CN110956818A - Method and device for controlling unmanned vehicle to drive and unmanned vehicle - Google Patents
Method and device for controlling unmanned vehicle to drive and unmanned vehicle Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of artificial intelligence, and discloses a method for controlling the driving of an unmanned vehicle, which comprises the steps of acquiring the driving speed of a barrier vehicle and the driving information of the unmanned vehicle when the barrier vehicle is detected to be in front of the unmanned vehicle, judging whether the unmanned vehicle has a overtaking demand currently, acquiring a first image and a second image within a preset safety distance in front of and behind a lane at the side of the unmanned vehicle if the barrier vehicle exists, requesting the first image and/or the second image for the vehicle in front of and/or behind the unmanned vehicle when the first image and/or the second image is not included, finally determining whether the overtaking condition is met according to the first image and the second image, and controlling the unmanned vehicle to switch lanes if the overtaking condition is met, wherein the method for controlling the driving of the unmanned vehicle can realize the overtaking function, thereby shortening the driving time and improving the riding experience of passengers.
Description
Technical Field
The embodiment of the invention relates to the technical field of artificial intelligence, in particular to a method and a device for controlling driving of an unmanned vehicle and the unmanned vehicle.
Background
Along with the development of science and technology, intelligent unmanned vehicles are gradually known by people, and because the intelligent unmanned vehicles do not need a driver to drive the vehicles, the functions of automatic departure, automatic driving, automatic parking and the like can be realized, and the drivers' seats and related driving devices do not need to be arranged in the vehicles, so that the riding experience of passengers is greatly increased.
In implementing the embodiments of the present invention, the inventors found that at least the following problems exist in the above related art: the current unmanned vehicle can only travel according to a preset route, can not execute actions such as overtaking and the like, and the situation that the vehicle can not reach a specified destination according to preset time is easy to happen due to the complex road condition.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, an object of the embodiments of the present invention is to provide a method and an apparatus for controlling an unmanned vehicle to drive a vehicle, which can overtake the vehicle, and an unmanned vehicle.
The purpose of the embodiment of the invention is realized by the following technical scheme:
in order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a method for controlling an unmanned vehicle, including:
in the running process of the unmanned vehicle, when a barrier vehicle exists in the front, the running speed of the barrier vehicle and the running information of the unmanned vehicle are obtained;
judging whether the unmanned vehicle has a overtaking demand currently or not according to the running speed of the barrier vehicle and the running information of the unmanned vehicle;
if the lane images exist, acquiring the lane images of the lanes at the side of the unmanned vehicle;
judging whether the lane image comprises a first image of a first road section of the lane in a preset safety distance in front of the unmanned vehicle and a second image of a second road section of the lane in a preset safety distance behind the unmanned vehicle;
if the first image is not included, requesting an image of the first road segment from a vehicle located in front of the unmanned vehicle;
if the second image is not included, requesting an image of a second road section from the vehicle behind the unmanned vehicle;
determining whether a passing condition is met according to the first image and the second image;
and if so, controlling the unmanned vehicle to switch the lane.
In some embodiments, the step of determining whether the passing condition is satisfied according to the first image and the second image further comprises:
according to the first image, whether a vehicle exists in the first road section or not and whether a vehicle exists in the second road section or not are identified;
if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met;
otherwise, determining that the overtaking condition is not met.
In some embodiments, the driving information includes: the destination address and the time of arrival,
the step of judging whether the unmanned vehicle has a overtaking demand at present according to the running speed of the barrier vehicle and the running information of the unmanned vehicle further comprises the following steps:
acquiring the current position and the current time of the unmanned vehicle;
combining a preset map database to obtain the distance from the current position to the destination address;
calculating the running time according to the distance and the running speed of the barrier vehicle;
acquiring the time interval between the arrival time and the current time;
judging whether the running time is greater than the time interval or not;
if yes, determining that the unmanned vehicle has a overtaking demand;
if not, determining that the unmanned vehicle has no overtaking requirement.
