CN111169479B - Cruise control method, device and system, vehicle and storage medium - Google Patents
Cruise control method, device and system, vehicle and storage medium Download PDFInfo
- Publication number
- CN111169479B CN111169479B CN202010036538.3A CN202010036538A CN111169479B CN 111169479 B CN111169479 B CN 111169479B CN 202010036538 A CN202010036538 A CN 202010036538A CN 111169479 B CN111169479 B CN 111169479B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- target
- map information
- information
- obstacle map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention discloses a cruise control method, a cruise control device, a cruise control system, a vehicle and a storage medium. Wherein the cruise control method is applied to a vehicle in a cruise control system, the cruise control system further comprising: unmanned aerial vehicle, the cruise control method includes: receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle; according to the obtained second obstacle map information, combining the first obstacle map information to obtain target obstacle map information of the environment where the vehicle is located, wherein the second obstacle map information is determined based on vehicle running information and running monitoring information collected by at least one first sensor arranged on the vehicle; and determining a target running track according to the target obstacle map information, and controlling the vehicle to run along the target running track. The invention realizes the effects of larger detection range, more accurate identification, capability of detecting the environment in advance, more adaptive scenes and the like of the automatic cruise system.
Description
Technical Field
The embodiment of the invention relates to an automobile design technology, in particular to a cruise control method, a cruise control device, a cruise control system, a vehicle and a storage medium.
Background
At present, manufacturers in the market put out highway automatic cruise systems. However, most of the currently proposed automatic cruise systems are based on sensors arranged on the vehicle, mainly millimeter-wave radar, cameras and other sensors.
The vehicle-mounted cruise system is characterized in that a sensor is arranged on a vehicle and is greatly limited by the vehicle, for example, the sensing range and angle of the sensor are limited due to the restriction of the height, width and the like of the vehicle, and in the actual operation process of the system, the cruise system cannot sense and predict the surrounding environment of the vehicle well due to the shielding of a front vehicle or a large obstacle in front, so that accurate planning and decision cannot be made; if the sensor is arranged near the rearview mirror, the lane line at the vehicle head can not be identified, and the driver can only exit from the cruise system, so that the driver feels 'unintelligent'.
Disclosure of Invention
The invention provides a cruise control method, a cruise control device, a cruise control system, a vehicle and a storage medium, so that the automatic cruise function of the vehicle is more accurate and effective.
In a first aspect, an embodiment of the present invention provides a cruise control method applied to a vehicle in a cruise control system, where the cruise control system further includes: unmanned aerial vehicle, the cruise control method includes:
receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle;
according to the obtained second obstacle map information, combining the first obstacle map information to obtain target obstacle map information of the environment where the vehicle is located, wherein the second obstacle map information is determined based on vehicle running information and running monitoring information collected by at least one first sensor arranged on the vehicle;
and determining a target running track according to the target obstacle map information, and controlling the vehicle to run along the target running track.
Optionally, the first obstacle map information is determined by environment monitoring information acquired by the unmanned aerial vehicle through at least one second sensor, and each second sensor is arranged on the unmanned aerial vehicle;
the environment monitoring information at least comprises: the road lane line in driving the place ahead the vehicle dynamic and static barrier around the vehicle unmanned aerial vehicle self the flight position and the driving position of vehicle.
Optionally, the vehicle driving information at least includes: a wheel speed signal and a corner signal of the vehicle;
the driving monitoring information at least comprises: the vehicle position information, the driving lane line information and the environment obstacle information of the vehicle.
Optionally, before receiving the first obstacle map information that unmanned aerial vehicle sent when vehicle-following flight at the preset height in front of the vehicle, further include:
the unmanned aerial vehicle flies to a preset height in front of the vehicle based on a takeoff instruction sent by the vehicle;
determining a flight control instruction of the unmanned aerial vehicle according to the acquired current vehicle position information, current running track information and current running speed information;
and sending the flight control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle follows the vehicle to fly based on the flight control instruction.
Optionally, the obtaining, according to the obtained second obstacle map information, target obstacle map information of an environment where the vehicle is located by combining the first obstacle map information includes:
acquiring first coordinates of all obstacles and lane lines in the first obstacle map information;
acquiring second coordinates of all obstacles and lane lines in the second obstacle map information;
and if the first coordinate and the second coordinate are not coincident, adding the obstacle and lane line information corresponding to the first coordinate into the second obstacle map information to obtain the target obstacle map information.
