CN110956818A - A method, device and unmanned vehicle for controlling the driving of an unmanned vehicle - Google Patents

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

A method, device and unmanned vehicle for controlling the driving of an unmanned vehicle

technical field

The embodiments of the present invention relate to the technical field of artificial intelligence, and in particular, to a method and device for controlling the driving of an unmanned vehicle, and an unmanned vehicle.

Background technique

With the development of science and technology, intelligent unmanned vehicles are gradually becoming known to people. Since they do not require a driver to drive the vehicle, they can realize functions such as automatic departure, automatic driving, and automatic parking, and there is no need to set driving in the car. Seats and related driving devices greatly increase the passenger's riding experience.

In the process of implementing the embodiments of the present invention, the inventor found that there are at least the following problems in the above related technologies: the current unmanned vehicles can only travel according to a predetermined route, and cannot perform actions such as overtaking, and due to the complicated road conditions, it is easy to cause failure to Arriving at a designated destination within a predetermined time.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, the purpose of the embodiments of the present invention is to provide a method and device for controlling the driving of an unmanned vehicle and an unmanned vehicle capable of overtaking.

The purpose of the embodiment of the present invention is achieved through the following technical solutions:

In order to solve the above technical problems, in a first aspect, an embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle, including:

During the driving process of the unmanned vehicle, when it is detected that there is a blocking vehicle ahead, acquiring the driving speed of the blocking vehicle and the driving information of the unmanned vehicle;

According to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, determine whether the unmanned vehicle currently needs to overtake;

If there is, obtain the lane image of the lane on the side of the unmanned vehicle;

Determine whether the lane image includes a first image of a first road section where the lane is within a predetermined safe distance in front of the unmanned vehicle, and a second image where the lane is within a predetermined safe distance behind the unmanned vehicle a second image of the road segment;

If the first image is not included, request the image of the first road segment from the vehicle located in front of the unmanned vehicle;

If the second image is not included, request the image of the second road segment from the vehicle behind the unmanned vehicle;

According to the first image and the second image, determining whether overtaking conditions are met;

If satisfied, the unmanned vehicle is controlled to switch the lane.

In some embodiments, the step of determining whether an overtaking condition is met according to the first image and the second image further includes:

According to the first image, identifying whether there is a vehicle in the first road segment, and whether there is a vehicle in the second road segment;

If there is no vehicle in the first road section and the second road section, determining that the overtaking condition is satisfied;

Otherwise, it is determined that the overtaking condition is not satisfied.

In some embodiments, the travel information includes: destination address and arrival time,

The step of judging whether the unmanned vehicle currently has an overtaking demand according to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle further includes:

Obtain the current position and current time of the unmanned vehicle;

In combination with the preset map database, the distance from the current location to the destination address is obtained;

Calculate the travel time according to the distance and the travel speed of the blocking vehicle;

obtaining the time interval between the arrival time and the current time;

determining whether the travel time is greater than the time interval;

If so, determine that the unmanned vehicle has an overtaking demand;

If not, it is determined that the unmanned vehicle does not need to overtake.

In some embodiments, before controlling the unmanned vehicle to switch the lane, the method further includes:

Broadcasting lane switching information, and controlling the unmanned vehicle to output an overtaking instruction, wherein the lane switching information carries the identification of the lane.

In some embodiments, the method further includes:

After the unmanned vehicle switches to the lane, the driving speed of the unmanned vehicle is increased according to the driving 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:

Calculate the speed to be driven according to the time interval and the distance;

The speed of the unmanned vehicle is controlled to increase to the speed to be driven.

In order to solve the above technical problems, in a second aspect, an embodiment of the present invention provides a device for controlling the driving of an unmanned vehicle, including:

a first acquisition module, configured to acquire the driving speed of the blocking vehicle and the driving information of the unmanned vehicle when it is detected that there is a blocking vehicle ahead during the driving of the unmanned vehicle;

a first judging module, configured to judge whether the unmanned vehicle currently has an overtaking demand according to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle;

a second acquiring module, configured to acquire a lane image of a lane on the side of the unmanned vehicle when the unmanned vehicle currently needs to overtake;

A second judging module, configured to judge whether the lane image includes a first image of a first road segment where the lane is within a predetermined safe distance in front of the unmanned vehicle, and the lane is behind the unmanned vehicle a second image of the second road segment within a predetermined safe distance;

a requesting module, configured to request the image of the first road section from the vehicle located in front of the unmanned vehicle when the first image is not included,

Or when the second image is not included, request the image of the second road segment from the vehicle behind the unmanned vehicle;

a determining module, configured to determine whether overtaking conditions are met according to the first image and the second image;

The control module is configured to control the unmanned vehicle to switch the lane when the overtaking condition is satisfied.

