the current visual range according to the target object information and the lane line information output by the sensing module; or when the navigation map module is started, the information of the sensing module and the navigation map module is fused, and the traffic flow speed in the current visual range is calculated;
identifying traffic flow: analyzing and classifying the traffic flow according to the traffic flow speed, the lane edge and the lane line information, and identifying a congestion road section within a certain distance range and a relationship between the congestion road section and the lane;
calculating the distance between the congested road section and the vehicle: and calculating the distance between the vehicle and the congested road section according to the identified congested road section by combining the vehicle speed and the current position of the vehicle.
Further, the pushing decision module is used for judging whether the vehicle runs in a lane to which the congested road section belongs according to the distance between the vehicle and the congested road section, the relationship between the congested road section and the lane and the current position of the vehicle, and if so, pushing to start an automatic driving function; if not, the automatic driving function is not pushed and started.
Further, when the display module is driven by the information pushing module, characters and icons are displayed, and meanwhile, the brief description of the automatic driving function and the start of a guiding key are displayed; when the sound output module is driven by the information pushing module, voice broadcasting or other sound reminding can be carried out.
The invention relates to a traffic flow-based automatic driving function pushing method, which adopts a traffic flow-based automatic driving function pushing system, and comprises the following steps:
detecting information of a road mark, a road edge and a target object in a lane in real time by using a sensing module; wherein the road markings comprise road markings comprising lane line information
Detecting the coordinate information of the vehicle in real time by using a navigation map module, and planning a global path according to a destination;
the method comprises the steps that a high-precision map positioning module is used for obtaining vehicle motion information, output information of a sensing module and output information of a navigation map module, the obtained information is positioned to high-precision map elements in a corresponding range on a high-precision map, and high-precision positioning information, electronic fence information and traffic flow information are output; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle;
acquiring output information of the high-precision map positioning module and the sensing module by using an environment cognition module, carrying out information fusion processing, calculating the traffic flow speed in the current visible range, and identifying the traffic flow and the distance between a congested road segment and the vehicle;
judging the output information of the environment cognition module and the high-precision map positioning module by using a push decision module, judging whether the current vehicle is suitable for automatic driving, and deciding whether to inform a user to start an automatic driving function based on a judgment result; if the automatic driving function is determined to be started by pushing, sending a notification for starting the automatic driving function to the information pushing module, otherwise, not sending the notification for starting the automatic driving function;
and after the information pushing module receives the notice of starting the automatic driving function output by the pushing decision module, the information pushing module drives the display module and the sound output module to carry out text and sound prompt.
Further, after the automatic driving function is pushed each time, the system continuously monitors the starting state of the automatic driving function, and if the automatic driving function is not started within the preset time or the preset distance after pushing and the current state still meets the pushing condition, the automatic driving function is pushed again; and circulating the steps until the pushing times are larger than the preset times, and stopping pushing.
The vehicle adopts the automatic driving function pushing system based on the traffic flow.
The invention has the following advantages:
(1) the problem that new and old users can safely use the automatic driving function without worry, do not need to learn and judge, and can automatically push and guide the users to start the automatic driving function by one key no matter whether the users know the operation or not is solved;
(2) the right whether the function is started or not is still in the user, so that the user can enjoy the initiative, and the acceptance of the user on the automatic driving function is increased;
(3) the frequency of using the automatic driving function by the user can be greatly improved;
(4) the method solves the problem that the user can be automatically informed to start the automatic driving function under the complex working condition of predicting traffic jam so that the user can easily and comfortably deal with the traffic jam, and the dysphoria of the user during traffic jam is relieved, so that the experience of the user is enhanced, the satisfaction of the user is improved, and the image and the competitiveness of a brand are invisibly improved.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a flow chart of the calculation of the present invention;
the system comprises a navigation map module, a 2-sensing module, a 3-high-precision map positioning module, a 4-environment cognition module, a 5-pushing decision-making module, a 6-information pushing module, a 7-sound output module and a 8-display module.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, an automatic driving function push system based on traffic flow includes a sensing module 2, a navigation map module 1, a high-precision map positioning module 3, an environment cognition module 4, a push decision module 5, an information push module 6, a display module 8 and a sound output module 7; the sensing module 2 is respectively connected with the high-precision map positioning module 3 and the environment cognition module 4, the navigation map module 1 is connected with the high-precision map positioning module 3, the high-precision map positioning module 3 and the environment cognition module 4 are respectively connected with the push decision module 5, the push decision module 5 is connected with the information push module 6, and the information push module 6 is respectively connected with the display module 8 and the sound output module 7.
