CN111161540A - Driving guide method and device of intelligent automobile, terminal and storage medium - Google Patents
Driving guide method and device of intelligent automobile, terminal and storage medium Download PDFInfo
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- CN111161540A CN111161540A CN202010180503.7A CN202010180503A CN111161540A CN 111161540 A CN111161540 A CN 111161540A CN 202010180503 A CN202010180503 A CN 202010180503A CN 111161540 A CN111161540 A CN 111161540A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
The application discloses a driving guide method, a driving guide device and a storage medium of an intelligent automobile, belongs to the technical field of intelligent automobiles, and is applied to a road side unit, wherein the method comprises the following steps: the method comprises the steps of obtaining traffic participant information at least one traffic intersection, wherein the traffic participant information is used for describing traffic participant information which influences the road condition of any traffic intersection in the at least one traffic intersection; determining road condition information corresponding to at least one traffic intersection according to the traffic participant information of the at least one traffic intersection; and sending the road condition information corresponding to at least one traffic intersection to the intelligent automobile within the communication range, and controlling the intelligent automobile to drive under the guidance of the road condition information. According to the method and the system, the traffic participant information at least one traffic intersection is used for determining the road condition information of the at least one traffic intersection, the intelligent automobile can be driven and controlled under the guidance of the road condition information, the probability of traffic accidents of the intelligent automobile at the traffic intersection is reduced, and the driving safety is improved.
Description
Technical Field
The present disclosure relates to the field of intelligent vehicle technologies, and in particular, to a driving guidance method and device for an intelligent vehicle, and a storage medium.
Background
Along with the development of science and technology, automobiles become more and more intelligent, and the main embodiment of automobile intelligence is the automatic driving of intelligent automobiles. In order to avoid traffic safety accidents during automatic driving of the intelligent automobile, targets such as obstacles, lane lines, lane marks and the like need to be detected, and the intelligent automobile can perform control such as braking, avoiding, lane changing and the like according to the detected targets. However, when the intelligent vehicle drives to the traffic intersection, the traffic accident is caused because the road condition of the traffic intersection is complex and the intelligent vehicle is difficult to detect comprehensively. Therefore, a driving guidance method for an intelligent vehicle is needed.
Disclosure of Invention
The application provides a driving guiding method, a driving guiding device and a storage medium of an intelligent automobile, which can solve the problem that traffic accidents easily occur at traffic intersections in the related art. The technical scheme is as follows:
in one aspect, a driving guiding method of an intelligent automobile is provided, and is applied to a road side unit, and the method comprises the following steps:
the method comprises the steps of obtaining traffic participant information at least one traffic intersection, wherein the traffic participant information is used for describing information of traffic participants influencing road conditions of any traffic intersection in the at least one traffic intersection;
determining road condition information corresponding to the at least one traffic intersection according to the information of the traffic participants at the at least one traffic intersection;
and sending the road condition information corresponding to the at least one traffic intersection to an intelligent automobile in a communication range, wherein the intelligent automobile performs driving control under the guidance of the road condition information.
In some embodiments, the obtaining of the traffic participant information at the at least one traffic intersection includes:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
In some embodiments, the determining the road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection includes:
for any traffic intersection in the at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in the traffic participant information of any traffic intersection;
determining a road state at any traffic intersection according to road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state;
and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
In some embodiments, the sending the traffic information corresponding to the at least one traffic intersection to the smart car located in the communication range includes:
and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile in the communication range by using a V2X (vehicle to outside information exchange) technology.
In another aspect, a driving guiding method for an intelligent vehicle is provided, and is applied to any intelligent vehicle located in a communication range of a road side unit, and the method includes:
receiving road condition information corresponding to at least one traffic intersection sent by a road side unit;
determining the guiding information of the intelligent automobile according to the road condition information;
and controlling the intelligent automobile to run according to the guiding information so as to complete the driving guidance of the intelligent automobile.