In some embodiments, the determining module is further configured to identify, according to the first image, whether there is a vehicle in the first road segment, and whether there is a vehicle in the second road segment;

If there is no vehicle in the first road section and the second road section, determining that the overtaking condition is satisfied;

Otherwise, it is determined that the overtaking condition is not satisfied.

In order to solve the above technical problems, in a third aspect, an embodiment of the present invention provides an unmanned vehicle, including:

at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of the first aspect above.

In order to solve the above technical problems, in a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute The method of the first aspect above.

In order to solve the above technical problems, in a fifth aspect, an embodiment of the present invention further provides a computer program product, the computer program product includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions, when The program instructions, when executed by a computer, cause the computer to perform the method described in the first aspect above.

Compared with the prior art, the beneficial effects of the present invention are: different from the prior art, the embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle, and the method is used during the driving process of the unmanned vehicle. , when detecting that there is a blocking vehicle ahead, first obtain the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, and then obtain the driving speed of the blocking vehicle and the driving information of the unmanned vehicle according to the driving speed of the blocking vehicle. , determine whether the unmanned vehicle currently has an overtaking demand, and if so, obtain a lane image of the lane on the side of the unmanned vehicle, and determine whether the lane image includes the lane reserved in front of the unmanned vehicle A first image of a first road section within a safe distance, and a second image of a second road section within a predetermined safe distance behind the unmanned vehicle in the lane, if the first image is not included, a The vehicle in front of the unmanned vehicle requests the image of the first road section, if the second image is not included, requests the image of the second road section from the vehicle behind the unmanned vehicle, and finally according to the first An image and the second image are used to determine whether the overtaking condition is met, and if so, the unmanned vehicle is controlled to switch the lane. The method for controlling the driving of an unmanned vehicle provided by the embodiment of the present invention can realize the overtaking function, thereby Reduce travel time to improve passenger ride experience.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations to the embodiments, and the elements/modules and steps with the same reference numerals in the drawings represent For similar elements/modules and steps, the figures in the accompanying drawings do not constitute a scale limitation unless otherwise stated.

1 is a schematic diagram of one of the application scenarios of the method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention;

2 is a flowchart of a method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention;

Fig. 3 is a sub-flow chart of step 160 in the method shown in Fig. 2;

Fig. 4 is a sub-flow chart of step 120 in the method shown in Fig. 2;

5 is a flowchart of another method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention;

Fig. 6 is a sub-flow chart of step 190 in the method shown in Fig. 5;

7 is a schematic structural diagram of a device for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention;

8 is a schematic structural diagram of another device for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention;

FIG. 9 is a schematic diagram of a hardware structure of an unmanned vehicle provided by an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

It should be noted that, if there is no conflict, various features in the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present application. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the modules in the device may be divided differently, or the sequence shown in the flowchart may be performed. or the described steps. In addition, the words "first" and "second" used herein do not limit the data and execution order, but only distinguish the same or similar items with substantially the same function and effect.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. As used in this specification, 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 various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

With the rapid development of society and technology, unmanned vehicles that rely mainly on the computer system in the vehicle for intelligent unmanned driving have gradually been developed and produced by major automobile manufacturers. Such unmanned vehicles can sense the road through the on-board sensor system. environment, automatically plan the driving route, and control the vehicle to reach the predetermined location. At present, most of the unmanned vehicles provided on the market can only drive according to the established route. In the case where the preset time leads to the destination, the embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle. Through this method, when the unmanned vehicle detects that there is a blocking vehicle ahead, it can judge by itself whether it needs to overtake and stop When overtaking is required, the overtaking operation is performed, so as to reach the preset destination before the preset arrival time, and improve the user experience.

Specifically, FIG. 1 is a schematic diagram of one application environment of the method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention, wherein the application environment includes: an unmanned vehicle 10, a blocking vehicle 20, and a lane A (including an unmanned vehicle 10). The current lane A1 where the human vehicle is located, the lane A2 on the left side of the unmanned vehicle, and the lane A3 on the right side of the unmanned vehicle). The unmanned vehicle 10 can drive on any lane A according to traffic rules.

