CN110850874A

CN110850874A - Control method, device and system for intelligent driving vehicle and storage medium

Info

Publication number: CN110850874A
Application number: CN201911096887.8A
Authority: CN
Inventors: 徐修信; 周小成; 莫斯尧
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2019-11-11
Filing date: 2019-11-11
Publication date: 2020-02-28

Abstract

The invention provides a control method, a control device, a control system and a storage medium for an intelligent driving vehicle. The method comprises the following steps: detecting the distance between the intelligent driving vehicle and a front intersection in real time; determining a target vehicle at the front intersection when the distance between the intelligent driving vehicle and the front intersection is less than a first distance, wherein a coincidence point exists between the predicted trajectory of the target vehicle and the predicted trajectory of the intelligent driving vehicle; determining a priority of the target vehicle and a priority of the smart driving vehicle; and controlling the intelligent driving vehicle to pass through the front intersection according to the relation between the priority of the target vehicle and the priority of the intelligent driving vehicle. According to the technical scheme, the vehicle is controlled through the relation between the priorities of the intelligent driving vehicles based on the perception result of the vehicle, so that the stability of a network is not depended on, and automatic and reliable planning decision is realized.

Description

Control method, device and system for intelligent driving vehicle and storage medium

Technical Field

The invention relates to the field of automatic driving of vehicles, in particular to a control method, a control device, a control system and a storage medium for an intelligent driving vehicle.

Background

With the development of vehicle intellectualization, how to enable the intersection to have more reasonable traffic efficiency becomes a hotspot in the research field of urban traffic.

In the existing control technology of the intelligent driving vehicle, the intelligent driving vehicle is controlled to pass through the intersection by combining the vehicle network (V2X) and the automatic perception technology of the intelligent driving vehicle. The control method of the intelligent driving vehicle has the following problems: the existing V2X depends on the stability of the network, and the network delay can greatly reduce the real-time performance and reliability of the V2X detection result; the detection result of V2X and the automatic sensing result of the vehicle may sometimes be inconsistent, and it is difficult to make a correct decision.

Therefore, a new control technology for an intelligent driving vehicle is needed to solve the above problems.

Disclosure of Invention

The present invention has been made in view of the above problems. The invention provides a control method, a control device, a control system and a storage medium for an intelligent driving vehicle.

According to an aspect of the present invention, there is provided a control method of an intelligent driving vehicle, including:

detecting the distance between the intelligent driving vehicle and a front intersection in real time;

determining a target vehicle at the front intersection when the distance between the intelligent driving vehicle and the front intersection is less than a first distance, wherein a coincidence point exists between the predicted trajectory of the target vehicle and the predicted trajectory of the intelligent driving vehicle;

determining a priority of the target vehicle and the intelligent driving vehicle; and

and controlling the intelligent driving vehicle to pass through the front intersection according to the relation between the priorities of the target vehicle and the intelligent driving vehicle.

Illustratively, the determining the target vehicle at the forward crossing includes:

determining alternative vehicles among all vehicles at the front intersection;

determining whether a coincidence point exists between the predicted trajectory of the candidate vehicle and the predicted trajectory of the smart driving vehicle; and

for the case where a coincidence point exists, determining the candidate vehicle as the target vehicle.

Illustratively, the determining of the alternative vehicle among all vehicles at the front intersection includes:

collecting pose information of other vehicles at the front intersection;

mapping the pose information of other vehicles at the front intersection onto a map, wherein the map comprises mark points, and the mark points comprise an intersection entry point and an intersection exit point;

determining the alternative vehicle according to the mapped poses of other vehicles at the front intersection.

Exemplary, said determining the alternative vehicle according to the mapped pose further comprises:

determining the relationship between the mapped poses of other vehicles at the front intersection and the intersection entry point and the intersection exit point;

determining that the other vehicle is a candidate vehicle based on the mapped pose of the other vehicle at the front intersection being before an intersection exit point.

Illustratively, the distance of the smart driving vehicle from the intersection ahead is a distance between the smart driving vehicle and an intersection entry point of a lane in which the smart driving vehicle is located.

Illustratively, before the determining the target vehicle at the front intersection, the control method further includes: and when the distance between the intelligent driving vehicle and the front intersection is less than a first distance, setting the speed limit of the intelligent driving vehicle at the entrance point of the intersection to be 0 km/h.