Optionally, the determining a target driving track according to the target obstacle map information includes:
acquiring target obstacle coordinates and target lane line coordinates in the target obstacle map information;
determining the current driving safety area of the vehicle according to the coordinates of the target obstacle;
and determining the target driving track according to the current vehicle position information, the current driving safety area and the target lane line coordinate.
In a second aspect, an embodiment of the present invention further provides a cruise control apparatus applied to a vehicle in a cruise control system, the cruise control system further including: unmanned aerial vehicle. The device includes:
the first information acquisition module is used for receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle;
the second information acquisition module is used for acquiring second obstacle map information, and the second obstacle map information is determined based on vehicle running information and driving monitoring information acquired by at least one first sensor arranged on the vehicle;
the information determining module is used for obtaining target obstacle map information of the environment where the vehicle is located according to the obtained second obstacle map information and by combining the first obstacle map information;
and the control module is used for determining a target running track according to the target obstacle map information and controlling the vehicle to run along the target running track.
In a third aspect, an embodiment of the present invention further provides a cruise control system, including: the vehicle and the unmanned aerial vehicle are arranged in the vehicle and can be separated, and the vehicle and the unmanned aerial vehicle carry out information interaction through respective wireless communication modules;
the vehicle is used for controlling the unmanned aerial vehicle to follow the vehicle at a preset height in front of the vehicle;
the unmanned aerial vehicle is used for following the vehicle to fly according to the takeoff instruction of the vehicle and forming first obstacle map information;
the vehicle is used for obtaining target obstacle map information of the environment where the vehicle is located according to the obtained second obstacle map information and the first obstacle map information; and the system is also used for determining a target running track according to the target obstacle map information and controlling the vehicle to run along the target running track.
In a fourth aspect, an embodiment of the present invention further provides a vehicle, including:
the system comprises at least one sensor, a controller and a display, wherein the sensor is used for monitoring vehicle position information, driving lane line information and environmental obstacle information;
at least one storage device;
at least one vehicle control unit for implementing a cruise control method according to any of the embodiments of the present invention when executing executable instructions stored in the storage device.
In a fifth aspect, the embodiment of the present invention further provides a readable storage medium, on which executable instructions are stored, and when the executable instructions are executed by a processor, the cruise control method according to any embodiment of the present invention is implemented.
The invention arranges the unmanned aerial vehicle which can be separated from the vehicle in the vehicle, controls the unmanned aerial vehicle to fly at the upper side in front of the vehicle in the driving process of the vehicle, integrates the driving environment information around the vehicle which is monitored by the non-airplane monitoring and the vehicle-mounted sensor, solves the problem that the sensing range and the angle of the vehicle-mounted sensor are limited due to the constraints of the height, the width and the like of the vehicle, so that the automatic cruise system can not be accurately planned and decided, when the front vehicle or the large-scale obstacle in front is sheltered, the lane line at the vehicle head can not be identified, the traffic accident is easy to happen, the effects that the detection range of the automatic cruise system is larger, the identification is more accurate, the environment can be detected in advance, the adaptive scene is more, the following distance is shorter under the condition of ensuring the safety distance and the like are realized, and when vehicle-mounted sensor broke down, the last sensor of unmanned aerial vehicle can provide certain redundant perception ability for the automatic cruise system can continue to work.
Drawings
FIG. 1 is a flow chart of a cruise control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a cruise control method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a cruise control method according to a second embodiment of the present invention;
fig. 4 is a block diagram showing a configuration of a cruise control apparatus according to a third embodiment of the present invention;
fig. 5 is a block diagram of a cruise control system according to a fourth embodiment of the present invention;
fig. 6 is a block diagram of a vehicle according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a cruise control method according to an embodiment of the present invention, where the embodiment is applicable to a case where a vehicle cruise control function is activated, and the method is applied to a vehicle in a cruise control system, where the cruise control system further includes: unmanned aerial vehicle. The method may be performed by a vehicle cruise control device, which may be implemented by software and/or hardware, which may be deployed on a vehicle.
As shown in fig. 1, the method specifically comprises the following steps:
and 110, receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle.