In some embodiments, the determining the guidance information of the intelligent vehicle according to the traffic information includes:
when the road condition information comprises a traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or the presence of a gas in the gas,
when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or the presence of a gas in the gas,
when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information;
and when the road condition information comprises the traffic jam condition of the at least one traffic intersection, replanning the driving path of the intelligent automobile according to the traffic jam condition.
In another aspect, a driving guide device for an intelligent vehicle is provided, which is applied to a road side unit, and comprises:
the system comprises an acquisition module, a traffic information processing module and a traffic information processing module, wherein the acquisition module is used for acquiring traffic participant information at least one traffic intersection, and the traffic participant information is used for describing traffic participant information which influences the road condition of any traffic intersection in the at least one traffic intersection;
the first determining module is used for determining road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection;
and the sending module is used for sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range, and the intelligent automobile performs driving control under the guidance of the road condition information.
In some embodiments, the obtaining module is to:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
In some embodiments, the first determination module is to:
for any traffic intersection in the at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in the traffic participant information of any traffic intersection;
determining a road state at any traffic intersection according to road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state;
and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
In some embodiments, the sending module is to:
and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range by using the vehicle-to-outside information exchange V2X technology.
In another aspect, a driving guiding device for a smart car is provided, which is applied to any smart car located in a communication range of a road side unit, and the device includes:
the receiving module is used for receiving road condition information corresponding to at least one traffic intersection sent by the road side unit;
the second determining module is used for determining the guiding information of the intelligent automobile according to the road condition information;
and the control module is used for controlling the intelligent automobile to run according to the guiding information so as to complete the driving guiding of the intelligent automobile.
In some embodiments, the second determination module is to:
when the road condition information comprises a traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or the presence of a gas in the gas,
when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or the presence of a gas in the gas,
when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information;
and when the road condition information comprises the traffic jam condition of the at least one traffic intersection, replanning the driving path of the intelligent automobile according to the traffic jam condition.
In another aspect, a road side unit is provided, where the road side unit includes a memory and a processor, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so as to implement the steps of the driving guidance method for an intelligent automobile.
In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the driving guidance method for a smart car described above.
In another aspect, a computer program product containing instructions is provided, which when run on a computer causes the computer to perform the steps of the driving guidance method for a smart car as described above.
The technical scheme provided by the application can at least bring the following beneficial effects:
in the application, the road side unit can acquire the traffic participant information of at least one traffic intersection, determine the road condition information of the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection, and send the road condition information of the at least one traffic intersection to the intelligent automobile in a communication range, so that the intelligent automobile can be driven and controlled under the guidance of the road condition information, the probability of traffic accidents of the intelligent automobile at the traffic intersection is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a driving guidance system architecture of an intelligent automobile according to an embodiment of the present application;
fig. 2 is a flowchart of a driving guidance method of an intelligent vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of another driving guidance method for an intelligent vehicle according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of another driving guidance method for an intelligent vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a driving guidance device of an intelligent automobile according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of another driving guidance device of an intelligent automobile according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a roadside unit provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of another roadside unit provided in the embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Before explaining the driving guidance method of the intelligent vehicle provided by the embodiment of the present application in detail, an application scenario and a system architecture provided by the embodiment of the present application are introduced.
First, an application scenario related to the embodiment of the present application will be described.
Along with the development of science and technology, automobiles become more and more intelligent, and the main embodiment of automobile intelligence is the automatic driving of intelligent automobiles. However, automatic driving under complex urban road conditions faces many technical difficulties, especially the difficulty of traffic intersection. Due to the fact that road conditions of traffic intersections are complex, when the intelligent automobile detects objects such as obstacles, lane lines and lane marks, the intelligent automobile can be difficult to detect comprehensively, and therefore traffic accidents are caused.
Based on the application scene, the embodiment of the application provides the driving guiding method of the intelligent automobile, which can improve the driving safety.
Next, a system architecture according to an embodiment of the present application will be described.