Illustratively, said controlling said smart driving vehicle through said forward intersection comprises: and when the priority of the target vehicle is lower than that of the intelligent driving vehicle, setting the speed limit of the intelligent driving vehicle at the access point of the intersection as infinite.

Illustratively, the priorities of the target vehicle and the smart driving vehicle include a driving priority determined according to a traffic direction of the vehicle.

For example, for the case where the traffic direction is straight, the travel priority is determined as the first travel priority; determining the driving priority as a second driving priority when the traffic direction is a right turn; determining the driving priority as a third driving priority when the traffic direction is a left turn; determining the driving priority as a fourth driving priority when the passing direction is the U-turn; wherein the first travel priority is higher than the second travel priority, the second travel priority is higher than the third travel priority, and the third travel priority is higher than the fourth travel priority.

For example, the priorities of the target vehicle and the intelligent driving vehicle further include a road priority determined according to a road on which the vehicle travels, for determining a vehicle travel order when the travel priorities of the target vehicle and the intelligent driving vehicle are equal.

Illustratively, the priorities of the target vehicle and the smart driving vehicle include: a highest priority determined according to an emergency lane in which the vehicle is traveling, wherein the highest priority is higher than any other priority.

Illustratively, said controlling said smart-driven vehicle through said forward intersection according to a relationship between the priority of said target vehicle and the priority of said smart-driven vehicle comprises:

when the priority of the target vehicle is higher than that of the intelligent driving vehicle, controlling the intelligent driving vehicle to wait at the front intersection;

and when the priority of the target vehicle is lower than that of the intelligent driving vehicle, controlling the intelligent driving vehicle to directly pass through the front intersection.

According to another aspect of the present invention, there is also provided a control apparatus for a smart driving vehicle, including:

the sensor is used for detecting the distance between the intelligent driving vehicle and the front intersection in real time;

a collision vehicle sensing module for determining a target vehicle at the front intersection when the distance between the intelligent driving vehicle and the front intersection is less than a first distance, wherein a coincidence point exists between the predicted trajectory of the target vehicle and the predicted trajectory of the intelligent driving vehicle;

a priority determination module for determining priorities of the target vehicle and the intelligent driving vehicle; and

and the control module controls the intelligent driving vehicle to pass through the front intersection according to the relation between the priorities of the target vehicle and the intelligent driving vehicle.

According to yet another aspect of the present invention, there is also provided a control system for a smart-driving vehicle, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for execution by the processor for performing the control method of the smart-driving vehicle described above.

According to still another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions for executing the above-described control method of an intelligent driving vehicle when executed.

According to the control method, the control device, the control system and the storage medium of the intelligent driving vehicle, the vehicle is controlled through the relation between the priorities of the vehicles on the basis of the perception result of the vehicle. Therefore, the technical scheme does not need the command of V2X or cloud scheduling, and is not dependent on the stability of the network. In addition, the technical scheme can ensure that the intelligent driving vehicle can safely and orderly pass through the intersection.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.

FIG. 1 shows a schematic flow diagram of a control method of a smart driving vehicle according to one embodiment of the invention;

FIG. 2 shows a schematic intersection diagram according to one embodiment of the invention;

FIG. 3 shows a schematic flow chart of a control method of a smart driving vehicle according to another embodiment of the invention;

fig. 4 shows a schematic block diagram of a control apparatus for a smart driving vehicle according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

In order to solve the above problems, the present invention provides a control method for an intelligent driving vehicle. The control method of the intelligent driving vehicle can be realized based on a map. All the intelligent driving vehicles will travel using the same map. The control method of the intelligent driving vehicle does not need the assistance of V2X, and each intelligent driving vehicle completes the driving decision through the intersection in the map-based driving process. For example, when a vehicle passes through a front intersection, the vehicle is to avoid other vehicles or to directly pass through the intersection. The intersection can be any intersection where multiple roads intersect, such as an intersection, a T-junction, and the like. The intersection may also be a single lane intersection or a multi-lane intersection. The front intersection is the first intersection which appears in front of the driving direction of the current intelligent driving vehicle. It is understood that all the smart driving vehicles running at the intersection run under the control of the control method.