The sensing module 2 is used for detecting information of a road mark, a road edge and a target object in a lane in real time, wherein the road mark comprises a road surface mark, and the road surface mark comprises lane line information.
The navigation map module 1 is used for detecting the coordinate information of the vehicle in real time and planning the global path according to the destination.
The high-precision map positioning module 3 is used for acquiring vehicle motion information, output information of the sensing module 2 and output information of the navigation map module 1, positioning the acquired information to high-precision map elements in a corresponding range on a high-precision map, and outputting high-precision positioning high-precision map information, high-precision positioning information, electronic fence information and traffic flow information; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle.
The environment cognition module 4 is used for acquiring information output by the high-precision map positioning module 3 and the sensing module 2, performing information fusion processing, calculating the traffic flow speed in the current visual range, and identifying the traffic flow and the distance between a congested road section and the vehicle.
The push decision module 5 is used for judging whether the current vehicle is suitable for automatic driving according to the information output by the environment cognition module 4 and the high-precision map positioning module 3, and deciding whether to inform a user of starting an automatic driving function.
And the information pushing module 6 is used for driving the display module 8 and the sound output module 7 to perform text and sound prompt after receiving the notice of starting the automatic driving function output by the pushing decision module 5.
The functions of the modules are explained in detail below:
the navigation map module 1 outputs a GNSS signal, an RTK differential signal, and a vehicle position, and if a destination is set by the navigation map module 1, the navigation map module 1 performs global road planning and outputs according to the destination, and outputs a destination position and a traffic flow situation in a planned route.
The sensing module 2 detects road marks, road edges and target object information in lanes in a visible range in real time; the target object information includes the number of target objects, the corresponding type, the lateral distance, the longitudinal distance, the velocity, and the acceleration.
The high-precision map positioning module 3 receives and fuses vehicle motion information and GNSS signals and RTK differential signals output by the navigation map module 1, and also receives and matches road marks and road edges output by the sensing module 2 with map elements in the high-precision map positioning module, and after matching is completed, fusion processing is performed, and high-precision positioning information and high-precision map information are output, wherein the high-precision positioning information comprises longitude, latitude and course angle of the current vehicle; the high-precision map information comprises lane line and gradient information within a certain distance ahead, and a ramp distance within a certain distance ahead; the high-precision map positioning module 3 also carries out internal fusion calculation according to the destination position, the global road plan and the vehicle coordinate information output by the navigation map module 1, and outputs electronic fence information and traffic flow information.
The environment cognition module 4 is used for calculating the traffic flow speed in the current visual range, identifying the traffic flow and the distance between the congested road segment and the vehicle, wherein:
calculating the traffic flow speed in the current visible range: when the navigation map module 1 is not started, calculating the traffic flow speed in the current visual range according to the target object information and the lane line information output by the sensing module 2; or when the navigation map module 1 is started, the information of the sensing module 2 and the navigation map module 1 is fused, and the traffic flow speed in the current visual range is calculated;
identifying traffic flow: analyzing and classifying the traffic flow according to the traffic flow speed, the lane edge and the lane line information, and identifying a congestion road section within a certain distance range and a relationship between the congestion road section and the lane;
calculating the distance between the congested road section and the vehicle: and calculating the distance between the vehicle and the congested road section according to the identified congested road section by combining the vehicle speed and the current position of the vehicle.
The pushing decision module is used for judging whether the vehicle runs in a lane to which the congested road section belongs or not according to the distance between the vehicle and the congested road section, the relationship between the congested road section and the lane and the current position of the vehicle, and if so, pushing to start an automatic driving function; if not, the automatic driving function is not pushed and started.
When the display module 8 is driven by the information pushing module 6, characters and icons are displayed, and meanwhile, the brief description of the automatic driving function and the start of a guiding key are displayed; when the sound output module 7 is driven by the information pushing module 6, voice broadcasting or other sound reminding is carried out.
