CN110834630A - Vehicle driving control method and device, vehicle and storage medium - Google Patents
Vehicle driving control method and device, vehicle and storage medium Download PDFInfo
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- CN110834630A CN110834630A CN201911007575.5A CN201911007575A CN110834630A CN 110834630 A CN110834630 A CN 110834630A CN 201911007575 A CN201911007575 A CN 201911007575A CN 110834630 A CN110834630 A CN 110834630A
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- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 2
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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Abstract
The invention discloses a driving control method and device for a vehicle, the vehicle and a storage medium. The method comprises the steps of obtaining driving information of a vehicle and coordinate information of boundary points in a passable area, wherein the passable area is determined based on position information of obstacles monitored by a sensor in the vehicle; determining a current movable range according to the running information and the selected current running track; and determining a vehicle driving action and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range. The problem of in the autopilot process, traditional autopilot system loads on-vehicle sensor discernment road condition and only can discern traditional target signal, probably causes the sensor to appear missing the discernment when carrying out target identification and lead to because of not discerning the target and taking place the danger of colliding is solved, improved autopilot security nature. The vehicle-mounted sensor identifies external characteristics such as roads and traffic, and a driver does not need to monitor the vehicle and road environment in real time.
Description
Technical Field
The embodiment of the invention relates to an automatic driving technology, in particular to a driving control method and device of a vehicle, the vehicle and a storage medium.
Background
In a complex traffic environment, an autonomous vehicle needs to determine a driving path according to a surrounding environment. The vehicle identifies the road condition through a loaded vehicle-mounted sensor when running, and then plans a running path of the vehicle. In a complex traffic environment, avoidance of obstacles in a road is particularly important for automatically driving a vehicle.
At present, a conventional automatic driving system is provided with a vehicle-mounted sensor to recognize road conditions by recognizing a conventional target signal, determine an obstacle vehicle and an obstacle by the conventional target signal, and judge the position of the obstacle vehicle in a period of time, so that driving path planning is performed to obtain a drivable area. Or the existing parking method of the parking lot can identify the center line of the road by identifying the drivable area in the image of the road in front of the vehicle and judge whether the front of the vehicle is provided with the intersection or not, so as to navigate and find the target parking space.
However, in the automatic driving process, when the conventional automatic driving system is equipped with an on-vehicle sensor to recognize the road condition, only the conventional target signal can be recognized, which may cause the problem that the sensor fails to recognize the target during the target recognition, and further may cause the risk of collision due to the unrecognized target. And the drivable area in the road image in front of the vehicle is identified, and then the target parking space is found through navigation, and the driver is still required to monitor, remind and remotely control the whole parking process.
Disclosure of Invention
The invention provides a vehicle driving control method and device, a vehicle and a storage medium, which are used for avoiding obstacles in an automatic driving process and improving driving safety.
In a first aspect, an embodiment of the present invention provides a driving control method for a vehicle, including:
acquiring running information of a vehicle and coordinate information of boundary points in a passable area, wherein the passable area is determined based on position information of obstacles monitored by a sensor in the vehicle;
determining a current movable range according to the running information and the selected current running track;
and determining a vehicle driving action and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
In a second aspect, an embodiment of the present invention further provides a driving control apparatus for a vehicle, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running information of a vehicle and the coordinate information of boundary points in a passable area, and the passable area is determined based on the position information of obstacles monitored by a sensor in the vehicle;
the determining module is used for determining the current movable range according to the running information and the selected current running track;
and the execution module is used for determining the driving action of the vehicle and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more sensors for monitoring location information of an obstacle;
one or more controllers;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement a driving control method of a vehicle according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a driving control method of a vehicle according to any one of the embodiments of the present invention.
According to the method, the driving information of the vehicle and the coordinate information of the boundary points in the passable area are obtained, and the passable area is determined based on the position information of the obstacles monitored by the sensor in the vehicle; determining a current movable range according to the running information and the selected current running track; the method and the system determine the driving action of the vehicle and control the vehicle to execute based on the coordinate information of each boundary point and the current movable range, solve the problem that in the automatic driving process, when a traditional automatic driving system is loaded with a vehicle-mounted sensor to identify the road condition, only traditional target signals can be identified, and the sensor is likely to miss identification during target identification, so that collision danger is caused due to the fact that the target is not identified, and improve the safety of automatic driving. The vehicle-mounted sensor identifies external characteristics such as roads and traffic, and a driver does not need to monitor the vehicle and road environment in real time.