Fig. 1 shows a schematic flow diagram of a control method 100 of a smart driving vehicle according to one embodiment of the invention. The intelligent driving vehicle may be considered a current vehicle that makes planning decisions on how to pass an intersection based on the control method 100. As shown in fig. 1, the control method 100 includes step S110, step S120, step S130, and step S140.

And step S110, detecting the distance between the intelligent driving vehicle and the front intersection in real time. It is understood that the intersection ahead here is with respect to the smart driving vehicle (current vehicle). That is, the intersection ahead is the first intersection that appears ahead of the traveling direction of the current vehicle.

The distance between the current vehicle and the intersection ahead may be the distance between the current vehicle and the center of the intersection ahead, or may be the distance between the current vehicle and the position where it enters the intersection ahead. FIG. 2 shows a schematic intersection according to one embodiment of the invention. As shown in fig. 2, the intersection is a three-lane intersection. The intersection is an intersection where four roads are converged, namely a road 1 to a road 4. Each road comprises three lanes. Thus, the intersection comprises 12 lanes in total. The distance from the current vehicle 1 traveling on the lane 1 toward the intersection may be a distance in the direction of the road between the point a at which the current vehicle 1 is located and the point B at which the current vehicle enters the intersection in fig. 2, or a distance in the direction of the road between the point a and the center point C of the intersection. During the running process of the current vehicle, the current vehicle can simultaneously detect the distance between the current vehicle and the intersection ahead of the current vehicle. This enables the subsequent step to be started in time.

For example, the current vehicle may detect its location in the map in real time. For example, the positioning itself is performed by a Global Positioning System (GPS), and the positioning itself is performed by a method such as a visual sensor or a laser radar. And mapping the positioning result into a map. The distance between the current vehicle and the intersection ahead can be determined according to the mapping result and the map.

For example, the current vehicle can shoot the road condition ahead in real time through the vehicle-mounted camera device. And if the intersection appears in the shooting distance in front, determining the distance between the current vehicle and the front intersection in real time.

And step S120, when the distance between the current vehicle and the front intersection is less than a first distance, determining a target vehicle at the front intersection, wherein a coincidence point exists between the predicted track of the target vehicle and the predicted track of the current vehicle.

Illustratively, the first distance may be a preset specific distance threshold. For example, the specific distance threshold may be predetermined according to the speed limit condition of the road. The higher the speed limit, the greater the particular distance threshold may be. Illustratively, the specific distance threshold may be any value from 50 meters to 200 meters.

Alternatively, the first distance may also be a product of the current vehicle own speed and a preset specific coefficient.

When the distance between the current vehicle and the front intersection is smaller than the first distance, the target vehicle is determined, and enough distance can be reserved for the current vehicle to brake and enough reaction time is reserved for a control system of the current vehicle. And when the distance between the current vehicle and the front intersection is less than a first distance, immediately triggering a control system to detect and determine the target vehicle at the front intersection.

In some embodiments, the target vehicle is a vehicle whose predicted trajectory and the predicted trajectory of the current vehicle have a point of coincidence therebetween. The point of coincidence between the predicted trajectories of the two vehicles represents a collision point between the two vehicles at which a collision accident may occur. It can be understood that the future driving track, i.e. the predicted track, can be predicted according to the current pose and/or the lane of the vehicle. In this step, a target vehicle that may collide with the current vehicle is determined.

Still taking the intersection shown in fig. 2 as an example, for a left-turn vehicle 1 traveling toward the intersection on a lane 1, there is a coincidence point between the predicted trajectories of both the left-turn vehicle 2 traveling toward the intersection on a lane 7 and the current vehicle 1, i.e., the center point of the intersection, and the left-turn vehicle 2 can be considered as the target vehicle. Also for the left-turn vehicle 1, there is no coincident point between the predicted trajectories of both the right-turn vehicle 3 traveling toward the intersection on the lane 9 and the current vehicle 1, and thus, the right-turn vehicle 3 is not the target vehicle of the current vehicle 1.

For the condition that no target vehicle exists at the front intersection, the current vehicle can directly pass without waiting. For the case where the target vehicle is determined, in order to avoid collision of the current vehicle with the target vehicle, the subsequent steps are continuously performed.

And step S130, determining the priority of the target vehicle and the priority of the current vehicle.