In some embodiments, prior to controlling the unmanned vehicle to switch the lane, the method further comprises:
broadcasting lane switching information and controlling the unmanned vehicle to output a passing indication, wherein the lane switching information carries an identification of the lane.
In some embodiments, the method further comprises:
and after the unmanned vehicle is switched to the lane, the running speed of the unmanned vehicle is increased according to the running information of the unmanned vehicle.
In some embodiments, the step of increasing the driving speed of the unmanned vehicle according to the driving information of the unmanned vehicle further includes:
calculating the speed of the vehicle to be driven according to the time interval and the distance;
and controlling the speed of the unmanned vehicle to be increased to the speed of the vehicle to be driven.
In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides an apparatus for controlling an unmanned vehicle, including:
the unmanned vehicle comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the running speed of a barrier vehicle and the running information of the unmanned vehicle when the barrier vehicle exists in the front in the running process of the unmanned vehicle;
the first judgment module is used for judging whether the unmanned vehicle has a overtaking demand at present according to the running speed of the barrier vehicle and the running information of the unmanned vehicle;
the second acquisition module is used for acquiring a lane image of a lane at the side of the unmanned vehicle when the unmanned vehicle has a current overtaking demand;
the second judging module is used for judging whether the lane images comprise a first image of a first road section of the lane within a preset safety distance in front of the unmanned vehicle and a second image of a second road section of the lane within the preset safety distance behind the unmanned vehicle;
a request module for requesting an image of the first road segment to a vehicle located in front of the unmanned vehicle when the first image is not included,
or when the second image is not included, requesting an image of a second road segment from the vehicle located behind the unmanned vehicle;
the determining module is used for determining whether the overtaking condition is met or not according to the first image and the second image;
and the control module is used for controlling the unmanned vehicle to switch the lane when the overtaking condition is met.
In some embodiments, the determining module is further configured to identify, from the first image, whether a vehicle is present in the first road segment, and whether a vehicle is present in the second road segment;
if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met;
otherwise, determining that the overtaking condition is not met.
In order to solve the above technical problem, in a third aspect, an embodiment of the present invention provides an unmanned vehicle, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect as described above.
In order to solve the above technical problem, in a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to the first aspect.
In order to solve the above technical problem, in a fifth aspect, the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the method according to the first aspect.
Compared with the prior art, the invention has the beneficial effects that: in contrast to the prior art, in an embodiment of the present invention, a method for controlling an unmanned vehicle to drive a vehicle is provided, which, when a front barrier vehicle is detected during driving of the unmanned vehicle, first obtains a driving speed of the barrier vehicle and driving information of the unmanned vehicle, then determines whether there is a passing demand of the unmanned vehicle according to the driving speed of the barrier vehicle and the driving information of the unmanned vehicle, obtains lane images of lanes on sides of the unmanned vehicle if there is the passing demand, and determines whether the lane images include a first image of a first road section of the lanes within a predetermined safety distance in front of the unmanned vehicle and a second image of a second road section of the lanes within a predetermined safety distance behind the unmanned vehicle, and requests an image of the first road section from a vehicle located in front of the unmanned vehicle if the first image is not included, and if the second image is not included, requesting an image of a second road section for the vehicle behind the unmanned vehicle, and finally determining whether a passing condition is met or not according to the first image and the second image, and if so, controlling the unmanned vehicle to switch the lane.
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One or more embodiments are illustrated by the accompanying figures in the drawings that correspond thereto and are not to be construed as limiting the embodiments, wherein elements/modules and steps having the same reference numerals are represented by like elements/modules and steps, unless otherwise specified, and the drawings are not to scale.