The unmanned vehicle 10 is an unmanned intelligent vehicle, and the unmanned vehicle 10 is provided with a computer system, which has a huge computing function, and can obtain the current driving information of the unmanned vehicle 10 and detect the front obstacle. The driving speed of the vehicle 20 and the lane image of the lane on the side of the vehicle are obtained, and based on the above information, it is judged whether it is necessary and possible to overtake, and when it is necessary and possible to overtake, the unmanned vehicle 10 is controlled to switch lanes, and the unmanned vehicle 10 can also communicate with other vehicles. The blocking vehicle 20 is communicatively connected to obtain image information of the lane.

The unmanned vehicle 10 should be provided with various types of sensors, so that the user can obtain information about the surrounding environment, for example, a distance sensor such as a lidar, which is used to detect the distance between the vehicle and surrounding objects, and a speed sensor, which is used to detect the blocking of the vehicle ahead. speed. The unmanned vehicle 10 should also be provided with a device (not shown in the figure) for collecting images, such as a camera, for collecting lane images, and the images may be videos or pictures. There may be several sensors and cameras, such as 1, 2, 3, 4 and so on. Several sensors and cameras can be different devices to meet different needs.

It should be noted that the method for controlling the driving of an unmanned vehicle and applied to an unmanned vehicle provided by the embodiment of the present application is generally performed by the above-mentioned unmanned vehicle 10, and correspondingly, the device for controlling the driving of an unmanned vehicle applied to an unmanned vehicle Generally set in the unmanned vehicle 10 .

Specifically, the embodiments of the present invention are further described below with reference to the accompanying drawings.

An embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle, and the method can be executed by the above-mentioned unmanned vehicle 10 . Please refer to FIG. 2 , which shows a method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention. The flow chart of the method, the method includes but is not limited to the following steps:

Step 110: During the driving process of the unmanned vehicle, when it is detected that there is a blocking vehicle ahead, the driving speed of the blocking vehicle and the driving information of the unmanned vehicle are acquired.

In the embodiment of the present invention, in order to determine whether overtaking is required, when it is detected that there is a blocking vehicle in front of the unmanned vehicle, the driving speed of the blocking vehicle in front can be obtained, and the driving information of the unmanned vehicle can be obtained at the same time, and the driving information should include no The driving speed of people and vehicles. Generally, in order to avoid rear-end collision with the blocking vehicle in front, the driving speed of the unmanned vehicle should be less than or equal to the driving speed of the blocking vehicle in front.

Step 120 : According to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, determine whether the unmanned vehicle currently needs to overtake; if yes, go to step 130 ; if not, return to step 110 .

After obtaining the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, it can be determined whether overtaking is required according to the blocking speed and the driving information of the unmanned vehicle. The speed of the unmanned vehicle needs to be slower than the speed of the blocking vehicle in front or the same speed as the blocking vehicle in front. It can be determined according to whether the unmanned vehicle can arrive on time when it is driving at the current maximum speed (the speed of the blocking vehicle in front). The situation of the destination to determine whether there is an overtaking demand.

Step 130: Acquire a lane image of the lane beside the unmanned vehicle.

After it is determined that there is an overtaking demand, in order to prevent the unmanned vehicle from colliding with other vehicles in the lane next to the vehicle when overtaking, further, it is necessary to obtain the lane image of the lane on the side of the unmanned vehicle. An image acquisition device such as a camera on the vehicle acquires a lane image of the lane on the side of the unmanned vehicle.

Step 140: Determine whether the lane image includes a first image of a first road segment where the lane is within a predetermined safety distance in front of the unmanned vehicle, and the lane is within a predetermined safety distance behind the unmanned vehicle The second image of the second road section; if yes, go to step 160 ; if no, go to step 151 or step 152 .

When the unmanned vehicle obtains the lane image of the lane on the side of the unmanned vehicle through the image acquisition device arranged on the unmanned vehicle, it may also occur that the unmanned vehicle cannot obtain the image of the unmanned vehicle due to the shooting angle and field of view of the camera. Images of road sections in front of and behind the unmanned vehicle within a preset safe distance. Therefore, optionally, it can also be connected to other image acquisition devices capable of acquiring image information in the external environment to acquire images including road sections in front of and behind the unmanned vehicle within a preset safe distance, and other image acquisition devices in the external environment can The image collection device that collects image information may be cameras of other surrounding cars. Further, other image acquisition devices capable of acquiring image information in the external environment may also be surveillance cameras on the road.

Step 151: If the first image is not included, request the image of the first road segment from the vehicle located in front of the unmanned vehicle.