The predicted trajectories of the target vehicle and the current vehicle have a coincident point, and if the target vehicle and the current vehicle simultaneously pass through a front intersection, a traffic accident is likely to occur. In the step, the priority of each vehicle is respectively determined, so that the passing sequence of the vehicles through the intersection is determined according to the priority of the vehicles.

Preferably, the different priorities may be determined according to the traveling direction of the vehicle when passing through the intersection. For example, a straight-driving vehicle has a higher priority than a turning vehicle.

And step S140, controlling the current vehicle to pass through the front intersection according to the relation between the priority of the target vehicle and the priority of the current vehicle. In this step, the current vehicle is controlled to pass through the intersection in accordance with the priority relationship between the vehicles at the intersection ahead of the current vehicle.

For example, when the priority of the current vehicle is lower than the priority of the target vehicle, the current vehicle is controlled to wait at the front intersection. The vehicle passing control method can control the current vehicle to pass after the target vehicle passes through the front intersection. When the priority of the current vehicle is higher than that of the target vehicle, the current vehicle can directly pass through the front intersection without waiting.

In the above control method of the intelligent driving vehicle, the vehicle is controlled by the relationship between the priorities of the vehicles based on the sensing result of the vehicle itself. Therefore, the technical scheme does not need the command of V2X or cloud scheduling, and is not dependent on the stability of the network. In addition, the technical scheme can ensure that the intelligent driving vehicle can safely and orderly pass through the intersection.

In one example, when the target vehicle at the front intersection is determined in step S120 described above, it may be determined among all the vehicles at the front intersection. When the distance between the current vehicle and the front intersection is smaller than the first distance, the state of the front intersection is detected firstly, and whether other vehicles exist at the front intersection or not is determined. And if no other vehicles exist at the front intersection, controlling the current vehicle to directly pass through. If there are other vehicles at the front intersection, it is determined whether there is a coincidence point between the predicted trajectory of the current vehicle and the predicted trajectories of the other vehicles at the front intersection. Pose information of other vehicles at the front intersection can be collected and then mapped onto a map. And determining the predicted tracks of other vehicles according to the mapped poses. And judging whether the predicted track of the current vehicle and the predicted tracks of other vehicles have coincident points or not. Then, for the case where there is a coincidence point, the vehicle is determined as the target vehicle. And for the condition that no coincident point exists, the vehicle can be disregarded, and the current vehicle is controlled to directly pass.

In another example, when the target vehicle at the front intersection is determined in step S120, the candidate vehicles may be determined first among all the vehicles at the front intersection, and then the target vehicle may be determined from the candidate vehicles.

When the distance between the current vehicle and the front intersection is smaller than the first distance, whether other vehicles at the front intersection are in the considered range or not is judged firstly, namely the vehicles in the considered range are the alternative vehicles. For example, if a vehicle at a front intersection has just driven through the front intersection at that time, the vehicle may not be considered because it has no threat to the driving of the current vehicle. If a vehicle at a front intersection has not yet traveled through the front intersection at this time, the vehicle may collide with the current vehicle at the front intersection, which may be used as an alternative vehicle. When the target vehicle is determined, whether a coincidence point exists between the predicted trajectory of the candidate vehicle and the predicted trajectory of the current vehicle is determined only for the candidate vehicle. How to determine whether there is a coincidence between the predicted trajectories is similar to the scheme described in the above example, and for brevity, no further description is provided here. Unlike the above example in which the target vehicle is determined for all the vehicles at the front intersection, in this example, all the other vehicles are screened, and the target vehicle is determined for only some of the vehicles, so that the calculation load of the current vehicle can be greatly reduced.

For example, the above process of determining the alternative vehicles among all the vehicles at the front intersection may be implemented depending on a map. The map may include marked points. The marker points may include an intersection entry point and an intersection exit point. The intersection driving-in point is a point where each lane drives into the intersection, and the intersection driving-out point is a point where each lane is driven out from the intersection. Referring again to fig. 2, the solid black circles in fig. 2 represent the intersection entry points and the solid gray circles represent the intersection exit points.

Specifically, the alternative vehicle may be determined by the following steps. And collecting pose information of all other vehicles at the front intersection. And mapping the pose information of other vehicles at the front intersection to a map. Thus, the travel information of the vehicle on the map, including the current position and posture of the vehicle on the map, and the like, can be determined. Determining the alternative vehicle according to the mapped poses of other vehicles at the front intersection. In the scheme, the candidate vehicle is determined based on the mapping pose of the vehicle on the map, the calculation amount is small, and the realization is easy.