Fig. 1 is a schematic diagram of one application scenario of a method for controlling an unmanned vehicle to drive a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling an unmanned vehicle to drive a vehicle according to an embodiment of the present invention;
FIG. 3 is a sub-flow diagram of step 160 of the method of FIG. 2;
FIG. 4 is a sub-flow diagram of step 120 of the method of FIG. 2;
FIG. 5 is a flow chart of another method for controlling unmanned vehicle operation according to an embodiment of the present invention;
FIG. 6 is a sub-flowchart of step 190 of the method of FIG. 5;
fig. 7 is a schematic structural diagram of an apparatus for controlling an unmanned vehicle traveling according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another apparatus for controlling unmanned vehicle driving according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Further, the terms "first," "second," and the like, as used herein, do not limit the data and the execution order, but merely distinguish the same items or similar items having substantially the same functions and actions.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
With the rapid development of society and science and technology, unmanned vehicles which are intelligently unmanned mainly by a computer system in the vehicles are gradually developed and produced by various large automobile manufacturers, can sense the road environment through a vehicle-mounted sensor system, automatically plan a driving route and control the vehicles to reach a preset place, at present, most of the unmanned vehicles provided on the market can only drive according to a set route, and when the vehicles are jammed on the road surface and the like, the unmanned vehicles are easy to lead to a destination according to the preset time of the system, the embodiment of the invention provides a method for controlling the unmanned vehicles to drive by themselves, through the method, when the unmanned vehicles detect that the blocking vehicles appear in the front, whether the vehicles need to overtake or not can be judged, and the overtaking operation can be executed when the vehicles need to overtake, so as to realize that the vehicles reach the preset destination before the preset arrival time, the user experience is improved.
Specifically, fig. 1 is a schematic diagram of an application environment of the method for controlling an unmanned vehicle to drive a vehicle according to the embodiment of the present invention, where the application environment includes: the unmanned vehicle 10, the barrier vehicle 20, and the lane a (including the current lane a1 in which the unmanned vehicle is located, the lane a2 to the left of the unmanned vehicle, and the lane A3 to the right of the unmanned vehicle). The unmanned vehicle 10 can travel on any lane a according to traffic regulations.
The unmanned vehicle 10 is an unmanned intelligent vehicle, a computer system is arranged in the unmanned vehicle 10, the unmanned vehicle 10 has a huge calculation function, can acquire current running information of the unmanned vehicle 10, detect the running speed of a front barrier vehicle 20 and acquire lane images of a vehicle side lane, judge whether overtaking is needed or not according to the information, control the unmanned vehicle 10 to switch lanes when overtaking is needed or needed, and the unmanned vehicle 10 can be in communication connection with the barrier vehicle 20 to acquire the image information of the lanes.
The unmanned vehicle 10 should be provided with various sensors for acquiring surrounding environment information, such as a laser radar equidistant sensor for detecting the distance between the vehicle and surrounding objects, and a speed sensor for detecting the driving speed of the vehicle stopped in front. The unmanned vehicle 10 should further be provided with a device (not shown) for capturing images, such as a camera, for capturing lane images, where the images may be videos or pictures. The number of the sensors and the cameras can be several, such as 1, 2, 3, 4, and the like. The plurality of sensors and the camera may be different devices to meet different requirements.
It should be noted that the method for controlling the unmanned vehicle driving applied to the unmanned vehicle provided in the embodiment of the present application is generally executed by the above-mentioned unmanned vehicle 10, and accordingly, the device for controlling the unmanned vehicle driving applied to the unmanned vehicle is generally disposed in the unmanned vehicle 10.
Specifically, the embodiments of the present invention will be further explained below with reference to the drawings.
An embodiment of the present invention provides a method for controlling an unmanned vehicle 10, which can be executed by the unmanned vehicle, and please refer to fig. 2, which shows a flowchart of the method for controlling an unmanned vehicle according to the embodiment of the present invention, and the method includes, but is not limited to, the following steps:
step 110: in the running process of the unmanned vehicle, when the fact that a barrier vehicle exists in the front is detected, the running speed of the barrier vehicle and the running information of the unmanned vehicle are obtained.