The vehicle is provided with at least one sensor, a positioning device and a wireless data transceiver, wherein the sensor can be a speed sensor, a wheel speed sensor, a steering angle sensor, an ultrasonic radar, a millimeter wave radar, a laser radar and the like or any combination thereof, and is used for monitoring and acquiring vehicle running information and environmental information around the vehicle; the positioning device is an assembly or a device which is formed by mutually associating and aims at determining the space position, is used for determining the space position of the vehicle and realizing the navigation function, and can be a GPS positioning device; this wireless data transceiver can be wifi device, high-speed bluetooth device, 4G device or 5G device for receive the information of unmanned aerial vehicle conveying and send the instruction for unmanned aerial vehicle control unmanned aerial vehicle flight.
Drones, i.e., unmanned aircraft, are unmanned aircraft that are operated by radio remote control devices and self-contained program control devices, or are operated autonomously, either completely or intermittently, by an on-board computer. In the embodiment, the unmanned aerial vehicle is arranged in a vehicle and is provided with at least one sensor, a positioning device and a wireless data transceiver, wherein the sensor can be a visual sensor, a radar sensor or other sensors and is used for monitoring and acquiring a lane line in front of the vehicle and environmental information around the vehicle in the flying process; the positioning device is an assembly or a device which is formed by determining a space position as a target and is mutually associated, is used for determining the space position of the unmanned aerial vehicle and realizing a navigation function, and can be a GPS positioning device; the wireless data receiving and sending device can be a wifi device, a high-speed Bluetooth device, a 4G device or a 5G device and is used for sending the collected environment information to the vehicle and receiving the instruction sent by the vehicle.
Optionally, the second obstacle map information is determined based on vehicle driving information and driving monitoring information acquired by at least one first sensor arranged on the vehicle; the vehicle travel information includes at least: a wheel speed signal and a corner signal of the vehicle; the driving monitoring information at least comprises: the vehicle position information, the driving lane line information and the environment obstacle information of the vehicle.
Optionally, the first obstacle map information is determined by environment monitoring information acquired by the unmanned aerial vehicle through at least one second sensor, and each second sensor is arranged on the unmanned aerial vehicle; the environment monitoring information at least comprises: the driving position of road lane line, the dynamic and static barrier around the vehicle, unmanned aerial vehicle self and the vehicle in driving the place ahead.
Specifically, as shown in fig. 2, the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle according to an instruction sent by the vehicle, the front of the vehicle can be within a certain range from the vehicle to the front of the vehicle, can be within a range of 15m in front of the vehicle, the height can be preset, and can be any height from 2m to 10m above the vehicle, the flight range can be set according to the models of different vehicles and the environment of a driving road section, and can be temporarily changed and adjusted in a range of keeping normal communication with the vehicle when an emergency occurs, and if the front of the vehicle needs to pass through a tunnel or other obstacles, the unmanned aerial vehicle can be temporarily adjusted to fly at a position, such as the height of the vehicle, in front of the vehicle. The following flight can be understood as the synchronous flight of the unmanned aerial vehicle and the vehicle according to the vehicle running speed.
When unmanned aerial vehicle followed the car flight, unmanned aerial vehicle periodicity sent first barrier map information for the vehicle through wireless data transceiver, wherein, first barrier map information can be understood as unmanned aerial vehicle and gather information such as vehicle the place ahead lane line and surrounding environment condition through the sensor of self, and the transmission cycle can set up in advance and adjust.
And step 120, obtaining target obstacle map information of the environment where the vehicle is located according to the obtained second obstacle map information and by combining the first obstacle map information.
The second obstacle map information may be information such as vehicle driving information and driving monitoring information monitored and collected by a vehicle-mounted sensor, and may be a lane line in front of the vehicle, other vehicles and pedestrians around the vehicle, or an obstacle on the road.
Specifically, the control system of the vehicle fuses the first obstacle map information and the second obstacle map information, optionally, the obstacle and lane line information that are present in the second obstacle map information but not present in the first obstacle map information may be added to the first obstacle map information, or other methods that may fuse information in two obstacle map information together may be used to obtain the target obstacle map information, which may be understood as a union of the first obstacle map information and the second obstacle map information.
And step 130, determining a target running track according to the target obstacle map information, and controlling the vehicle to run along the target running track.
The target running track is a route planned by the cruise control system and about to be run by the vehicle.
Specifically, the cruise control system can determine the position relationship between the vehicle and each obstacle according to the position of the obstacle in the target obstacle map information, and plan the target driving track of the vehicle according to the lane line information in front of the vehicle in the target obstacle map information while enabling the vehicle to avoid the obstacle. The cruise control system transmits the target travel track to a control device of the vehicle, and the vehicle control device controls the vehicle to travel along the target travel track.