Fig. 1 is a schematic view of a driving guidance system architecture of an intelligent vehicle according to an embodiment of the present application, referring to fig. 1, the system architecture includes a roadside unit 1, a management center cloud platform 2, an intelligent vehicle 3, an infrared camera 4, and a millimeter wave radar 5, and the roadside unit 1 may communicate with the management center cloud platform 2, the intelligent vehicle 3, the infrared camera 4, and the millimeter wave radar 5 through 5G (5th generation mobile communication technology) signals, respectively. The infrared camera 4 is used for detecting automobiles and pedestrians through thermal infrared imaging and counting participant information such as real-time traffic flow of a traffic intersection; the millimeter wave radar 5 can be used for acquiring participant information such as the directions, distances, speeds, sizes and the like of the automobile and the pedestrians through a 3D technology; the roadside unit 1 may be configured to acquire traffic participant information at least one traffic intersection through the far infrared camera 4 and/or the millimeter wave radar 5 and the management center cloud platform 2, determine road condition information corresponding to the at least one traffic intersection according to the traffic participant information at the at least one traffic intersection, and send the road condition information corresponding to the at least one traffic intersection to the smart car 3 located within the communication range. The smart car 2 may be used for driving control under guidance of the traffic information. The management center cloud platform 2 may be configured to obtain the traffic participant information obtained by the roadside unit 1 at each traffic intersection.
It will be appreciated by those skilled in the art that the foregoing system architectures are merely exemplary, and that other existing or future systems, which may be suitable for use in the present application, are also encompassed within the scope of the present application and are hereby incorporated by reference.
Next, a driving guidance method of an intelligent vehicle according to an embodiment of the present application will be explained in detail with reference to the drawings.
Fig. 2 is a flowchart of a driving guidance method for an intelligent vehicle according to an embodiment of the present application, where the method is applied to a road side unit. Referring to fig. 2, the method includes the following steps.
Step 201: the method comprises the steps of obtaining traffic participant information at least one traffic intersection, wherein the traffic participant information is used for describing traffic participant information which influences the road condition of any traffic intersection in the at least one traffic intersection.
Step 202: and determining road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection.
Step 203: and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range, wherein the intelligent automobile performs driving control under the guidance of the road condition information.
In the application, the road side unit can acquire the traffic participant information of at least one traffic intersection, determine the road condition information of the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection, and send the road condition information of the at least one traffic intersection to the intelligent automobile in a communication range, so that the intelligent automobile can be driven and controlled under the guidance of the road condition information, the probability of traffic accidents of the intelligent automobile at the traffic intersection is reduced, and the driving safety is improved.
In some embodiments, obtaining traffic participant information at least one traffic intersection comprises:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
In some embodiments, determining the road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection includes:
for any traffic intersection in the at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in the traffic participant information of any traffic intersection;
determining the road state of any traffic intersection according to the road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state;
and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
In some embodiments, the sending the traffic information corresponding to the at least one traffic intersection to the smart car located in the communication range includes:
and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range by the vehicle-to-outside information exchange V2X technology.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 3 is a flowchart of a driving guidance method for an intelligent vehicle according to an embodiment of the present application, where the method is applied to any intelligent vehicle located within a communication range of a roadside unit. Referring to fig. 3, the method includes the following steps.
Step 301: and receiving road condition information corresponding to at least one traffic intersection sent by the road side unit.
Step 302: and determining the guiding information of the intelligent automobile according to the road condition information.
Step 303: and controlling the intelligent automobile to run according to the guiding information so as to complete the driving guidance of the intelligent automobile.
In the application, the intelligent automobile can determine the guiding information of the intelligent automobile according to the road condition information corresponding to at least one traffic intersection sent by the road side unit, and the driving control is carried out under the guiding of the guiding information, so that the probability of traffic accidents of the intelligent automobile at the traffic intersection is reduced, and the driving safety is improved.