Preferably, when the first image of the first road segment within a preset safe distance in front of the car is not included, the unmanned vehicle can request the first image of the first road segment from one or more vehicles located in front of the unmanned vehicle. an image.

Step 152: If the second image is not included, request the image of the second road segment from the vehicle behind the unmanned vehicle.

Preferably, when the second image of the second road section within a preset safe distance behind the car is not included, the unmanned vehicle may request the first image of the second road section from one or more vehicles located behind the unmanned vehicle. Second image.

Step 160 : According to the first image and the second image, determine whether the overtaking condition is met; if yes, go to step 170 ; if not, return to step 140 .

After the first image and the second image are acquired, it can be determined whether the vehicle and the position of the vehicle exist on the first road section and the second road section on the first image and the second image. Overtaking conditions, wherein the overtaking conditions should be necessary conditions for the unmanned vehicle to safely move to the target lane and road section. If the overtaking condition is not met, return to the step of collecting the lane image on the side of the unmanned vehicle, and repeat the above steps until it is determined that the overtaking condition is met.

Step 170: Control the unmanned vehicle to switch the lane.

If the overtaking conditions are met, the unmanned vehicle can be controlled to switch to the corresponding lane, increase the speed of the vehicle, and realize overtaking.

An embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle. During the driving of the unmanned vehicle, when a blocking vehicle is detected ahead, the method first obtains the driving speed of the blocking vehicle, and The driving information of the unmanned vehicle, and then according to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, determine whether the unmanned vehicle currently has an overtaking demand, and if so, obtain the unmanned vehicle The lane image of the lane on the side is determined, and it is determined whether the lane image includes the first image of the first road segment where the lane is within a predetermined safe distance in front of the unmanned vehicle, and the lane is in the unmanned vehicle. The second image of the second road segment within a predetermined safe distance behind the vehicle, if the first image is not included, request the image of the first road segment from the vehicle located in front of the unmanned vehicle, if the first image is not included. two images, request the image of the second road section from the vehicle behind the unmanned vehicle, and finally determine whether the overtaking condition is met according to the first image and the second image, and if so, control the The unmanned vehicle switches the lane, and the method for controlling the driving of the unmanned vehicle provided by the embodiment of the present invention can realize the overtaking function, thereby shortening the driving time and improving the riding experience of passengers.

In some embodiments, please refer to FIG. 3, which shows a sub-flow chart of step 160 in the method shown in FIG. 2. Based on the method shown in FIG. 2, the step 160 further includes:

Step 161 : According to the first image, identify whether there is a vehicle in the first road section, and whether there is a vehicle in the second road section; if yes, go to step 162 ; if not, go to step 163 .

Step 162: If there is no vehicle in the first road section and the second road section, determine that the overtaking condition is satisfied.

Step 163: Determine that the overtaking condition is not met.

In the embodiment of the present invention, the meeting the overtaking condition is specifically determining whether there is a vehicle in the first road section and the second road section within a preset safety distance, and if there is no vehicle, it means that the unmanned vehicle has moved to the There will be no rear-end collision with surrounding vehicles on the first road section and the second road section. Wherein, the preset safety distance can be set according to the actual situation, preferably, it is necessary to consider the sudden braking of the vehicle in front, or the sudden acceleration of the rear vehicle, etc., to ensure that in the event of an emergency, the unmanned The car can safely evade.

In some embodiments, the travel information includes: destination address and arrival time, please refer to FIG. 4 , which shows a sub-flow chart of step 120 in the method shown in FIG. 2 , based on the method, the step 120 further includes:

Step 121: Obtain the current position and current time of the unmanned vehicle.

Step 122: Acquire the distance from the current location to the destination address in combination with the preset map database.

Step 123: Calculate the travel time according to the distance and the travel speed of the blocking vehicle.

Step 124: Obtain the time interval between the arrival time and the current time.

Step 125 : determine whether the travel time is greater than the time interval; if yes, go to step 126 ; if not, go to step 127 .

Step 126: Determine that the unmanned vehicle needs to overtake.

Step 127: Determine that the unmanned vehicle does not need to overtake.

When confirming whether there is a need for overtaking, it can be determined according to the current location of the unmanned vehicle and the current driving speed, as well as 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 (when the traveling time is greater than the time interval) according to the distance and the current driving speed, it is necessary to first determine that the current unmanned vehicle is upgraded to the highest Whether the unmanned vehicle can reach the destination address on time when driving at the same speed, and if it cannot reach the destination address within the preset time, it is determined that the unmanned vehicle needs to overtake. Wherein, the highest traveling speed is the traveling speed of the blocking vehicle. In addition, in order to avoid the phenomenon of rear-end collision of the unmanned vehicle at a faster speed and the blocking vehicle ahead, preferably, it is only based on whether the unmanned vehicle is on time at the current driving speed (usually less than or equal to the driving speed of the blocking vehicle ahead). reach the destination address to judge.