In the embodiment of the invention, in order to determine whether overtaking is needed, when the barrier vehicle in front of the unmanned vehicle is detected, the running speed of the front barrier vehicle can be obtained, and the running information of the unmanned vehicle is obtained at the same time, wherein the running information comprises the running speed of the unmanned vehicle, and usually, in order to avoid rear-end collision with the front barrier vehicle, the running speed of the unmanned vehicle is less than or equal to the running speed of the front barrier vehicle.
Step 120: judging whether the unmanned vehicle has a overtaking demand currently or not according to the running speed of the barrier vehicle and the running information of the unmanned vehicle; if yes, go to step 130; if not, return to step 110.
After the running speed of the barrier vehicle and the running information of the unmanned vehicle are acquired, whether overtaking is needed or not can be determined according to the barrier vehicle speed and the running information of the unmanned vehicle, specifically, whether overtaking is needed or not can be determined according to the condition that the unmanned vehicle can arrive at a destination on time when running at the highest running speed (running speed of the front barrier vehicle) capable of running at present because the speed of the unmanned vehicle is slower than the speed of the front barrier vehicle or runs at the same speed as the front barrier vehicle on the premise of ensuring safe running without rear-end collision.
Step 130: and acquiring a lane image of the lane beside the unmanned vehicle.
After the overtaking requirement is determined, in order to avoid the overtaking of another vehicle on the lane beside the unmanned vehicle, further, the lane image of the lane beside the unmanned vehicle needs to be acquired, and specifically, the lane image of the lane beside the unmanned vehicle can be acquired through the image acquisition devices such as the camera arranged on the unmanned vehicle.
Step 140: judging whether the lane image comprises a first image of a first road section of the lane in a preset safety distance in front of the unmanned vehicle and a second image of a second road section of the lane in a preset safety distance behind the unmanned vehicle; if yes, go to step 160; if not, go to step 151 or step 152.
When the unmanned vehicle acquires the lane image of the lane beside the unmanned vehicle through the image acquisition device arranged on the unmanned vehicle, the problem that the unmanned vehicle cannot acquire the images of the road sections in the front and the rear of the unmanned vehicle within the preset safe distance due to the shooting angle and the visual field range of the camera and the like may also occur. Therefore, optionally, the system can also be connected with other image acquisition devices capable of acquiring image information in the external environment to acquire images containing road sections in the front and the back of the unmanned vehicle within the preset safe distance, and the other image acquisition devices capable of acquiring the image information in the external environment can be cameras of other surrounding automobiles. Further, other image acquisition devices capable of acquiring image information in the external environment can also be monitoring cameras on the road surface.
Step 151: and if the first image is not included, requesting an image of the first road section from a vehicle positioned in front of the unmanned vehicle.
Preferably, the unmanned vehicle may request the first image of the first road segment from one or more vehicles located in front of the unmanned vehicle when the first image of the first road segment within a preset safe distance in front of the automobile is not included.
Step 152: and if the second image is not included, requesting an image of a second road section from the vehicle behind the unmanned vehicle.
Preferably, the unmanned vehicle may request the second image of the second road segment from one or more vehicles located behind the unmanned vehicle when the second image of the second road segment within the preset safe distance behind the automobile is not included.
Step 160: determining whether a passing condition is met according to the first image and the second image; if yes, go to step 170; if not, return to step 140.
After the first image and the second image are acquired, whether a passing condition is met can be determined according to whether vehicles and the position conditions of the vehicles exist on the first road section and the second road section on the first image and the second image, wherein the passing condition is a necessary condition that the unmanned vehicle can safely move to a target lane and a target road section. And if the overtaking condition is not met, returning to the step of acquiring the lane image of the unmanned vehicle side, and repeating the steps until the overtaking condition is determined to be met.
Step 170: and controlling the unmanned vehicle to switch the lane.
If the overtaking condition is met, the unmanned vehicle can be controlled to be switched to a corresponding lane, the speed of the unmanned vehicle is increased, and overtaking is achieved.