The invention relates to a traffic flow-based automatic driving function pushing method, which adopts a traffic flow-based automatic driving function pushing system, and comprises the following steps:
the method comprises the steps that a sensing module 2 is utilized to detect road marks, road edges and target object information in lanes in real time, wherein the road marks comprise road surface marks, and the road surface marks comprise lane line information;
detecting the coordinate information of the vehicle in real time by using a navigation map module 1, and planning a global path according to a destination;
the high-precision map positioning module 3 is used for acquiring vehicle motion information, output information of the sensing module 2 and output information of the navigation map module 1, positioning the acquired information to high-precision map elements in a corresponding range on a high-precision map, and outputting high-precision positioning map information, high-precision positioning information, electronic fence information and traffic flow information; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle;
the environment cognition module 4 is used for acquiring output information of the high-precision map positioning module 3 and the sensing module 2, carrying out information fusion processing, calculating the traffic flow speed in the current visual range, and identifying the traffic flow and the distance between a congested road section and the vehicle;
judging the output information of the environment cognition module 4 and the high-precision map positioning module 3 by using a push decision module 5, judging whether the current vehicle is suitable for automatic driving, and deciding whether to inform a user to start an automatic driving function based on a judgment result; if the automatic driving function is determined to be started by pushing, sending a notification for starting the automatic driving function to the information pushing module 6, otherwise, not sending the notification for starting the automatic driving function;
after the information pushing module 6 receives the notification of starting the automatic driving function output by the pushing decision module 5, the display module 8 and the sound output module 7 are driven to perform text and sound prompting.
As shown in fig. 2, in this embodiment, the specific calculation flow is as follows:
(1) the implementation of the invention firstly needs information acquisition;
(2) the data processing is carried out on a large amount of collected information, the sources of the data processing information are a navigation map module 1 and a sensing module 2, and the data processing mainly relates to the following directions:
A. and (3) matching a high-precision map positioning module: the high-precision map positioning module 3 receives the road mark and the road edge information output by the sensing module 2, then matches with the relevant map elements in the high-precision map positioning module 3, outputs the matching state information, and only after the matching is successful, the calculation process is carried out, otherwise, the process is finished.
B. The position of the vehicle: the GNSS signal and the RTK differential signal output by the navigation map module 1 and the information of the steering wheel corner, the wheel speed and the wheel pulse of the vehicle are collected, the high-precision map positioning module 3 fuses internal inertial navigation and outputs high-precision positioning information, namely the current position information of the vehicle such as latitude, course angle and the like.
C. Electronic fence range: if the navigation map module 1 is not started, the high-precision map positioning module 3 is matched with an electronic fence range with an opened interior according to the current position of the vehicle; and if the navigation map module 1 is started, high-precision navigation path planning is carried out according to the destination, and the range of the internally developed electronic fence is matched according to the navigation path.
D. Calculating the traffic flow speed: if the navigation map module 1 is not started, traffic flow speed calculation is carried out according to the target object information and lane line information output by the sensing module 2, firstly, the relative positions among all targets, the relative positions and relative speeds of all the targets and the vehicle, the relationship between the targets and lane lines, the distribution of the targets in all lanes and the like are calculated according to input information, and then the traffic flow speed in the current visual range is calculated; if the navigation map module 1 is started, the traffic flow speed is calculated according to the information fusion of the sensing module 2 and the navigation map module 1, the navigation map module 1 outputs the traffic flow speed within a certain range in the high-precision navigation planning path in real time, the traffic flow speed condition calculated according to the information output by the sensing module 2 is fused, and finally the traffic flow speed within a certain range is comprehensively calculated.
(3) Identifying traffic flow: and analyzing and classifying the traffic flow according to the calculated traffic flow speed, lane edge and lane line information, and identifying the congested road section in a certain distance range and the relationship between the congested road section and the lane.
(4) Calculating the distance between the congested road section and the vehicle: and calculating the distance between the vehicle and the congested road section according to the identified congested road section by combining the vehicle speed and the current position of the vehicle.