For example, the above-mentioned determining the candidate vehicle according to the pose of the vehicle mapped on the map may include the following steps. First, the relationship of the mapped pose of the vehicle at the front intersection with the intersection entry point and the intersection exit point is determined. Then, the vehicle is determined to be a candidate vehicle based on the mapped pose of the vehicle being before the intersection exit point.

Referring again to fig. 2, there are shown all possible trajectories of vehicles at the intersection, for a total of 12. And each driving track is marked with a corresponding crossing entry point and a corresponding crossing exit point. And determining the position relation between the vehicle and the crossing exit point according to the pose mapped by the vehicle on the map. In one example, for any vehicle at a front intersection, the marking point which passes first within a certain distance threshold in front of the vehicle is determined according to the mapped pose in the map. This may be achieved by a search operation. In the case where the marker point passed first is an intersection entry point, it is determined that the vehicle is entering a front intersection, such as the vehicle 2 and the vehicle 3 shown in fig. 2. In the case where the marker point passed first is the intersection exit point, it is determined that the vehicle is exiting the intersection ahead, as the vehicle 4 shown in fig. 2. In these cases, the vehicle is located before the exit point of the intersection, which may collide with the current vehicle, and it may be determined to be an alternative vehicle. In the case where no marked point exists far ahead of the vehicle (e.g., within a certain distance), it can be determined that the vehicle has driven away from the intersection ahead, and the vehicle is not used as an alternative vehicle, such as vehicle 5 in fig. 2.

In the scheme, whether the vehicle is the alternative vehicle is determined according to the position relation between the pose mapped by the vehicle and the intersection exit point on the map, any additional hardware device is not needed, the necessity of taking the alternative vehicle into consideration is effectively guaranteed, target vehicles are prevented from being omitted, and the method is easy to implement.

Alternatively, the current vehicle and all other vehicles may be provided with information providing means, such as indicator lights or radar transmitters or the like. The information providing device is used for prompting surrounding vehicles that the vehicle passes through the intersection. Illustratively, when the distance between the vehicle and the front intersection is less than the second distance, information that the host vehicle is located near the intersection is provided, such as lighting an indicator lamp. Therefore, other surrounding vehicles can conveniently acquire the driving information of the vehicle. The second distance may be equal to or an approximation of the first distance. When the vehicle passes through a front intersection, for example, after passing through an intersection exit point, the provision of the above-mentioned information is stopped, for example, the indicator lamp is turned off. When the current vehicle acquires information provided by the information providing device of the other vehicle at the intersection ahead, it can be determined that the vehicle providing the information is passing through the intersection ahead, and thus it can be determined as an alternative vehicle. Using the information providing means to determine the alternative vehicle reduces the computational effort of the control system of the current vehicle.

For example, the target vehicle may be determined based on the map. The marker points of the map also include collision points, i.e. the coincidence points of the predicted trajectory of the vehicle, see open circles in fig. 2. At these collision points, vehicles of different traffic directions may collide. The target vehicle may be determined based on whether there is a collision point between predicted trajectories of the vehicles. Still taking fig. 2 as an example, there is a coincidence point between the predicted trajectories of the vehicle 1 and the vehicle 2, i.e., the intersection center point C. Thus, the vehicle 2 is the target vehicle for the current vehicle 1. And the target vehicle is determined according to the coincident points in the map, so that the complex calculation is avoided, and the method is easy to realize.

It will be appreciated that the intersection entry point on the map can be used to determine the distance of the current vehicle from the intersection ahead. For example, the distance between the current vehicle and the intersection entry point of the lane in which it is located is taken as its distance from the preceding intersection. This distance is the total distance the vehicle is currently traveling before entering the intersection. Under the condition that the intersection entry point is marked on the map, the distance is taken as the distance between the current vehicle and the front intersection, so that the subsequent operation is facilitated, and the accuracy of the subsequent operation is ensured.

It will be appreciated that, based on safety considerations, the current vehicle may be slowed down as it enters the intersection ahead. For example, when the distance between the current vehicle and the intersection ahead is less than the first distance, the speed limit of the entry point of the current vehicle at the intersection ahead may be set to 0 km/h. Therefore, the safety of the current vehicle passing through the front intersection can be ensured to a greater extent.