The embodiment of the invention provides a method for controlling the driving of an unmanned vehicle, which comprises the steps of firstly acquiring the driving speed of a barrier vehicle and the driving information of the unmanned vehicle when the barrier vehicle is detected to be in front in the driving process of the unmanned vehicle, then judging whether the unmanned vehicle has a current overtaking demand according to the driving speed of the barrier vehicle and the driving information of the unmanned vehicle, if so, acquiring lane images of lanes at the sides of the unmanned vehicle, judging whether the lane images comprise a first image of a first road section of the lanes within a preset safety distance in front of the unmanned vehicle, and a second image of a second road section of the lanes within a preset safety distance in back of the unmanned vehicle, and if not, requesting an image of the first road section to a vehicle in front of the unmanned vehicle, and if the second image is not included, requesting an image of a second road section for the vehicle behind the unmanned vehicle, and finally determining whether a passing condition is met or not according to the first image and the second image, and if so, controlling the unmanned vehicle to switch the lane.
In some embodiments, please refer to fig. 3, which illustrates a sub-flowchart of step 160 of the method shown in fig. 2, wherein the step 160 further includes, based on the method shown in fig. 2:
step 161: according to the first image, whether a vehicle exists in the first road section or not and whether a vehicle exists in the second road section or not are identified; if yes, go to step 162; if not, step 163 is skipped.
Step 162: and if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met.
Step 163: determining that the overtaking condition is not met.
In the embodiment of the present invention, the meeting of the overtaking condition is specifically that whether vehicles exist in a first road section and a second road section within a preset safety distance is determined, and if no vehicle exists, it is determined that the unmanned vehicle does not collide with surrounding vehicles when moving to the first road section and the second road section. The preset safety distance can be set according to actual conditions, preferably, sudden braking of a front vehicle or sudden acceleration of a rear vehicle and other emergency conditions need to be considered, and the unmanned vehicle can be safely avoided when an emergency occurs.
In some embodiments, the driving information includes: destination address and arrival time, please refer to fig. 4, which shows a sub-flowchart of step 120 in the method shown in fig. 2, and based on the methods shown in fig. 2 and fig. 3, the step 120 further includes:
step 121: and acquiring the current position and the current time of the unmanned vehicle.
Step 122: and acquiring the distance from the current position to the destination address by combining a preset map database.
Step 123: and calculating the running time according to the distance and the running speed of the blocking vehicle.
Step 124: and acquiring the time interval between the arrival time and the current time.
Step 125: judging whether the running time is greater than the time interval or not; if yes, go to step 126; if not, go to step 127.
Step 126: and determining that the unmanned vehicle has a overtaking demand.
Step 127: and determining that the unmanned vehicle does not have the overtaking requirement.
When the overtaking requirement is determined, the overtaking requirement can be determined according to the current position of the unmanned vehicle, the current driving speed, the distance from the destination address and the arrival time. Specifically, if the unmanned vehicle cannot reach the destination address at the preset arrival time (the travel time is greater than the time interval) according to the distance and the current travel speed, it is required to first determine whether the current unmanned vehicle can reach the destination address on time when being lifted to the highest travel speed, and if the current unmanned vehicle cannot reach the destination address at the preset time, it is determined that the unmanned vehicle has the overtaking demand. Wherein the highest traveling vehicle speed is a traveling vehicle speed of the barrier vehicle. Further, in order to avoid the rapid speed of the unmanned vehicle and the rear-end collision of the preceding barrier vehicle, it is preferable to make a determination only based on whether the unmanned vehicle arrives at the destination address on time at the current running speed (usually equal to or less than the running speed of the preceding barrier vehicle).
In some embodiments, please refer to fig. 5, which shows a flowchart of another method for controlling an unmanned vehicle driving according to an embodiment of the present invention, based on the methods shown in fig. 2 to 4, the method further includes:
step 180: broadcasting lane switching information and controlling the unmanned vehicle to output a passing indication, wherein the lane switching information carries an identification of the lane.