(5) Determining that the automatic driving function is started by pushing: and judging whether the vehicle runs in the lane to which the congested road section belongs according to the calculated distance between the vehicle and the congested road section, the relationship between the congested road section and the lane and the current position of the vehicle. If so, determining to push and start an automatic driving function to the user so as to remind the user that automatic driving can be used currently; if not, determining not to use pushing;
(6) the push starts the automatic driving function: and if the automatic driving function starting control instruction is determined to be pushed to the user, sending a pushing starting automatic driving function control instruction to the outside. Continuously monitoring the function starting state after each pushing, and if the function is not started within a certain time or a certain distance after the pushing, performing the pushing again; the above circulation is carried out for a certain number of times, and if the total pushing number exceeds a certain number of times, the pushing is not carried out any more;
(7) drive push to turn on the autopilot function: and driving the execution module to prompt the user in a voice or text mode according to the push instruction.
The vehicle adopts the automatic driving function pushing system based on the traffic flow.
In this embodiment, the traffic flow speed is an average value of instantaneous speeds of all vehicles passing through a section acquired by the road section.
Claims (10)
1. The utility model provides an autopilot function push system based on traffic flow which characterized in that: the system comprises a sensing module (2), a navigation map module (1), a high-precision map positioning module (3), an environment cognition module (4), a push decision module (5), an information push module (6), a display module (8) and a sound output module (7);
the sensing module (2) is used for detecting road marks, road edges and target object information in lanes in real time; wherein the road markings comprise road surface markings comprising lane line information;
the navigation map module (1) is used for detecting the coordinate information of the vehicle in real time and carrying out global path planning according to a destination;
the high-precision map positioning module (3) is used for acquiring vehicle motion information, output information of the sensing module (2) and output information of the navigation map module (1), positioning the acquired information to high-precision map elements in a corresponding range on a high-precision map, and outputting high-precision positioning map information, high-precision positioning information, electronic fence information and traffic flow information; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle;
the environment cognition module (4) is used for acquiring output information of the high-precision map positioning module (3) and the sensing module (2), performing information fusion processing, calculating the traffic flow speed in the current visual range, and identifying the traffic flow and the distance between a congested road section and the vehicle;
the push decision module (5) is used for judging whether the current vehicle is suitable for automatic driving according to the information output by the environment cognition module (4) and the high-precision map positioning module (3) and deciding whether to inform a user to start an automatic driving function;
and the information push module (6) is used for driving the display module (8) and the sound output module to carry out text and sound prompt after receiving the notice of starting the automatic driving function output by the push decision module (5).
2. The traffic-flow-based automatic driving function pushing system according to claim 1, wherein: the navigation map module (1) outputs GNSS signals, RTK differential signals and the position of the vehicle, if a destination is set through the navigation map module (1), the navigation map module (1) carries out global road planning and outputs according to the destination, and outputs the position of the destination and traffic flow conditions in a planned route.
3. The traffic-flow-based automatic driving function pushing system according to claim 2, wherein: the target object information includes a target object number, a corresponding type, a lateral distance, a longitudinal distance, a velocity, and an acceleration.
4. The traffic-flow based automatic driving function pushing system according to claim 3, characterized in that: the high-precision map positioning module (3) receives and fuses vehicle motion information and GNSS signals and RTK differential signals output by the navigation map module (1), and also receives and matches road marks and road edges output by the sensing module (2) with map elements inside the high-precision map positioning module, and after matching, fusion processing is performed, and high-precision positioning information and high-precision map information are output, wherein the high-precision positioning information comprises longitude, latitude and course angle of the current vehicle; the high-precision map information comprises lane line and gradient information within a certain distance ahead, and a ramp distance within a certain distance ahead; the high-precision map positioning module (3) also carries out internal fusion calculation according to the destination position, the global road plan and the vehicle coordinate information output by the navigation map module (1) and outputs electronic fence information and traffic flow information.
5. The traffic-flow based automatic driving function pushing system according to claim 4, wherein: the environment cognition module (4) is used for calculating the traffic flow speed in the current visual range, identifying the traffic flow and the distance between a congestion road section and the vehicle, and specifically comprises the following steps:
calculating the traffic flow speed in the current visible range: when the navigation map module (1) is not started, calculating the traffic flow speed in the current visual range according to the target object information and the lane line information output by the sensing module (2); or when the navigation map module (1) is started, the information of the sensing module (2) and the navigation map module (1) is fused, and the traffic flow speed in the current visual range is calculated;
identifying traffic flow: analyzing and classifying the traffic flow according to the traffic flow speed, the lane edge and the lane line information, and identifying a congestion road section within a certain distance range and a relationship between the congestion road section and the lane;
calculating the distance between the congested road section and the vehicle: and calculating the distance between the vehicle and the congested road section according to the identified congested road section by combining the vehicle speed and the current position of the vehicle.