In some embodiments, the determining the guidance information of the intelligent vehicle according to the traffic information includes:
when the road condition information comprises a traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or the presence of a gas in the gas,
when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or the presence of a gas in the gas,
when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information;
when the road condition information comprises the traffic jam condition of the at least one traffic intersection, the driving path of the intelligent automobile is re-planned according to the traffic jam condition.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 4 is a flowchart of a driving guidance method of an intelligent vehicle according to an embodiment of the present application, and referring to fig. 4, the method includes the following steps.
Step 401: the road side unit acquires traffic participant information at least one traffic intersection, wherein the traffic participant information is used for describing traffic participant information which influences the road condition of any traffic intersection in the at least one traffic intersection.
It should be noted that, since the traffic participant information is used to describe information of traffic participants that affect the road condition of any one of the at least one traffic intersection, and the traffic participants generally include pedestrians, non-motor vehicles, roads, signal lamps, and so on, the traffic participant information at the at least one traffic intersection acquired by the road side unit may include one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information, signal lamp information, and so on.
As an example, the operation of the road side unit obtaining the information of the traffic participants at least one traffic intersection may include: acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms at other traffic junctions.
Because the distance between some traffic intersections and other traffic intersections is short, in order to improve the driving guide accuracy of the intelligent automobile, the road side unit at the current traffic intersection can acquire the information of the traffic participants at the current traffic intersection and can also acquire the information of the traffic participants at other traffic intersections.
The road side unit of each traffic intersection can send the acquired traffic participant information of the current traffic intersection to the management center cloud platform, so that any road side unit can acquire the traffic participant information of other traffic intersections from the management center cloud platform.
As an example, the road side unit may obtain traffic participant information of all other traffic intersections adjacent to the current traffic intersection, and may also obtain traffic participant information of any other traffic intersection.
In some embodiments, the far infrared camera acquires traffic participant information through an infrared thermal imaging principle. The far infrared thermal imaging is characterized in that an optical system receives infrared radiation of a detected target, the infrared radiation is subjected to spectral filtering, an infrared radiation energy distribution pattern is reflected to each photosensitive element of an infrared detector array on a focal plane, a detector converts infrared radiation energy into an electric signal, a detector offset and preamplification input circuit outputs a required amplified signal, and the signal is injected into a reading circuit so as to carry out multiplex transmission. The readout circuit of a high-density multifunctional CMOS (Complementary Metal Oxide Semiconductor) multiplexer can perform signal integration, transmission, processing and scanning output of dense linear and planar array infrared focal plane arrays, and perform a/D (analog-to-digital) conversion for sending to a microcomputer for video image processing.
In some embodiments, the millimeter wave radar may be a 3D (3 dimensional) millimeter wave radar, and the 3D millimeter wave radar has the characteristics of point cloud imaging and high resolution similar to a laser radar, can distinguish objects and persons, determine a position while drawing a large area, and make a 3D image of an environment. The sensor also enables real-time simultaneous detection and classification of various targets. In addition, the sensor uses broadband radio waves, is able to penetrate different types of materials, and operates under various weather or light conditions.
It is worth explaining that infrared human imaging and millimeter wave radar 3D imaging are combined, various weather environments can be adapted, and accuracy of target detection and identification at traffic intersections is guaranteed.
Step 402: and the road side unit determines road condition information corresponding to at least one traffic intersection according to the traffic participant information of the at least one traffic intersection.
Because different traffic participant information will generate different road condition information, the road side unit needs to determine the road condition information corresponding to at least one traffic intersection according to the traffic participant information of the at least one traffic intersection.
As an example, the operation of the roadside unit determining the road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection may be: for any traffic intersection in at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in traffic participant information of any traffic intersection; determining a road state at any traffic intersection according to road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state; and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
When the pedestrian information exists, the pedestrian can collide with the motor car or the non-motor vehicle, so that the road condition is collided; and/or pedestrians, non-motor vehicles and/or vehicle drivers may cause congestion road conditions, and therefore, the roadside unit needs to determine a pedestrian collision risk state, a vehicle collision risk state and a traffic congestion condition at any traffic intersection according to at least one of the pedestrian information, the non-motor vehicle information and the motor vehicle information. When the road state may change due to weather or other reasons, for example, the road surface is slippery due to rainfall, the road surface is icy due to education, the road surface is uneven according to the circumstances, and the like, different road states may have different influences on the driving of the intelligent automobile, and therefore the road side unit may determine the road state at any traffic intersection according to the road information. The state of the traffic signal lamp also affects the driving state of the intelligent automobile, so that the road side unit can determine the state of the traffic signal lamp at any traffic intersection according to the signal lamp information included in the traffic participant information.