Because a coincidence point exists between the predicted trajectory of the current vehicle and the predicted trajectory of the target vehicle, there is a potential safety hazard in the traveling of the current vehicle and the target vehicle. In the above control method, the strategy of the current vehicle passing through the intersection ahead is controlled according to the relationship between the priorities of the vehicles. Thereby, collision with the target vehicle is avoided. The priority of the vehicle may include a driving priority determined according to a traffic direction of the vehicle. For example, for each vehicle at a front intersection, i.e., each of the target vehicle and the current vehicle, the direction of passage of the vehicle at the front intersection is determined based on the predicted trajectory of the vehicle. Then, the driving priority of the vehicle is determined according to the passing direction of the vehicle at the front intersection. In the scheme, the passing direction of the vehicle is considered when the priority of the vehicle is determined, so that the crossing passing control of the vehicle is facilitated.

Illustratively, the travel priority determined according to the direction of passage of the vehicle at the intersection ahead is divided as follows: determining the driving priority of the vehicle as a first driving priority for the case that the traffic direction is straight; determining the driving priority of the vehicle as a second driving priority when the traffic direction is a right turn; determining the driving priority of the vehicle as a third driving priority when the traffic direction is a left turn; in the case where the direction of traffic is a u-turn, the travel priority of the vehicle is determined as the fourth travel priority. The first travel priority is higher than the second travel priority, the second travel priority is higher than the third travel priority, and the third travel priority is higher than the fourth travel priority. The above division facilitates control of the intelligent driving vehicle.

It can be understood that the driving prioritization standards of vehicles in various directions can be flexibly changed in consideration of the difference of traffic regulations and driving habits in various countries and regions. It is understood that all vehicles traveling at the intersection, including the current vehicle and the target vehicle, must employ the same travel prioritization criteria to ensure traffic safety at the intersection.

Illustratively, the priority of the vehicle includes, in addition to the traveling priority, a road priority determined according to a road on which the vehicle travels. The road priority is used to determine the vehicle travel order when the travel priorities of the vehicles are equal. During the running of the current vehicle, there may occur a case where the running priorities of the current vehicle and the target vehicle are the same, for example, both vehicles need to turn left. At this time, for each of the target vehicle and the current vehicle, the road priority of the vehicle at the intersection ahead is determined based on the road on which the vehicle is traveling. It will be appreciated that since the road on which the current vehicle and the target vehicle travel is different, the road priority of the vehicles must be different, and there is no case of the same. As shown in fig. 2,

reference numerals

1, 2, 3, 4 in the triangle represent road 1, road 2, road 3, road 4, respectively. The four roads can be given different road priorities according to different requirements. For example, the traffic flow of each road shows a certain law in a certain period of time. For example, the traffic flow on road 1 is significantly greater than the traffic flow on road 3. Then the road priority of the vehicle traveling on road 1 may be considered higher than the road priority of the vehicle traveling on road 3. And if the current vehicle and the target vehicle have the same driving priority, further decision is made according to the road priority relation.

Exemplarily, the step S140 of controlling the current vehicle to pass through the front intersection according to the relationship between the priority of the target vehicle and the priority of the current vehicle includes the following steps.

First, it is determined whether the travel priority of the target vehicle is higher than the travel priority of the current vehicle. And when the running priority of the target vehicle is higher than that of the current vehicle, controlling the current vehicle to wait at the front intersection. Alternatively, after the target vehicle passes through the intersection ahead, the current vehicle is controlled to continue traveling to pass through the intersection ahead. When the traveling priority of the target vehicle is lower than that of the current vehicle, the current vehicle is controlled to pass through the intersection directly ahead without waiting. When the travel priority of the target vehicle is equal to the travel priority of the current vehicle, it is determined whether the road priority of the target vehicle is higher than the road priority of the current vehicle. When the road priority of the target vehicle is higher than that of the current vehicle, the current vehicle may be controlled to wait at the intersection ahead, similarly to the case where the traveling priority of the target vehicle is higher than that of the current vehicle. When the road priority of the target vehicle is lower than that of the current vehicle, the current vehicle is controlled to directly pass through the front intersection without waiting.

The road priority scheme can well solve the problem that the current vehicle and the target vehicle turn left, go straight or turn right simultaneously, and particularly can solve the problem that the current vehicle and the target vehicle turn left simultaneously and are easy to deadlock or generate other risks.