Drawings
Fig. 1 is a flowchart of a driving control method of a vehicle according to a first embodiment of the present invention;
fig. 2 is a flowchart of a driving control method of a vehicle in a second embodiment of the invention;
FIG. 3 is a schematic top view of a free space in accordance with a second embodiment of the present invention;
fig. 4 is a flowchart of a driving control method of a vehicle in a second embodiment of the invention;
fig. 5 is a flowchart of a steering process for controlling a vehicle according to a second embodiment of the present invention;
fig. 6 is a configuration diagram of a driving control apparatus of a vehicle in a third embodiment of the invention;
fig. 7 is a schematic structural diagram of a vehicle according to a fourth 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 further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a driving control method for a vehicle according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling a driving action of the vehicle, and the method may be executed by a driving control device for the vehicle, and specifically includes the following steps:
and 11, acquiring the running information of the vehicle and the coordinate information of the boundary points in the passable area, wherein the passable area is determined based on the position information of the obstacles monitored by the sensors in the vehicle.
The driving information of the vehicle can be specifically understood as information which the vehicle has during the driving process of the vehicle; a passable area is understood to be an area without obstacles, i.e. an area through which a vehicle can pass; an obstacle is understood to be another vehicle or a stationary object on the road that influences the travel of the own vehicle.
Specifically, the manner of acquiring the travel information of the vehicle may be acquired by a communication device mounted on the vehicle itself, and the manner of acquiring the coordinate information of the boundary point in the passable area may be acquired by a sensor, for example, an on-vehicle sensor that can provide a free space, such as a forward-looking camera or a millimeter-wave radar. The sensor obtains position information of the obstacle by monitoring the obstacle around the vehicle, and determines coordinate information of the boundary point in the passable area according to the position information of the obstacle.
And step 12, determining the current movable range according to the running information and the selected current running track.
Wherein, the current running track can be concretely understood as a planned running track selected by the vehicle at the current moment; the current movable range is understood to be a range in which the vehicle can be moved over a period of time, and can be determined from the driving information in combination with the selected current driving trajectory.
Specifically, the current travel track determination method may be that, when a track is planned according to a road condition, a plurality of travel tracks are planned according to various travelable roads between a departure place and a destination, and one of the travel tracks is selected as the current travel track; the current movable range determining manner may be that the vehicle determines the range in which the vehicle can move in a set period of time according to the current running track.
And step 13, determining a vehicle driving action and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
The driving movement of the vehicle is understood to be a movement performed by the vehicle at the next time, for example, the vehicle continues to travel according to the current planned trajectory or surrounding obstacles are avoided by changing the current driving trajectory.
Specifically, the manner of determining the driving action of the vehicle may be determined by determining the relationship between the coordinate information of each boundary point and the current movable range; and by determining the driving action, the vehicle is controlled to execute the driving action, and finally the purpose of controlling the driving action of the vehicle is achieved.
According to the method, the driving information of the vehicle and the coordinate information of the boundary points in the passable area are obtained, and the passable area is determined based on the position information of the obstacles monitored by the sensor in the vehicle; determining a current movable range according to the running information and the selected current running track; the method and the system determine the driving action of the vehicle and control the vehicle to execute based on the coordinate information of each boundary point and the current movable range, solve the problem that in the automatic driving process, when a traditional automatic driving system is loaded with a vehicle-mounted sensor to identify the road condition, only traditional target signals can be identified, and the sensor is likely to miss identification during target identification, so that collision danger is caused due to the fact that the target is not identified, and improve the safety of automatic driving. The vehicle-mounted sensor identifies external characteristics such as roads and traffic, and a driver does not need to monitor the vehicle and road environment in real time.
Example two
Fig. 2 is a flowchart of a driving control method of a vehicle according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically mainly comprises the following steps:
and 21, acquiring the running information of the vehicle and the coordinate information of the boundary point in the passable area, wherein the passable area is determined based on the position information of the obstacle monitored by the sensor in the vehicle.