Optionally, after the vehicle is started, the vehicle plans a pre-travel track of the vehicle according to the origin and the destination, where the pre-travel track can be understood as an approximate direction and a route of vehicle travel, the vehicle travels according to the pre-travel track, during the travel process, the vehicle determines a current target travel track through periodic communication with the unmanned aerial vehicle, and the pre-travel track is continuously refined according to the target travel track, that is, the vehicle travels according to the current target travel track within a certain time range and a certain distance range.
The embodiment of the invention arranges the unmanned aerial vehicle which can be separated from the vehicle in the vehicle, controls the unmanned aerial vehicle to fly at the upper side in front of the vehicle in the vehicle driving process, integrates the driving environment information around the vehicle which is monitored by the unmanned aerial vehicle and the vehicle-mounted sensor, solves the problem that the sensing range and the angle of the vehicle-mounted sensor are limited due to the constraints of the height, the width and the like of the vehicle, so that the automatic cruise system cannot be accurately planned and decided, can not identify the lane line at the head of the vehicle when the front vehicle or a large-scale obstacle in front is shielded, and is easy to cause traffic accidents, realizes the effects that the detection range of the automatic cruise system is larger, the identification is more accurate, the environment can be detected in advance, the adaptive scene is more, the following distance is shorter under the condition of ensuring the safe distance, and the like, and when the vehicle-mounted sensor breaks down, the sensor on the unmanned aerial vehicle can provide certain redundant sensing capability, so that the auto-cruise system can continue to operate.
Example two
Fig. 3 is a flowchart of a cruise control method according to a second embodiment of the present invention. The present embodiment further optimizes the cruise control method described above on the basis of the above-described embodiments. Correspondingly, as shown in fig. 3, the method of the embodiment specifically includes:
and step 210, the unmanned aerial vehicle flies to a preset height in front of the vehicle based on a takeoff instruction sent by the vehicle.
Specifically, after the vehicle is started, a user starts the automatic cruise system in a mode of pressing a button in the vehicle, a key or a mobile phone, the system inspects the unmanned aerial vehicle system and the vehicle system, the vehicle system can be divided into a perception subsystem, a planning subsystem, a vehicle control subsystem, a vehicle machine subsystem and the like, after the fault of the non-influence system is determined, each system is activated, a take-off instruction is sent to the unmanned aerial vehicle, the unmanned aerial vehicle takes off from the vehicle after receiving the take-off instruction, and the height is preset according to the take-off instruction flying to the front of the vehicle.
And step 220, determining a flight control instruction of the unmanned aerial vehicle according to the acquired current vehicle position information, the current running track information and the current running speed information.
The current vehicle position information and the current running speed information are acquired by at least one first sensor arranged on the vehicle, the current vehicle position information can be determined by a GPS positioning device and represents the space position of the vehicle at the current moment, and the current running speed information can be determined by a vehicle speed sensor and represents the running speed of the vehicle at the current moment; the current travel track information may be understood as a route to be traveled by the vehicle at the current time.
Specifically, in this embodiment, the flight range of the unmanned aerial vehicle can be determined according to the current vehicle position information, the flight trajectory of the unmanned aerial vehicle can be determined according to the current travel trajectory information, the flight speed of the unmanned aerial vehicle can be determined according to the current travel speed information, and the flight control instruction of the unmanned aerial vehicle can be determined by using the flight range of the unmanned aerial vehicle, the flight trajectory of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle and other information.
And step 230, sending the flight control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle can follow the vehicle to fly based on the flight control instruction.
And sending the flight control instruction determined in the step 220 to the unmanned aerial vehicle, and after receiving the flight control instruction, the unmanned aerial vehicle flies according to information such as the flight range of the unmanned aerial vehicle, the flight track of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle and the like in the flight control instruction.
And 240, receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies in front of the vehicle at a preset height.
And step 250, acquiring first coordinates of all obstacles and lane lines in the first obstacle map information, and acquiring second coordinates of all obstacles and lane lines in the second obstacle map information.
Specifically, in the embodiment of the present invention, the first coordinates of all obstacles and lane lines in the first obstacle map information may be acquired, and the first coordinates may be understood as the coordinates of all obstacles and the coordinates of all lane lines in the first obstacle map information, and the coordinates (X) of all obstacles1i，Y1i) And i is 1, 2, …, m, where m represents the number of obstacles in the first obstacle map information, and coordinates (X) of all lane lines in the first obstacle map information are acquired1j，Y1j) And j is 1, 2, …, p, where p represents the number of lane lines in the first obstacle map information.