6. The traffic-flow based automatic driving function pushing system according to claim 5, wherein: the pushing decision module is used for judging whether the vehicle runs in a lane to which the congested road section belongs or not according to the distance between the vehicle and the congested road section, the relationship between the congested road section and the lane and the current position of the vehicle, and if so, pushing to start an automatic driving function; if not, the automatic driving function is not pushed and started.
7. The traffic-flow-based automatic driving function pushing system according to any one of claims 1 to 6, characterized in that: when the display module (8) is driven by the information pushing module (6), characters and icons are displayed, and meanwhile, the brief description of the automatic driving function is displayed and one key is guided to be started; when the sound output module (7) is driven by the information pushing module (6), voice broadcasting or other sound reminding is carried out.
8. A traffic flow-based automatic driving function pushing method, which is characterized in that the traffic flow-based automatic driving function pushing system according to any one of claims 1 to 7 is adopted, and the method comprises the following steps:
detecting information of a road mark, a road edge and a target object in a lane in real time by using a sensing module (2); wherein the road markings comprise road surface markings comprising lane line information;
detecting the coordinate information of the vehicle in real time by using a navigation map module (1), and planning a global path according to a destination;
the method comprises the steps that a high-precision map positioning module (3) is used for obtaining vehicle motion information, output information of a sensing module (2) and output information of a navigation map module (1), the obtained information is positioned to high-precision map elements in a corresponding range on a high-precision map, and high-precision positioning map information, high-precision positioning information, electronic fence information and traffic flow information are output; wherein the vehicle motion information includes speed, wheel speed, acceleration, yaw angle, yaw rate, and steering angle;
an environment cognition module (4) is utilized to collect output information of the high-precision map positioning module (3) and the sensing module (2) and perform information fusion processing, the traffic flow speed in the current visual range is calculated, and the traffic flow and the distance between a congested road section and the vehicle are identified;
judging the output information of the environment cognition module (4) and the high-precision map positioning module (3) by using a push decision module (5), judging whether the current vehicle is suitable for automatic driving, and deciding whether to inform a user to start an automatic driving function based on the judgment result; if the automatic driving function is determined to be started by pushing, sending a notification for starting the automatic driving function to the information pushing module (6), otherwise, not sending the notification for starting the automatic driving function;
and after the information pushing module (6) receives the notice of starting the automatic driving function output by the pushing decision module (5), the display module (8) and the sound output module (7) are driven to carry out text and sound prompt.
9. The traffic flow-based automatic driving function pushing method according to claim 8, wherein: after the automatic driving function is pushed each time, the system continuously monitors the starting state of the automatic driving function, and if the automatic driving function is not started within the preset time or the preset distance after pushing and the current state still meets the pushing condition, the automatic driving function is pushed again; and circulating the steps until the pushing times are larger than the preset times, and stopping pushing.
10. A vehicle, characterized in that: the traffic flow-based automatic driving function pushing system according to any one of claims 1 to 7 is adopted.
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| DE102020007437A1 (en) * | 2020-12-07 | 2022-06-09 | Mercedes-Benz Group AG | Method for controlling an automated driving operation of a vehicle |
| CN112595333B (en) * | 2020-12-10 | 2021-11-19 | 腾讯科技（深圳）有限公司 | Road navigation data processing method and device, electronic equipment and storage medium |
| CN112896181B (en) * | 2021-01-14 | 2022-07-08 | 重庆长安汽车股份有限公司 | Electronic fence control method, system, vehicle and storage medium |
| CN113299099A (en) * | 2021-05-21 | 2021-08-24 | 广州小鹏汽车科技有限公司 | Driving assisting method and device |
| CN113625323B (en) * | 2021-06-18 | 2022-12-30 | 北京千方科技股份有限公司 | Vehicle real-time positioning system, method and medium based on vehicle-road cooperation and vehicle |
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