In the embodiment of the invention, in order to further ensure the safety, after the unmanned vehicle determines that the vehicle needs to overtake, the lane switching information is broadcasted to surrounding vehicles, and an overtake indication is output, wherein the broadcast lane switching information can directly push information to nearby vehicles, and can also send out a prompt in the modes of audio frequency, light and the like.
In some embodiments, with continued reference to fig. 5, the method further comprises:
step 190: and after the unmanned vehicle is switched to the lane, the running speed of the unmanned vehicle is increased according to the running information of the unmanned vehicle.
In the embodiment of the invention, after the unmanned vehicle is switched to the corresponding lane to realize overtaking, in order to ensure that the unmanned vehicle can arrive at the destination on time, the running speed of the unmanned vehicle can be increased according to the current position of the unmanned vehicle, the current distance between the unmanned vehicle and the destination and the running time required for arriving at the destination.
Specifically, in some embodiments, please refer to fig. 6, which illustrates a sub-flowchart of step 190 of the method shown in fig. 5, wherein the step 190 further includes, based on the methods shown in fig. 2 and fig. 5:
step 191: and calculating the speed to be driven according to the time interval and the distance.
Step 192: and controlling the speed of the unmanned vehicle to be increased to the speed of the vehicle to be driven.
In the embodiment of the invention, when the driving speed to which the unmanned vehicle needs to be lifted is calculated, the distance and the time interval can be used for triggering to obtain the speed to be driven, and then the unmanned vehicle is controlled to lift the speed to be driven. Optionally, in order to ensure that the vehicle arrives on time, the speed of the vehicle to be driven can be adaptively improved.
An embodiment of the present invention provides a device for controlling unmanned vehicle traveling, please refer to fig. 7, which shows a schematic structural diagram of the device for controlling unmanned vehicle traveling according to the embodiment of the present invention, where the device 200 for controlling unmanned vehicle traveling is applied to an unmanned vehicle, and the device 200 includes: a first obtaining module 210, a first judging module 220, a second obtaining module 230, a second judging module 240, a requesting module 250, a determining module 260, and a control module 270.
The first obtaining module 210 is configured to, in a running process of the unmanned vehicle, obtain a running speed of a barrier vehicle and running information of the unmanned vehicle when the barrier vehicle is detected to exist in front;
the first judging module 220 is configured to judge whether the unmanned vehicle has a vehicle overtaking demand currently according to the driving speed of the barrier vehicle and the driving information of the unmanned vehicle;
the second obtaining module 230 is configured to obtain a lane image of a lane beside the unmanned vehicle when the unmanned vehicle currently has a vehicle overtaking demand;
the second judging module 240 is configured to judge whether the lane image includes a first image of a first road segment of the lane within a predetermined safety distance in front of the unmanned vehicle and a second image of a second road segment of the lane within a predetermined safety distance behind the unmanned vehicle;
the request module 250 is configured to request an image of the first road segment from a vehicle located in front of the unmanned vehicle when the first image is not included,
or when the second image is not included, requesting an image of a second road segment from the vehicle located behind the unmanned vehicle;
the determining module 260 is configured to determine whether a passing condition is satisfied according to the first image and the second image;
the control module 270 is configured to control the unmanned vehicle to switch the lane when the overtaking condition is satisfied.
In some embodiments, the determining module 260 is further configured to identify whether a vehicle is present in the first road segment and whether a vehicle is present in the second road segment according to the first image;
if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met;
otherwise, determining that the overtaking condition is not met.
In some embodiments, the driving information includes: the destination address and the time of arrival,
the first determining module 220 is further configured to obtain a current position and a current time of the unmanned vehicle;
combining a preset map database to obtain the distance from the current position to the destination address;
calculating the running time according to the distance and the running speed of the barrier vehicle;
acquiring the time interval between the arrival time and the current time;
judging whether the running time is greater than the time interval or not;
if yes, determining that the unmanned vehicle has a overtaking demand;
if not, determining that the unmanned vehicle has no overtaking requirement.