Acquiring second coordinates of all obstacles and lane lines in the second obstacle map information, wherein the second coordinates can be understood as coordinates of all obstacles and coordinates of all lane lines in the second obstacle map information, and coordinates (X) of all obstacles2i，Y2i) And i is 1, 2, …, n, where n represents the number of obstacles in the second obstacle map information, and coordinates (X) of all lane lines in the second obstacle map information are acquired2j，Y2j) And j is 1, 2, …, q, where q represents the number of lane lines in the second obstacle map information.
And step 260, if the first coordinate and the second coordinate are not coincident, adding the obstacle and lane line information corresponding to the first coordinate into the second obstacle map information to obtain target obstacle map information.
Optionally, whether each first coordinate is overlapped with the second coordinate is sequentially judged, if not, the obstacle or lane line information corresponding to the first coordinate is added to the second obstacle map information, and information of all obstacles and lane lines in the first obstacle map information and the second obstacle map information is obtained and collected, that is, the target obstacle map information.
Specifically, sequentially judging (X)1i，Y1i) Whether or not to all (X)2i，Y2i) Are all not coincident if (X)1i，Y1i) And optionally (X)2i，Y2i) Coincidence, then it can be understood as (X)1i，Y1i) If the corresponding obstacle is also collected in the second obstacle map information, neglecting the (X)1i，Y1i) Continuously judging whether the next obstacle information is in the second obstacle map information; when (X)1i，Y1i) And all (X)2i，Y2i) When all do not coincide, can understand that this barrier information that unmanned aerial vehicle gathered is not gathered by on-vehicle sensor, will this (X)1i，Y1i) The corresponding coordinates and obstacle information are added to the second obstacle map information.
Similarly, judging in sequence (X)1j，Y1j) Whether or not to all (X)2j，Y2j) Are all not coincident if (X)1j，Y1j) And optionally (X)2j，Y2j) Coincidence, then it can be understood as (X)1j，Y1j) If the corresponding lane line is also collected in the second obstacle map information, neglecting the (X)1j，Y1j) Continuously judging whether the next lane line information is in the second obstacle map information; when (X)1j，Y1j) And all (X)2j，Y2j) When all do not coincide, can understand that this lane line information that unmanned aerial vehicle gathered is not gathered by on-vehicle sensor, will this moment (X)1j，Y1j) The corresponding coordinates and obstacle information are added to the second obstacle map information.
And 270, acquiring coordinates of the target obstacle and coordinates of the target lane line in the map information of the target obstacle.
The target obstacle can be understood as all obstacles appearing in the map information of the target obstacle, and the coordinates of the target obstacle are the space coordinates corresponding to the target obstacle; similarly, the target lane line may be understood as all lane lines appearing in the target obstacle map information, and the target lane line coordinates are the spatial coordinates corresponding to the target lane line.
And step 280, determining the current driving safety area of the vehicle according to the coordinates of the target obstacle.
The current driving safety region may be understood as a region where the current vehicle is not likely to collide with surrounding obstacles and the vehicle is relatively safe to drive.
Specifically, in the embodiment of the present invention, the coordinates of each target obstacle may be used as a center, an area within a preset range is marked as a dangerous area, all dangerous areas are removed within a detectable range, and other areas from which the dangerous areas are removed are determined as a current driving safety area.
And 290, determining a target running track according to the current vehicle position information, the current running safety area and the target lane line coordinates, and controlling the vehicle to run along the target running track.
Specifically, according to the present invention, a driving track in front of the vehicle is planned in the current driving safety area according to the current vehicle position information and the current driving safety area, and the driving track is optimized according to the coordinates of the target lane line, so that the driving track is located in two adjacent lane lines to the maximum extent, and the target driving track of the vehicle is determined. And after the target running track is determined, controlling the vehicle to run along the target running track.