Specifically, the running information includes at least information generated when the vehicle is running, such as a current running speed, a current running acceleration, a yaw rate signal, and a steering wheel signal. The position information of the obstacle is monitored through the sensor, and the sensor can be a vehicle-mounted sensor which can provide free space, such as a forward-looking camera or a millimeter wave radar. Under a good environment, the longitudinal detection range of the vehicle-mounted forward-looking camera is different from 50m to 120m, the horizontal detection angle is different from 52 degrees to 150 degrees, the vehicle-mounted millimeter wave radar is divided into a forward radar and an angle radar, the detection accuracy of the millimeter wave radar to the relative distance and the relative speed is high, and the environment adaptability is strong. The millimeter wave radar system for autopilot includes at least 1 forward radar and 4 angle radar. The longitudinal detection range of the forward radar is 60-250 m, and the horizontal detection angle is 20-100 degrees. The point coordinate information of the passable area is obtained through the vehicle-mounted sensor, and fig. 3 provides a schematic free space overhead view, as shown in fig. 3, a square frame is a self-vehicle, a triangle represents a non-traditional target obstacle, a circle is a target vehicle, a black dot is a point of a free space, and the free space represents a boundary of the passable area. The information of each sensor and the driving information of the vehicle CAN send the target level signal to the vehicle controller in real time through the vehicle-mounted CAN bus.
And step 22, determining the current movable range according to the running information and the selected current running track.
Specifically, the current travel track determination method may be a vehicle travel track determined by an a-x search algorithm, a D algorithm, a potential field method, or the like, and the vehicle travel track determined by the above method may be a plurality of travel tracks, one of the travel tracks is selected as the current travel track, and the range within which the vehicle can move currently is determined by combining the travel information.
Step 23, if there are target boundary points in the movable range of the vehicle, determining the driving action of the vehicle and controlling the vehicle to execute according to the target coordinate information of each target boundary point; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
The target boundary point is specifically understood to be a boundary point in a movable range of the vehicle; the normal running can be specifically understood as that the vehicle can run according to a pre-planned track without changing a running track or driving action.
Specifically, the manner of determining the driving action of the vehicle and controlling the vehicle to execute may be to determine whether the target boundary point is in the movable range of the vehicle according to the position information of the target boundary point, and when the target boundary point is in the movable range of the vehicle, the next driving action of the vehicle may be determined according to the target coordinate information of each target boundary point. And when the target boundary point is not in the movable range of the vehicle, determining that the driving action of the vehicle is normal driving, and controlling the vehicle to drive according to the current driving track.
Further, fig. 4 provides a flowchart of a driving control method for a vehicle, and as shown in fig. 4, the determining the driving action of the vehicle and controlling the vehicle to execute according to the target coordinate information of each target boundary point specifically includes the following steps:
step 231, determining the obstacle identifier of the obstacle corresponding to each target boundary point, and acquiring historical coordinate information of each boundary point corresponding to each obstacle identifier at the previous moment.
The obstacle identification can be specifically understood as the identity identification of the obstacle when the sensor acquires the position information of the obstacle, so as to distinguish different obstacles; the historical coordinate information may be understood as coordinate information of the boundary point before the current time.
Specifically, the obstacle identification manner for determining the obstacle corresponding to each target boundary point may be that the sensor marks the obstacle when acquiring the obstacle position information, for example, the sensor marks the obstacle with numbers and/or letters. Different obstacles can be distinguished through the marks of the obstacles, so that the coordinate information of the obstacles at different moments can be determined.
Step 232, determining the target speed and the target acceleration of each target boundary point according to each target coordinate information and the corresponding historical coordinate information.
The target speed may be specifically understood as a current speed of the target boundary point, and the target acceleration may be specifically understood as a current acceleration of the target boundary point.
Specifically, the target speed and the target acceleration of each target boundary point may be determined by continuously calculating the speed and the acceleration of the point through coordinate differentiation according to each target coordinate information and corresponding historical coordinate information, that is, calculating the speed and the acceleration of the point through a physical calculation method according to the point coordinates.
The predicted coordinate information can be specifically understood as coordinate information of the target boundary point at the next moment, and is used for determining the vehicle driving action by combining the movable range of the vehicle.
Specifically, the coordinate information may be predicted by calculating, according to the current target coordinate information, the predicted coordinate information by using a physical calculation method in combination with the target speed and the target acceleration.