In some embodiments, please refer to FIG. 5 , which shows a flowchart of another method for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention. Based on the methods shown in FIGS. 2 to 4 , the method further include:

Step 180 : Broadcast lane switching information, and control the unmanned vehicle to output an overtaking instruction, wherein the lane switching information carries the identification of the lane.

In the embodiment of the present invention, in order to further ensure safety, after the unmanned vehicle determines that it needs to overtake, it broadcasts lane switching information to surrounding vehicles, and outputs an overtaking instruction. The broadcast lane switching information can be directly pushed to nearby vehicles. Vehicles can also send reminders through audio, lights, etc.

In some embodiments, please continue to refer to FIG. 5, the method further includes:

Step 190: After the unmanned vehicle is switched to the lane, according to the driving information of the unmanned vehicle, the driving speed of the unmanned vehicle is increased.

In the embodiment of the present invention, after the unmanned vehicle switches to the corresponding lane to achieve overtaking, in order to ensure that the unmanned vehicle can reach the destination on time, the current location of the unmanned vehicle and the current distance from the destination can be used according to the current location of the unmanned vehicle. , and the travel time required to reach the destination, to increase the travel speed of the unmanned vehicle.

Specifically, in some embodiments, please refer to FIG. 6, which shows a sub-flow chart of step 190 in the method shown in FIG. 5. Based on the methods shown in FIG. 2 and FIG. 5, the step 190 further includes:

Step 191: Calculate the speed to be driven according to the time interval and the distance.

Step 192: Control the speed of the unmanned vehicle to increase to the speed to be driven.

In the embodiment of the present invention, when calculating the driving speed to which the unmanned vehicle needs to be increased, the distance and the time interval can be used as triggers to obtain the speed to be driven, and then the unmanned vehicle is controlled to increase the vehicle speed to The speed to be driven is sufficient. Optionally, in order to ensure on-time arrival, the speed of the vehicle to be driven may be increased adaptively.

An embodiment of the present invention provides a device for controlling the driving of an unmanned vehicle. Please refer to FIG. 7 , which shows a schematic structural diagram of a device for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention. The device 200 for driving is applied to an unmanned vehicle, and the device 200 includes: a first acquisition module 210, a first judgment module 220, a second acquisition module 230, a second judgment module 240, a request module 250, a determination module 260, and a control module 270.

The first acquisition module 210 is configured to acquire the driving speed of the blocking vehicle and the driving information of the unmanned vehicle when it is detected that there is a blocking vehicle ahead during the driving of the unmanned vehicle;

The first judging module 220 is configured to judge whether the unmanned vehicle currently needs to overtake according to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle;

The second obtaining module 230 is configured to obtain a lane image of a lane on the side of the unmanned vehicle when the unmanned vehicle currently needs to overtake;

The second judging module 240 is configured to judge whether the lane image includes a first image of a first road segment where the lane is within a predetermined safe distance in front of the unmanned vehicle, and whether the lane is in the unmanned vehicle. A second image of a second road segment within a predetermined safe distance behind the vehicle;

The requesting module 250 is configured to request the image of the first road section from the vehicle located in front of the unmanned vehicle when the first image is not included,

Or when the second image is not included, request the image of the second road segment from the vehicle behind the unmanned vehicle;

The determining module 260 is configured to determine whether an overtaking condition is met 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 overtaking conditions are met.

In some embodiments, the determining module 260 is further configured to identify, according to the first image, whether there is a vehicle in the first road segment, and whether there is a vehicle in the second road segment;

If there is no vehicle in the first road section and the second road section, determining that the overtaking condition is satisfied;

Otherwise, it is determined that the overtaking condition is not satisfied.

In some embodiments, the travel information includes: destination address and arrival time,

The first judgment module 220 is further configured to obtain the current position and current time of the unmanned vehicle;

In combination with the preset map database, the distance from the current location to the destination address is obtained;

Calculate the travel time according to the distance and the travel speed of the blocking vehicle;

obtaining the time interval between the arrival time and the current time;

determining whether the travel time is greater than the time interval;

If so, determine that the unmanned vehicle has an overtaking demand;

If not, it is determined that the unmanned vehicle does not need to overtake.