As an example, the roadside unit may determine a pedestrian collision risk state and/or a vehicle collision risk state according to a pedestrian travel track included in the pedestrian information, a non-vehicle travel track included in the non-vehicle information, a travel track of a vehicle such as a smart vehicle included in the vehicle information; and determining the traffic jam condition according to the number of pedestrians included in the pedestrian information, the number of non-motor vehicles included in the non-motor vehicle information and the number of motor vehicles included in the motor vehicle information. Or, determining the traffic jam condition according to the number of pedestrians included in the pedestrian information, the number of non-motor vehicles included in the non-motor vehicle information, the number of motor vehicles included in the motor vehicle information, and the signal light information.
Step 403: and the road side unit sends the road condition information corresponding to at least one traffic intersection to the intelligent automobile within the communication range.
In order to improve and reduce the collision risk of the intelligent automobile at the traffic intersection, the road side unit can send the road condition information corresponding to at least one traffic intersection to the intelligent automobile within the communication range.
As an example, the road side unit may send the road condition information corresponding to at least one traffic intersection to an intelligent vehicle located in a communication range through a vehicle-to-outside information exchange V2X technology. Or the road condition information corresponding to at least one traffic intersection is sent to the intelligent automobile within the communication range through the 5G signal.
Step 404: and the intelligent automobile receives road condition information corresponding to at least one traffic intersection sent by the road side unit.
As an example, the intelligent automobile may receive the road condition information corresponding to at least one traffic intersection sent by the road side unit through the V2X technology. Or receiving road condition information corresponding to at least one traffic intersection sent by the road side unit through the 5G signal.
Step 405: and the intelligent automobile determines the guiding information of the intelligent automobile according to the road condition information.
Because different road condition information, the driving modes of the intelligent automobile are different, and therefore the intelligent automobile needs to determine the guiding information of the intelligent automobile according to the road condition information.
As an example, the operation of determining the guidance information of the smart car according to the traffic information by the smart car may be: when the road condition information comprises the traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information; when the road condition information comprises the traffic jam condition of at least one traffic intersection, the driving path of the intelligent automobile is re-planned according to the traffic jam condition.
Because the intelligent automobile needs to run according to the indication of the traffic light state when running, when the road condition information includes the traffic light state of the current traffic intersection, the intelligent automobile needs to determine the corresponding running information or braking information according to the traffic light state and the corresponding state remaining time.
Because there is certain influence to intelligent automobile when the road state goes, for example, when the road state is ponding state, icing state and/or hole state, the speed of intelligent automobile too fast will lead to intelligent automobile to appear the problem such as skid, consequently, when road condition information includes the road state at the traffic crossing at present, and the road state is ponding state, icing state and/or hole state, corresponding speed reduction information can be confirmed to intelligent automobile.
When the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, the risk may be caused by the intelligent automobile or other intelligent automobiles. Therefore, in order to avoid the occurrence of risks or the spread of collision accidents, the intelligent automobile can determine corresponding deceleration information and braking information.
Because the travel of passengers in the intelligent automobile can be influenced when the traffic intersection is congested, in order to evacuate traffic flow and reduce the influence on the travel of the passengers, the intelligent automobile can re-plan the driving path of the intelligent automobile according to the traffic congestion condition.
Step 406: and the intelligent automobile controls the intelligent automobile to run according to the guiding information so as to complete the driving guidance of the intelligent automobile.