When each target boundary point runs in the same direction as the vehicle, the target speed is higher than the current running speed, and the target acceleration is higher than the current running acceleration, the target vehicle can be determined to be always in the front position of the vehicle, and the running of the vehicle is not affected, so that the driving action of the vehicle can be determined to be normal running, namely the vehicle runs according to a pre-planned track, the running track or the driving action of the vehicle does not need to be changed, the vehicle runs according to the pre-planned track, and the vehicle is controlled to run according to the current running track. Otherwise, for example, the vehicle speed is greater than the target boundary point or the vehicle and the target boundary point are opposite in speed direction, and the vehicle may be influenced by the target boundary point, that is, the vehicle may need to avoid the target boundary point, then according to the current target coordinate information, the predicted coordinate information is obtained by calculation in combination with the target speed and the target acceleration, and according to each piece of predicted coordinate information, the vehicle driving action is determined and the vehicle is controlled to execute.
Further, the determining the driving action of the vehicle and controlling the vehicle to execute according to the target coordinate information of each target boundary point may be as follows: if the target prediction coordinate information in the movable range of the vehicle exists, determining that the vehicle driving action is avoidance, and controlling the vehicle to carry out avoidance running; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
The avoidance can be specifically understood as that the vehicle changes the original running state and avoids the target boundary point.
Specifically, the avoidance mode can be divided into deceleration avoidance and steering avoidance.
Further, in this embodiment, the optimization of "determining that the vehicle driving action is avoidance and controlling the vehicle to perform avoidance driving" may specifically be: when each candidate driving track given by the corresponding vehicle contains boundary points, determining the avoidance as a brake avoidance, and controlling the vehicle to perform brake processing by adopting a set brake acceleration; otherwise, determining the avoidance as steering avoidance, and controlling the vehicle to perform steering treatment.
The candidate driving tracks can be specifically understood as multiple driving tracks which can be planned according to various drivable roads between a departure place and a destination when the tracks are planned according to road conditions, one of the tracks is selected as a current driving track, and the other driving tracks are the candidate driving tracks.
Specifically, the mode of determining that the avoidance is the brake avoidance may be to determine whether the candidate tracks include boundary points, and if each candidate driving track given by the vehicle includes boundary points, determine that the avoidance is the brake avoidance, and control the vehicle to perform braking processing with a set braking acceleration. Optionally, an Automatic Emergency Braking Algorithm (AEB) may be used, and the conditions required for Braking may be calculated by combining the vehicle speed of the vehicle, the acceleration gradient of the vehicle, the vehicle speed of the target vehicle, the acceleration gradient of the target vehicle, and/or the relative positions of the vehicle and the target vehicle.
Judging whether each candidate driving track given by the corresponding vehicle contains boundary points, if so, indicating that no any driving track can enable the vehicle to avoid the obstacle to drive, and avoiding the obstacle by adopting a brake avoiding mode, so that the vehicle is controlled to adopt the set brake acceleration to carry out brake processing. Otherwise, the vehicle can select the candidate trajectory to run by selecting the other candidate trajectory, namely, by steering and avoiding.
Further, fig. 5 is a flowchart illustrating a steering process performed by a vehicle, and as shown in fig. 5, the specific steps are as follows:
The yaw rate signal and the steering wheel signal are understood to mean, in particular, signals which are generated by the vehicle during driving as a function of the driving behavior of the vehicle and which represent the driving behavior of the vehicle itself, from which yaw rate signal and steering wheel signal in the driving information a transverse control angle or torque of the vehicle can be determined. The steering wheel signal is understood in particular to comprise at least information about the center position, the direction of rotation, the angle of rotation and/or the speed of rotation of the steering wheel.
Specifically, the yaw-rate signal and the steering wheel signal may be obtained by sensors of the vehicle itself. The manner of determining the lateral control steering angle or torque of the vehicle may be calculated by a Lane keeping assist algorithm (LKA).
Specifically, a lateral control steering angle or torque of the vehicle can be determined according to a yaw rate signal and a steering wheel signal in the driving information, and the vehicle is controlled to avoid steering.
The vehicle running information includes information reflecting the driving behavior of the vehicle generated by many vehicles during running, including at least a yaw rate signal and a steering wheel signal. Information such as a yaw rate signal, a steering wheel signal and the like is calculated through a lane keeping assist algorithm, a transverse control corner or torque of the vehicle can be obtained, and the transverse control corner or torque of the vehicle is used for controlling the vehicle to turn and avoid, so that surrounding obstacles are avoided in the driving process of the vehicle.