The embodiment of the invention arranges the unmanned aerial vehicle which can be separated from the vehicle in the vehicle, controls the unmanned aerial vehicle to fly at the upper side in front of the vehicle in the vehicle driving process, integrates the driving environment information around the vehicle which is monitored by the unmanned aerial vehicle and the vehicle-mounted sensor, solves the problem that the sensing range and the angle of the vehicle-mounted sensor are limited due to the constraints of the height, the width and the like of the vehicle, so that the automatic cruise system cannot be accurately planned and decided, can not identify the lane line at the head of the vehicle when the front vehicle or a large-scale obstacle in front is shielded, and is easy to cause traffic accidents, realizes the effects that the detection range of the automatic cruise system is larger, the identification is more accurate, the environment can be detected in advance, the adaptive scene is more, the following distance is shorter under the condition of ensuring the safe distance, and the like, and when the vehicle-mounted sensor breaks down, the sensor on the unmanned aerial vehicle can provide certain redundant sensing capability, so that the auto-cruise system can continue to operate.
EXAMPLE III
The cruise control device provided by the embodiment of the invention can execute the cruise control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Fig. 4 is a block diagram of a cruise control apparatus according to a fourth embodiment of the present invention, which is applied to a vehicle in a cruise control system, the cruise control system further including: unmanned aerial vehicle. As shown in fig. 4, the apparatus includes: a first information acquisition module 310, a second information acquisition module 320, an information determination module 330, and a control module 340.
The first information acquisition module 310 is configured to receive first obstacle map information sent by an unmanned aerial vehicle when the unmanned aerial vehicle follows a vehicle at a preset height in front of the vehicle;
the second information acquisition module 320 is configured to acquire second obstacle map information, where the second obstacle map information is determined based on vehicle driving information and driving monitoring information acquired by at least one first sensor disposed on a vehicle;
the information determining module 330 is configured to obtain target obstacle map information of an environment where the vehicle is located according to the obtained second obstacle map information in combination with the first obstacle map information;
and the control module 340 is configured to determine a target driving track according to the target obstacle map information, and control the vehicle to drive along the target driving track.
Optionally, the first obstacle map information is determined by environment monitoring information acquired by the unmanned aerial vehicle through at least one second sensor, and each second sensor is arranged on the unmanned aerial vehicle;
the environment monitoring information at least comprises: the driving position of road lane line, the dynamic and static barrier around the vehicle, unmanned aerial vehicle self and the vehicle in driving the place ahead.
Optionally, the vehicle driving information at least includes: a wheel speed signal and a corner signal of the vehicle;
the driving monitoring information at least comprises: the vehicle position information, the driving lane line information and the environment obstacle information of the vehicle.
Optionally, before receiving the first obstacle map information that unmanned aerial vehicle sent when vehicle-following flight of preset height in front of the vehicle, still include:
the unmanned aerial vehicle flies to a preset height in front of the vehicle based on a takeoff instruction sent by the vehicle;
determining a flight control instruction of the unmanned aerial vehicle according to the acquired current vehicle position information, current running track information and current running speed information;
and sending the flight control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle follows the vehicle to fly based on the flight control instruction.
Optionally, the information determining module 330 includes:
a first coordinate acquiring unit configured to acquire first coordinates of all obstacles and lane lines in the first obstacle map information;
a second coordinate acquiring unit configured to acquire second coordinates of all obstacles and lane lines in the second obstacle map information;
and the determining unit is used for adding the obstacle and lane line information corresponding to the first coordinate into the second obstacle map information to obtain the target obstacle map information if the first coordinate and the second coordinate are not coincident.
Optionally, determining the target driving track according to the target obstacle map information includes:
acquiring target barrier coordinates and target lane line coordinates in the target barrier map information;
determining a current driving safety area of the vehicle according to the current position information of the vehicle and the coordinates of the target obstacle;
and determining a target driving track according to the current driving safety area and the target lane line coordinate.
The embodiment of the invention arranges the unmanned aerial vehicle which can be separated from the vehicle in the vehicle, controls the unmanned aerial vehicle to fly at the upper side in front of the vehicle in the vehicle driving process, integrates the driving environment information around the vehicle which is monitored by the unmanned aerial vehicle and the vehicle-mounted sensor, solves the problem that the sensing range and the angle of the vehicle-mounted sensor are limited due to the constraints of the height, the width and the like of the vehicle, so that the automatic cruise system cannot be accurately planned and decided, can not identify the lane line at the head of the vehicle when the front vehicle or a large-scale obstacle in front is shielded, and is easy to cause traffic accidents, realizes the effects that the detection range of the automatic cruise system is larger, the identification is more accurate, the environment can be detected in advance, the adaptive scene is more, the following distance is shorter under the condition of ensuring the safe distance, and the like, and when the vehicle-mounted sensor breaks down, the sensor on the unmanned aerial vehicle can provide certain redundant sensing capability, so that the auto-cruise system can continue to operate.