As an example, when the guidance information includes braking information, the smart car may be controlled to brake; when the guiding information comprises deceleration information, controlling the intelligent automobile to perform deceleration driving; when the guiding information comprises driving information, controlling the intelligent automobile to drive according to the current driving speed and the driving path; and when the guiding information comprises the re-planned driving path, controlling the intelligent automobile to drive according to the re-planned driving path.
In some embodiments, the intelligent automobile can also prompt the driver with the guidance information before controlling the intelligent automobile to run according to the guidance information.
In the embodiment of the application, the road side unit can acquire the traffic participant information of at least one traffic intersection, determine the road condition information of the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection, and send the road condition information of the at least one traffic intersection to the intelligent automobile within a communication range, so that the intelligent automobile can determine the guide information of the intelligent automobile according to the road condition information corresponding to the at least one traffic intersection sent by the road side unit, and perform driving control under the guide of the guide information, thereby reducing the probability of traffic accidents of the intelligent automobile at the traffic intersection, and improving the driving safety.
After explaining the driving guidance method of the intelligent vehicle provided in the embodiment of the present application, a driving guidance device of the intelligent vehicle provided in the embodiment of the present application will be described next.
Fig. 5 is a schematic structural diagram of a driving guidance device of an intelligent vehicle according to an embodiment of the present application, where the driving guidance device of the intelligent vehicle may be implemented by software, hardware, or a combination of the software and the hardware as part or all of a road side unit, and the road side unit may be the device shown in fig. 1. Referring to fig. 5, the apparatus includes: an acquisition module 501, a first determination module 502 and a sending module 503.
An obtaining module 501, configured to obtain traffic participant information at least one traffic intersection, where the traffic participant information is used to describe information of a traffic participant that affects a road condition of any traffic intersection in the at least one traffic intersection;
a first determining module 502, configured to determine road condition information corresponding to the at least one traffic intersection according to the information of the traffic participants at the at least one traffic intersection;
a sending module 503, configured to send the road condition information corresponding to the at least one traffic intersection to an intelligent vehicle located in a communication range, where the intelligent vehicle performs driving control under guidance of the road condition information.
In some embodiments, the obtaining module 501 is configured to:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
In some embodiments, the first determining module 502 is configured to:
for any traffic intersection in the at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in the traffic participant information of any traffic intersection;
determining a road state at any traffic intersection according to road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state;
and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
In some embodiments, the sending module 503 is configured to:
and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range by using the vehicle-to-outside information exchange V2X technology.
In the embodiment of the application, the road side unit can acquire the traffic participant information of at least one traffic intersection, determine the road condition information of the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection, and send the road condition information of the at least one traffic intersection to the intelligent automobile within a communication range, so that the intelligent automobile can determine the guide information of the intelligent automobile according to the road condition information corresponding to the at least one traffic intersection sent by the road side unit, and perform driving control under the guide of the guide information, thereby reducing the probability of traffic accidents of the intelligent automobile at the traffic intersection, and improving the driving safety.
Fig. 6 is a schematic structural diagram of a driving guidance device of an intelligent automobile according to an embodiment of the present application, where the driving guidance device of the intelligent automobile can be implemented by software, hardware, or a combination of the software and the hardware as part or all of the intelligent automobile. Referring to fig. 6, the apparatus includes: a receiving module 601, a second determining module 602, and a control module 603.
The receiving module 601 is configured to receive road condition information corresponding to at least one traffic intersection sent by a road side unit;
a second determining module 602, configured to determine guidance information of the intelligent vehicle according to the road condition information;
and the control module 603 is configured to control the intelligent vehicle to run according to the guidance information, so as to complete driving guidance of the intelligent vehicle.
In some embodiments, the second determining module 602 is configured to:
when the road condition information comprises a traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or the presence of a gas in the gas,
when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or the presence of a gas in the gas,
when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information;
and when the road condition information comprises the traffic jam condition of the at least one traffic intersection, replanning the driving path of the intelligent automobile according to the traffic jam condition.