According to the method, the driving information of the vehicle and the coordinate information of the boundary points in the passable area are obtained, and the passable area is determined based on the position information of the obstacles monitored by the sensor in the vehicle; determining a current movable range according to the running information and the selected current running track; the method and the system determine the driving action of the vehicle and control the vehicle to execute based on the coordinate information of each boundary point and the current movable range, solve the problem that in the automatic driving process, when a traditional automatic driving system is loaded with a vehicle-mounted sensor to identify the road condition, only traditional target signals can be identified, and the sensor is likely to miss identification during target identification, so that collision danger is caused due to the fact that the target is not identified, and improve the safety of automatic driving. The vehicle-mounted sensor identifies external characteristics such as roads and traffic, and a driver does not need to monitor the vehicle and road environment in real time.
EXAMPLE III
Fig. 6 is a configuration diagram of a vehicle driving control device according to a third embodiment of the present invention, the vehicle driving control device including: an acquisition module 31, a determination module 32 and an execution module 33.
The acquiring module 31 is configured to acquire driving information of a vehicle and coordinate information of boundary points in a passable area, where the passable area is determined based on position information of an obstacle monitored by a sensor in the vehicle; a determining module 32, configured to determine a current movable range according to the driving information and the selected current driving track; and the execution module 33 is used for determining the driving action of the vehicle and controlling the vehicle to execute the driving action based on the coordinate information of each boundary point and the current movable range.
According to the invention, the driving information of a vehicle and the coordinate information of boundary points in a passable area are acquired through an acquisition module, and the passable area is determined based on the position information of obstacles monitored by a sensor in the vehicle; determining a current movable range according to the running information and the selected current running track through a determining module; the execution module determines the driving action of the vehicle and controls the vehicle to execute based on the coordinate information of each boundary point and the current movable range, so that the problem that in the automatic driving process, when a traditional automatic driving system is loaded with a vehicle-mounted sensor to identify the road condition, only traditional target signals can be identified, the sensor is likely to miss identification during target identification, collision danger is caused due to the fact that the target is not identified, and the safety of automatic driving is improved. The vehicle-mounted sensor identifies external characteristics such as roads and traffic, and a driver does not need to monitor the vehicle and road environment in real time.
Optionally, the driving information at least includes: a current travel speed, a current travel acceleration, a yaw rate signal, and a steering wheel signal.
Further, the execution module 33 is specifically configured to: if the target boundary points in the movable range of the vehicle exist, determining the driving action of the vehicle and controlling the vehicle to execute according to the target coordinate information of each target boundary point; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
Further, the apparatus further comprises: the action determining module is used for determining the obstacle identifier of the obstacle corresponding to each target boundary point and acquiring historical coordinate information of each boundary point corresponding to each obstacle identifier at the previous moment; determining the target speed and the target acceleration of each target boundary point according to each target coordinate information and corresponding historical coordinate information; when each target boundary point and the vehicle run in the same direction, the target speed is higher than the current running speed, and the target acceleration is higher than the current running acceleration, determining that the vehicle driving action is normal running, and controlling the vehicle to run according to the current running track; otherwise, according to the speed and the acceleration of each target boundary point, determining the predicted coordinate information of each target boundary point at the next moment, and according to each predicted coordinate information, determining the driving action of the vehicle and controlling the vehicle to execute.
Further, the apparatus further comprises: the avoidance control module is used for determining that the vehicle driving action is avoidance if target prediction coordinate information in the movable range of the vehicle exists, and controlling the vehicle to carry out avoidance running; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
Further, the avoidance module includes:
the brake avoidance unit is used for determining avoidance as brake avoidance when each candidate driving track given by the corresponding vehicle contains boundary points, and controlling the vehicle to perform brake processing by adopting set brake acceleration; otherwise, determining the avoidance as steering avoidance, and controlling the vehicle to perform steering treatment.
The steering avoidance unit is used for determining a transverse control corner or torque of the vehicle according to a yaw velocity signal and a steering wheel signal in the running information; and controlling the steering of the vehicle according to the transverse control steering angle or the torque.
The vehicle driving control device provided by the embodiment of the invention can execute the vehicle driving control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 7 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 7, the vehicle includes a sensor 40, a controller 41, a memory 42, an input device 43, and an output device 44; the number of sensors 40 and the number of controllers 41 in the vehicle may be one or more, and one sensor 40 and one controller 41 are exemplified in fig. 7; the sensors 40, controller 41, memory 42, input device 43, and output device 44 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 7.
And a sensor 40 for monitoring position information of the obstacle.