In some embodiments, please refer to fig. 8, which illustrates another apparatus for controlling unmanned vehicles according to an embodiment of the present invention, based on the apparatus 200 for controlling unmanned vehicles shown in fig. 7, the apparatus 200 further includes: a broadcast module 280 and a boost module 290.
The broadcasting module 280 is configured to broadcast lane switching information and control the unmanned vehicle to output a passing indication, wherein the lane switching information carries an identifier of the lane.
The lifting module 290 is configured to lift the driving speed of the unmanned vehicle according to the driving information of the unmanned vehicle after the unmanned vehicle switches to the lane.
In some embodiments, the lifting module 290 is further configured to calculate the waiting speed according to the time interval and the distance traveled;
and controlling the speed of the unmanned vehicle to be increased to the speed of the vehicle to be driven.
An embodiment of the present invention further provides an unmanned vehicle, please refer to fig. 9, which shows a hardware structure of the unmanned vehicle capable of executing the method for controlling the driving of the unmanned vehicle described in fig. 2 to fig. 6. The drone vehicle 10 may be the drone vehicle 10 shown in fig. 1.
The unmanned vehicle 10 includes: at least one processor 11; and a memory 12 communicatively coupled to the at least one processor 11, which is exemplified by one processor 11 in fig. 9. The memory 12 stores instructions executable by the at least one processor 11, the instructions being executable by the at least one processor 11 to enable the at least one processor 11 to perform the method of controlling an unmanned vehicle as described above with reference to fig. 2-6. The processor 11 and the memory 12 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example.
The memory 12 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for controlling the unmanned vehicle driving in the embodiment of the present application, for example, the respective modules shown in fig. 7 and 8. The processor 11 executes various functional applications of the server and data processing by running the nonvolatile software program, instructions and modules stored in the memory 12, that is, implements the method for controlling the unmanned vehicle driving according to the above method embodiment.
The memory 12 may 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 use of a device that controls unmanned vehicle travel, and the like. Further, the memory 12 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 embodiments, the memory 12 optionally includes memory located remotely from the processor 11, and these remote memories may be connected over a network to a device that controls the unmanned vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 12 and when executed by the one or more processors 11, perform the method of controlling the unmanned vehicle in any of the above-described method embodiments, e.g., perform the method steps of fig. 2-6 described above, implementing the functions of the modules and units in fig. 7-8.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform the method steps of fig. 2-6 described above to implement the functions of the modules in fig. 7-8.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the method of controlling an unmanned vehicle, in any of the above-described method embodiments, for example, to perform the method steps of fig. 2 to 6 described above, to implement the functions of the respective modules in fig. 7 to 8.
The embodiment of the invention provides a method for controlling the driving of an unmanned vehicle, which comprises the steps of firstly acquiring the driving speed of a barrier vehicle and the driving information of the unmanned vehicle when the barrier vehicle is detected to be in front in the driving process of the unmanned vehicle, then judging whether the unmanned vehicle has a current overtaking demand according to the driving speed of the barrier vehicle and the driving information of the unmanned vehicle, if so, acquiring lane images of lanes at the sides of the unmanned vehicle, judging whether the lane images comprise a first image of a first road section of the lanes within a preset safety distance in front of the unmanned vehicle, and a second image of a second road section of the lanes within a preset safety distance in back of the unmanned vehicle, and if not, requesting an image of the first road section to a vehicle in front of the unmanned vehicle, and if the second image is not included, requesting an image of a second road section for the vehicle behind the unmanned vehicle, and finally determining whether a passing condition is met or not according to the first image and the second image, and if so, controlling the unmanned vehicle to switch the lane.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling an unmanned vehicle, comprising:
in the running process of the unmanned vehicle, when a barrier vehicle exists in the front, the running speed of the barrier vehicle and the running information of the unmanned vehicle are obtained;
judging whether the unmanned vehicle has a overtaking demand currently or not according to the running speed of the barrier vehicle and the running information of the unmanned vehicle;
if the lane images exist, acquiring the lane images of the lanes at the side of the unmanned vehicle;
judging whether the lane image comprises a first image of a first road section of the lane in a preset safety distance in front of the unmanned vehicle and a second image of a second road section of the lane in a preset safety distance behind the unmanned vehicle;
if the first image is not included, requesting an image of the first road segment from a vehicle located in front of the unmanned vehicle;
if the second image is not included, requesting an image of a second road section from the vehicle behind the unmanned vehicle;
determining whether a passing condition is met according to the first image and the second image;
and if so, controlling the unmanned vehicle to switch the lane.