In the embodiment of the application, the road side unit can acquire the traffic participant information of at least one traffic intersection, determine the road condition information of the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection, and send the road condition information of the at least one traffic intersection to the intelligent automobile within a communication range, so that the intelligent automobile can determine the guide information of the intelligent automobile according to the road condition information corresponding to the at least one traffic intersection sent by the road side unit, and perform driving control under the guide of the guide information, thereby reducing the probability of traffic accidents of the intelligent automobile at the traffic intersection, and improving the driving safety.
It should be noted that: in the driving guidance device for an intelligent vehicle according to the above embodiment, when guiding the driving of the intelligent vehicle, only the division of the functional modules is illustrated, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the driving guidance device of the intelligent vehicle provided by the above embodiment and the driving guidance method embodiment of the intelligent vehicle belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment and are not described herein again.
Fig. 7 is a block diagram of a roadside unit 700 according to an embodiment of the present application.
In general, the roadside unit 700 includes: a processor 701 and a memory 702.
The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the roadside unit 700 may further include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, a positioning component 708, and a power source 709.
The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof.
The camera assembly 706 is used to capture images or video. Optionally, the camera assembly 706 includes any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to implement a background blurring function implemented by the fusion of the main camera and the depth-of-field camera, implement a panoramic shooting function and a VR (Virtual Reality) shooting function implemented by the fusion of the main camera and the wide-angle camera, or implement other fusion shooting functions. In some embodiments, camera assembly 706 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different positions of the roadside unit 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.
In some embodiments, the roadside unit 700 also includes one or more sensors 710.
Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the roadside unit 700, and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.
Fig. 8 is a schematic structural diagram of a roadside unit provided in an embodiment of the present application. The roadside unit 800 includes a Central Processing Unit (CPU)801, a system memory 804 including a Random Access Memory (RAM)802 and a Read Only Memory (ROM)803, and a system bus 805 connecting the system memory 804 and the central processing unit 801. Roadside unit 800 also includes a basic input/output system (I/O system) 806 to facilitate the transfer of information between various devices within the computer, and a mass storage device 807 for storing an operating system 813, application programs 814, and other program modules 815.
The basic input/output system 806 includes a display 808 for displaying information and an input device 809 such as a mouse, keyboard, etc. for user input of information. Wherein a display 808 and an input device 809 are connected to the central processing unit 801 through an input output controller 810 connected to the system bus 805. The basic input/output system 806 may also include an input/output controller 810 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, input-output controller 810 also provides output to a display screen, a printer, or other type of output device.
The mass storage device 807 is connected to the central processing unit 801 through a mass storage controller (not shown) connected to the system bus 805. The mass storage device 807 and its associated computer-readable media provide non-volatile storage for the roadside unit 800. That is, the mass storage device 807 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.
Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory 804 and mass storage 807 described above may be collectively referred to as memory.
The roadside unit 800 may also operate as a remote computer connected to a network through a network such as the internet, according to various embodiments of the present application. That is, the road side unit 800 may be connected to the network 812 via a network interface unit 811 coupled to the system bus 805, or may be connected to other types of networks or remote computer systems (not shown) using the network interface unit 811.
The memory further includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU.
In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the driving guidance method of the intelligent automobile in the above embodiments. For example, the computer-readable storage medium may be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It is noted that the computer-readable storage medium referred to herein may be a non-volatile storage medium, in other words, a non-transitory storage medium.
It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.
That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the driving guidance method for an intelligent automobile described above.
The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A driving guide method of an intelligent automobile is characterized by being applied to a road side unit, and the method comprises the following steps:
the method comprises the steps of obtaining traffic participant information at least one traffic intersection, wherein the traffic participant information is used for describing information of traffic participants influencing road conditions of any traffic intersection in the at least one traffic intersection;
determining road condition information corresponding to the at least one traffic intersection according to the information of the traffic participants at the at least one traffic intersection;
and sending the road condition information corresponding to the at least one traffic intersection to an intelligent automobile in a communication range, wherein the intelligent automobile performs driving control under the guidance of the road condition information.