It can be understood that the road priority scheme can be flexibly divided according to different traffic demands of each intersection. Preferably, the road priority of the primary road may be higher than the road priority of the secondary road. Preferably, the priority of the road driving to the city center may be specified to be higher than the priority of the road driving away from the city center at the time of the early peak.

The intersection ahead of the current vehicle may involve an emergency lane, so the priority of the vehicle may also include the highest priority determined according to the emergency lane in which the vehicle is traveling. The highest priority is higher than any other priority. The highest priority is set, so that special-purpose vehicles such as ambulances, fire trucks, police cars and the like and vehicles in emergency situations can pass preferentially. At the moment, other vehicles are avoided or wait unconditionally so as to facilitate the passing of the vehicles on the emergency lane.

As described above, in the control method 100, before determining the target vehicle at the front intersection, the speed limit of the current vehicle at the intersection entry point may be set to 0 km/h to ensure the safety when the current vehicle passes through the front intersection. Exemplarily, the step S140 of controlling the current vehicle to pass through the front intersection may further include: and when the priority of the target vehicle is lower than that of the current vehicle, setting the speed limit of the current vehicle at the intersection entry point to be infinite. It is understood that if the priority of the target vehicle is lower than that of the current vehicle, the current vehicle can preferentially pass through the intersection, which may not make any braking operation. Therefore, in this case, the speed of the current vehicle at the intersection entering point can be not limited any more, so as to improve the passing efficiency of the current intersection. In addition, unnecessary operations of deceleration, stop and restart can be reduced, and resource waste is avoided.

Fig. 3 shows a schematic flow diagram of a control method 300 of a smart driving vehicle according to another embodiment of the invention. As shown in fig. 3, the control method 300 includes the following steps.

Step S310, detecting the distance between the current vehicle and the front intersection in real time.

And step S315, when the distance between the current vehicle and the front intersection is less than the first distance, setting the speed limit of the access point of the current vehicle at the front intersection to be 0 km/h.

Step S321 detects the state of the intersection, and determines whether another vehicle is present at the intersection. If no other vehicle exists, go to step S345; otherwise, go to step S322.

Step S322, collecting the poses of other existing vehicles, and judging whether the vehicle is considered according to the poses of the collected vehicles and the mark points (the intersection entry point and the intersection exit point) on the map, namely whether the vehicle can be used as a candidate vehicle. If no other vehicles are considered, go to step S345; otherwise, step S323 is performed.

In step S323, it is determined whether or not there is a coincidence point between the predicted trajectory of the vehicle under consideration and the predicted trajectory of the current vehicle. If there is no coincident point between the predicted trajectories, go to step S345; otherwise, step S330 is performed.

In step S330, the priority of the current vehicle and other vehicles is determined.

Step S341, determining whether the driving priority of the other vehicle is higher than the driving priority of the current vehicle, if so, going to step S344; otherwise, step S342 is executed.

Step S342, determining whether the driving priority of the other vehicle is equal to the driving priority of the current vehicle, if so, executing step S343; otherwise go to step S345.

In step S343, it is determined whether the road priority of the other vehicle is higher than the road priority of the current vehicle. If yes, go to step S344; otherwise, step S345 is performed.

In step S344, the current vehicle is controlled to wait.

And step S345, setting the speed limit of the entrance point of the intersection at the current intersection as infinite.

And step S346, controlling the current vehicle to directly pass through.

According to another embodiment of the present invention, there is also provided a control apparatus for an intelligent driving vehicle. Fig. 4 shows a schematic block diagram of a control apparatus 400 for a smart driving vehicle according to one embodiment of the present invention. As shown in fig. 4, the control apparatus 400 for an intelligent driving vehicle includes a sensor 410, a colliding vehicle sensing module 420, a priority determining module 430, and a control module 440.

And a sensor 410 for detecting the distance between the current vehicle and the front intersection in real time.

A colliding vehicles perception module 420 for determining a target vehicle at the front crossing when the distance between the current vehicle and the front crossing is less than a first distance, wherein there is a coincidence point between the predicted trajectory of the target vehicle and the predicted trajectory of the current vehicle.

A priority determination module 430 for determining a priority of the target vehicle and the current vehicle.