In some embodiments, please refer to FIG. 8 , which shows another device for controlling the driving of an unmanned vehicle provided by an embodiment of the present invention. Based on the device 200 for controlling the driving of an unmanned vehicle shown in FIG. 7 , the device 200 also includes: a broadcast module 280 and a promotion module 290 .

The broadcasting module 280 is configured to broadcast lane switching information, and control the unmanned vehicle to output an overtaking instruction, wherein the lane switching information carries the identification of the lane.

The elevating module 290 is configured to elevate the traveling speed of the unmanned vehicle according to the traveling 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 speed to be driven according to the time interval and the distance;

The speed of the unmanned vehicle is controlled to increase to the speed to be driven.

An embodiment of the present invention also provides an unmanned vehicle, please refer to FIG. 9 , which shows the hardware structure of the unmanned vehicle capable of executing the method for controlling the driving of the unmanned vehicle described in FIGS. 2 to 6 . The unmanned vehicle 10 may be the unmanned vehicle 10 shown in FIG. 1 .

The unmanned vehicle 10 includes: at least one processor 11 ; and a memory 12 communicatively connected to the at least one processor 11 , and one processor 11 is used as an example in FIG. 9 . The memory 12 stores instructions executable by the at least one processor 11, and the instructions are executed by the at least one processor 11 to enable the at least one processor 11 to perform the operations described in FIGS. 2 to 6 above. The described method of controlling the driving of an unmanned vehicle. The processor 11 and the memory 12 may be connected through a bus or in other ways, and the connection through a bus is taken as an example in FIG. 9 .

As a non-volatile computer-readable storage medium, the memory 12 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as the method for controlling the driving of an unmanned vehicle in the embodiment of the present application Corresponding program instructions/modules, for example, each module shown in FIG. 7 and FIG. 8 . The processor 11 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 12, that is, implementing the method for controlling the driving of the unmanned vehicle in the above method embodiments.

The memory 12 may include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the storage data area may store data created according to the use of the device for controlling the driving of the unmanned vehicle Wait. Additionally, memory 12 may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the memory 12 may optionally include memory located remotely relative to the processor 11, and these remote memories may be connected to the device for controlling the driving of the unmanned vehicle through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 12, and when executed by the one or more processors 11, execute the method for controlling the driving of an unmanned vehicle in any of the above method embodiments, for example, execute the above description The method steps in FIGS. 2 to 6 implement the functions of each module and each unit in FIGS. 7 to 8 .

The above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of this application.

Embodiments of the present application also provide a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, executing The method steps of FIGS. 2 to 6 described above implement the functions of the modules in FIGS. 7 to 8 .

Embodiments of the present application also provide a computer program product, including a computer program stored on a non-volatile computer-readable storage medium, where the computer program includes program instructions, when the program instructions are executed by a computer, The computer executes the method for controlling the driving of an unmanned vehicle in any of the above method embodiments, for example, executes the method steps in FIGS. 2 to 6 described above to realize the functions of each module in FIGS.

An embodiment of the present invention provides a method for controlling the driving of an unmanned vehicle. During the driving of the unmanned vehicle, when a blocking vehicle is detected ahead, the method first obtains the driving speed of the blocking vehicle, and The driving information of the unmanned vehicle, and then according to the driving speed of the blocking vehicle and the driving information of the unmanned vehicle, determine whether the unmanned vehicle currently has an overtaking demand, and if so, obtain the unmanned vehicle The lane image of the lane on the side is determined, and it is determined whether the lane image includes the first image of the first road segment where the lane is within a predetermined safe distance in front of the unmanned vehicle, and the lane is in the unmanned vehicle. The second image of the second road segment within a predetermined safe distance behind the vehicle, if the first image is not included, request the image of the first road segment from the vehicle located in front of the unmanned vehicle, if the first image is not included. two images, request the image of the second road section from the vehicle behind the unmanned vehicle, and finally determine whether the overtaking condition is met according to the first image and the second image, and if so, control the The unmanned vehicle switches the lane, and the method for controlling the driving of the unmanned vehicle provided by the embodiment of the present invention can realize the overtaking function, thereby shortening the driving time and improving the riding experience of passengers.

It should be noted that the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physically separated unit, that is, it can be located in one place, or it can be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

From the description of the above embodiments, those of ordinary skill in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, The steps may be carried out 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 invention has been The skilled person should understand that it is still possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the present invention. scope of technical solutions.

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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