2. The method of claim 1, wherein the obtaining traffic participant information at least one traffic intersection comprises:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
3. The method as claimed in claim 1, wherein the determining the traffic information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection comprises:
for any traffic intersection in the at least one traffic intersection, determining a pedestrian collision risk state, an automobile collision risk state and a traffic jam condition at any traffic intersection according to at least one of pedestrian information, non-motor vehicle information and motor vehicle information included in the traffic participant information of any traffic intersection;
determining a road state at any traffic intersection according to road information included by the traffic participant information, wherein the road state comprises a water accumulation state, an icing state, a pothole state and a leveling state;
and determining the traffic signal lamp state at any traffic intersection according to the signal lamp information included in the traffic participant information.
4. The method according to claim 1, wherein the sending the traffic information corresponding to the at least one traffic intersection to the smart car located in the communication range comprises:
and sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range by using the vehicle-to-outside information exchange V2X technology.
5. A driving guiding method of an intelligent automobile is characterized by being applied to any intelligent automobile located in a communication range of a road side unit, and comprising the following steps:
receiving road condition information corresponding to at least one traffic intersection sent by a road side unit;
determining the guiding information of the intelligent automobile according to the road condition information;
and controlling the intelligent automobile to run according to the guiding information so as to complete the driving guidance of the intelligent automobile.
6. The method as claimed in claim 5, wherein the determining the guidance information of the intelligent vehicle according to the traffic information comprises:
when the road condition information comprises a traffic light state of the current traffic intersection, determining corresponding driving information or braking information according to the traffic light state and the corresponding state remaining time; and/or the presence of a gas in the gas,
when the road condition information comprises the road state of the current traffic intersection, and the road state is a ponding state, an icing state and/or a pothole state, determining corresponding deceleration information; and/or the presence of a gas in the gas,
when the road condition information comprises a pedestrian collision risk state and/or an automobile collision risk state of the current traffic intersection and the pedestrian collision risk and/or the automobile collision risk exist, determining corresponding deceleration information and braking information;
and when the road condition information comprises the traffic jam condition of the at least one traffic intersection, replanning the driving path of the intelligent automobile according to the traffic jam condition.
7. The utility model provides a driving guiding device of intelligent automobile, its characterized in that is applied to the road side unit, the device includes:
the system comprises an acquisition module, a traffic information processing module and a traffic information processing module, wherein the acquisition module is used for acquiring traffic participant information at least one traffic intersection, and the traffic participant information is used for describing traffic participant information which influences the road condition of any traffic intersection in the at least one traffic intersection;
the first determining module is used for determining road condition information corresponding to the at least one traffic intersection according to the traffic participant information of the at least one traffic intersection;
and the sending module is used for sending the road condition information corresponding to the at least one traffic intersection to the intelligent automobile within the communication range, and the intelligent automobile performs driving control under the guidance of the road condition information.
8. The apparatus of claim 7, wherein the acquisition module is to:
acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic flow information and signal lamp information at the current traffic crossing through a far infrared camera and/or a millimeter wave radar installed at the current traffic crossing; and/or the presence of a gas in the gas,
and acquiring one or more of pedestrian information, non-motor vehicle information, road information, traffic information and signal lamp information at other traffic junctions from road side units and/or management center cloud platforms positioned at the other traffic junctions.
9. The driving guide device of the intelligent automobile is characterized by being applied to any intelligent automobile located in a communication range of a road side unit, and comprising:
the receiving module is used for receiving road condition information corresponding to at least one traffic intersection sent by the road side unit;
the second determining module is used for determining the guiding information of the intelligent automobile according to the road condition information;
and the control module is used for controlling the intelligent automobile to run according to the guiding information so as to complete the driving guiding of the intelligent automobile.
10. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-4 or 5-6.
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| CN113156938A (en) * | 2021-02-23 | 2021-07-23 | 深圳优地科技有限公司 | Method and device for controlling robot to run, terminal equipment and storage medium |
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Application publication date: 20200515 |