A control module 440, configured to control the current vehicle to pass through the front intersection according to a relationship between priorities of the target vehicle and the current vehicle.

In summary, each module in the control apparatus 400 for a smart-driving vehicle is configured to specifically perform a corresponding step in the control method for a smart-driving vehicle described above. From reading the above description of the method, those skilled in the art can understand the specific implementation and technical effects of the control device 400 for intelligent driving of a vehicle.

According to yet another aspect of the present invention, there is also provided a control system for a smart-driving vehicle, comprising a processor and a memory, wherein the memory stores therein computer program instructions for implementing the steps of the control method for a smart-driving vehicle according to an embodiment of the present invention. The processor is used to run the computer program instructions stored in the memory to perform the respective steps of the control method for the intelligent driving vehicle according to the embodiment of the present invention, and to implement the sensor module 410, the colliding vehicle sensing module 420, the priority determination module 430, and the control module 440 in the control device for the intelligent driving vehicle according to the embodiment of the present invention.

Further, according to still another aspect of the present invention, there is also provided a storage medium having stored thereon program instructions for causing a computer or a processor to perform the respective steps of the control method for a smart-driving vehicle according to an embodiment of the present invention when the program instructions are executed by the computer or the processor, and to implement the respective modules in the control apparatus for a smart-driving vehicle according to an embodiment of the present invention. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the modules in a control apparatus for an intelligent driving vehicle according to an embodiment of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control method of an intelligent driving vehicle, characterized by comprising:

2. The control method according to claim 1, wherein the determining a target vehicle at the front intersection includes:

determining alternative vehicles among all vehicles at the front intersection;

3. The control method according to claim 2, wherein the determining an alternative vehicle among all the vehicles at the front intersection includes:

collecting pose information of other vehicles at the front intersection;

4. The control method of claim 3, wherein said determining the candidate vehicle from the mapped pose further comprises:

5. The control method according to claim 3, characterized in that the distance of the smart driving vehicle from the intersection ahead is a distance between the smart driving vehicle and an intersection entry point of a lane in which the smart driving vehicle is located.

6. The control method according to claim 3, characterized in that, before the determining of the target vehicle at the forward intersection, the control method further comprises:

and when the distance between the intelligent driving vehicle and the front intersection is less than a first distance, setting the speed limit of the intelligent driving vehicle at the entrance point of the intersection to be 0 km/h.

7. The control method of claim 3, wherein said controlling the smart driving vehicle to pass through the forward intersection comprises:

and when the priority of the target vehicle is lower than that of the intelligent driving vehicle, setting the speed limit of the intelligent driving vehicle at the access point of the intersection as infinite.

8. The control method according to claim 1, wherein the priorities of the target vehicle and the smart driving vehicle include a driving priority determined according to a traffic direction of the vehicle.

9. The control method according to claim 8, wherein,

determining the driving priority as a first driving priority when the traffic direction is straight;

determining the driving priority as a second driving priority when the traffic direction is a right turn;

determining the driving priority as a third driving priority when the traffic direction is a left turn;

determining the driving priority as a fourth driving priority when the passing direction is the U-turn;

wherein the first travel priority is higher than the second travel priority, the second travel priority is higher than the third travel priority, and the third travel priority is higher than the fourth travel priority.

10. The control method according to claim 8, wherein the priorities of the target vehicle and the smart-driving vehicle further include a road priority determined according to a road on which the vehicle is traveling, for determining a vehicle traveling order when the traveling priorities of the target vehicle and the smart-driving vehicle are equal.

11. The control method according to claim 10, wherein the priorities of the target vehicle and the smart driving vehicle include: a highest priority determined according to an emergency lane in which the vehicle is traveling, wherein the highest priority is higher than any other priority.

12. The control method according to claim 1, wherein the controlling the smart-driven vehicle through the intersection ahead according to the relationship between the priority of the target vehicle and the priority of the smart-driven vehicle includes:

13. A control apparatus for a smart driving vehicle, comprising:

14. A control system for a smart-driven vehicle comprising a processor and a memory, wherein the memory has stored therein computer program instructions for execution by the processor to perform the control method of the smart-driven vehicle of any one of claims 1 to 12.

15. A storage medium having stored thereon program instructions for executing, when executed, the control method of a smart-driving vehicle according to any one of claims 1 to 12.