The memory 42, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the driving control method of the vehicle in the embodiment of the present invention (for example, the acquisition module 31 and the determination module 32 and the execution module 33 in the driving control apparatus of the vehicle). The controller 41 executes various functional applications and data processing of the vehicle, that is, implements the above-described driving control method of the vehicle, by executing software programs, instructions, and modules stored in the memory 42.
The memory 42 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 42 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 42 may further include memory remotely located from the controller 41, which may be connected to the vehicle over 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 cloud platform. The output device 44 may include a display device such as a display screen.
EXAMPLE five
Fifth, an embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a driving control method of a vehicle, the method including:
acquiring running information of a vehicle and coordinate information of boundary points in a passable area, wherein the passable area is determined based on position information of obstacles monitored by a sensor in the vehicle;
determining a current movable range according to the running information and the selected current running track;
and determining a vehicle driving action and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
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 driving control method for a vehicle provided by any embodiment 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 above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; 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 driving control method of a vehicle, characterized by comprising:
acquiring running information of a vehicle and coordinate information of boundary points in a passable area, wherein the passable area is determined based on position information of obstacles monitored by a sensor in the vehicle;
determining a current movable range according to the running information and the selected current running track;
and determining a vehicle driving action and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
2. The method according to claim 1, characterized in that the driving information comprises at least:
a current travel speed, a current travel acceleration, a yaw rate signal, and a steering wheel signal.
3. The method according to claim 2, wherein the determining a vehicle driving action and controlling the vehicle to perform, based on the coordinate information of each of the boundary points and the current movable range, includes:
if the target boundary points in the movable range of the vehicle exist, determining the driving action of the vehicle and controlling the vehicle to execute according to the target coordinate information of each target boundary point; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
4. The method according to claim 3, wherein the determining the vehicle driving action and controlling the vehicle to perform according to the target coordinate information of each target boundary point comprises:
determining the obstacle identification of the obstacle corresponding to each target boundary point, and acquiring historical coordinate information of each boundary point corresponding to each obstacle identification at the previous moment;
determining the target speed and the target acceleration of each target boundary point according to each target coordinate information and corresponding historical coordinate information;
when each target boundary point and the vehicle run in the same direction, the target speed is higher than the current running speed, and the target acceleration is higher than the current running acceleration, determining that the vehicle driving action is normal running, and controlling the vehicle to run according to the current running track; otherwise, according to the speed and the acceleration of each target boundary point, determining the predicted coordinate information of each target boundary point at the next moment, and according to each predicted coordinate information, determining the driving action of the vehicle and controlling the vehicle to execute.
5. The method of claim 4, wherein determining the vehicle driving action and controlling the vehicle to perform based on each of the predicted coordinate information comprises:
if the target prediction coordinate information in the movable range of the vehicle exists, determining that the vehicle driving action is avoidance, and controlling the vehicle to carry out avoidance running; otherwise, determining the driving action of the vehicle as normal running, and controlling the vehicle to run according to the current running track.
6. The method of claim 5, wherein the determining that the vehicle driving action is avoidance and controlling the vehicle to travel in avoidance comprises:
when each candidate driving track given by the corresponding vehicle contains boundary points, determining the avoidance as a brake avoidance, and controlling the vehicle to perform brake processing by adopting a set brake acceleration; otherwise, determining the avoidance as steering avoidance, and controlling the vehicle to perform steering treatment.
7. The method of claim 6, wherein the controlling the vehicle to perform a steering process comprises:
determining a lateral control steering angle or torque of the vehicle according to a yaw rate signal and a steering wheel signal in the driving information;
and controlling the steering of the vehicle according to the transverse control steering angle or the torque.
8. A driving control apparatus of a vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running information of a vehicle and the coordinate information of boundary points in a passable area, and the passable area is determined based on the position information of obstacles monitored by a sensor in the vehicle;
the determining module is used for determining the current movable range according to the running information and the selected current running track;
and the execution module is used for determining the driving action of the vehicle and controlling the vehicle to execute based on the coordinate information of each boundary point and the current movable range.
9. A vehicle, characterized by comprising:
one or more sensors for monitoring location information of an obstacle;
one or more controllers;
a storage device for storing one or more programs,
when executed by the one or more controllers, cause the one or more controllers to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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| CN201911007575.5A CN110834630A (en) | 2019-10-22 | 2019-10-22 | Vehicle driving control method and device, vehicle and storage medium |
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