2. The method of claim 1, wherein the step of determining whether a cut-in condition is satisfied based on the first image and the second image further comprises:
according to the first image, whether a vehicle exists in the first road section or not and whether a vehicle exists in the second road section or not are identified;
if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met;
otherwise, determining that the overtaking condition is not met.
3. The method of claim 2, wherein the driving information comprises: the destination address and the time of arrival,
the step of judging whether the unmanned vehicle has a overtaking demand at present according to the running speed of the barrier vehicle and the running information of the unmanned vehicle further comprises the following steps:
acquiring the current position and the current time of the unmanned vehicle;
combining a preset map database to obtain the distance from the current position to the destination address;
calculating the running time according to the distance and the running speed of the barrier vehicle;
acquiring the time interval between the arrival time and the current time;
judging whether the running time is greater than the time interval or not;
if yes, determining that the unmanned vehicle has a overtaking demand;
if not, determining that the unmanned vehicle has no overtaking requirement.
4. The method of claim 3, wherein prior to controlling the unmanned vehicle to switch the lane, the method further comprises:
broadcasting lane switching information and controlling the unmanned vehicle to output a passing indication, wherein the lane switching information carries an identification of the lane.
5. The method of claim 4, further comprising:
and after the unmanned vehicle is switched to the lane, the running speed of the unmanned vehicle is increased according to the running information of the unmanned vehicle.
6. The method of claim 5, wherein the step of increasing the driving speed of the unmanned vehicle according to the driving information of the unmanned vehicle further comprises:
calculating the speed of the vehicle to be driven according to the time interval and the distance;
and controlling the speed of the unmanned vehicle to be increased to the speed of the vehicle to be driven.
7. A device for controlling an unmanned vehicle, comprising:
the unmanned vehicle comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the running speed of a barrier vehicle and the running information of the unmanned vehicle when the barrier vehicle exists in the front in the running process of the unmanned vehicle;
the first judgment module is used for judging whether the unmanned vehicle has a overtaking demand at present according to the running speed of the barrier vehicle and the running information of the unmanned vehicle;
the second acquisition module is used for acquiring a lane image of a lane at the side of the unmanned vehicle when the unmanned vehicle has a current overtaking demand;
the second judging module is used for judging whether the lane images comprise a first image of a first road section of the lane within a preset safety distance in front of the unmanned vehicle and a second image of a second road section of the lane within the preset safety distance behind the unmanned vehicle;
a request module for requesting an image of the first road segment to a vehicle located in front of the unmanned vehicle when the first image is not included,
or when the second image is not included, requesting an image of a second road segment from the vehicle located behind the unmanned vehicle;
the determining module is used for determining whether the overtaking condition is met or not according to the first image and the second image;
and the control module is used for controlling the unmanned vehicle to switch the lane when the overtaking condition is met.
8. The apparatus of claim 7,
the determining module is further used for identifying whether a vehicle exists in the first road segment and whether a vehicle exists in the second road segment according to the first image;
if no vehicle exists in the first road section and the second road section, determining that the overtaking condition is met;
otherwise, determining that the overtaking condition is not met.
9. An unmanned vehicle, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a route planning method according to any one of claims 1-6.
10. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the route planning method of any of claims 1-6.
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