Example four
Fig. 5 is a block diagram of a cruise control system according to a fourth embodiment of the present invention, and as shown in fig. 5, the cruise control system according to the present embodiment includes: the vehicle 410 and install separable unmanned aerial vehicle 420 in the vehicle, vehicle 410 and unmanned aerial vehicle 420 carry out information interaction through respective wireless communication module.
The vehicle 410 is used for controlling the unmanned aerial vehicle 420 to follow the vehicle at a preset height in front of the vehicle 410;
the unmanned aerial vehicle 420 is used for following the vehicle to fly according to a takeoff instruction of the vehicle 410, forming first obstacle map information and sending the first obstacle map information to the vehicle 410;
the vehicle 410 is used for obtaining target obstacle map information of the environment where the vehicle 410 is located according to the obtained second obstacle map information and the first obstacle map information; and also for determining a target travel track from the target obstacle map information and controlling the vehicle 410 to travel along the target travel track.
The cruise control system can execute the cruise control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the cruise control method according to any embodiment of the present invention, reference may be made to the details of the technique not described in detail in the present embodiment.
EXAMPLE five
Fig. 6 is a block diagram of a vehicle according to a fifth embodiment of the present invention, and as shown in fig. 6, the vehicle includes: sensor 510, memory 520, and vehicle control unit 530; the number of the sensors 510, the memory 520 and the vehicle controller 530 may be one or more, and fig. 6 illustrates one sensor 510, one memory 520 and one controller 530 as an example; sensors 510, memory 520, and vehicle control unit 530 in a vehicle may be connected by a bus or other means, such as by a bus in FIG. 6.
At least one sensor 510 for monitoring vehicle position information, lane line information, environmental obstacle information.
At least one memory 520 for storing executable instructions.
At least one vehicle control unit 530, configured to execute executable instructions stored in the storage device, implements a cruise control method according to any embodiment of the present invention.
The memory 520, which is a readable storage medium, may be used to store software programs, executable programs, and modules, such as program instructions/modules corresponding to the cruise control method in embodiments of the present invention (e.g., the first information acquisition module 310, the second information acquisition module 320, the information determination module 330, and the control module 340). The vehicle control unit 530 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory 520, so as to implement the cruise control method described above.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 520 may further include memory located remotely from vehicle control unit 530, which may be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
EXAMPLE six
An embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a cruise control method, the method comprising:
receiving first obstacle map information sent by an unmanned aerial vehicle when the unmanned aerial vehicle follows the vehicle at a preset height in front of the vehicle;
according to the obtained second obstacle map information, combining with the first obstacle map information to obtain target obstacle map information of the environment where the vehicle is located, wherein the second obstacle map information is determined based on vehicle running information and running monitoring information collected by at least one first sensor arranged on the vehicle;
and determining a target running track according to the target obstacle map information, and controlling the vehicle to run along the target running track.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the cruise control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A cruise control method, characterized by being applied to a vehicle in a cruise control system, the cruise control system further comprising: unmanned aerial vehicle, the cruise control method includes:
receiving first obstacle map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle, wherein the unmanned aerial vehicle flies with the vehicle at the preset height in front of the vehicle according to an instruction sent by the vehicle, the flying range is set according to the models of different vehicles and the environment of a driving road section, and the first obstacle map information is temporarily changed and adjusted in a range of keeping normal communication with the vehicle when meeting an emergency;
according to the obtained second obstacle map information, combining the first obstacle map information to obtain target obstacle map information of the environment where the vehicle is located, wherein the second obstacle map information is determined based on vehicle running information and running monitoring information collected by at least one first sensor arranged on the vehicle; determining a target running track according to the target obstacle map information, and controlling the vehicle to run along the target running track;
the determining a target travel track according to the target obstacle map information includes:
acquiring target obstacle coordinates and target lane line coordinates in the target obstacle map information; the target obstacles are all obstacles appearing in the target obstacle map information, and the coordinates of the target obstacles are the space coordinates corresponding to the target obstacles; the target lane lines are all lane lines appearing in the target obstacle map information, and the coordinates of the target lane lines are the space coordinates corresponding to the target lane lines;
determining the current driving safety area of the vehicle according to the coordinates of the target obstacle;
and determining the target driving track according to the current vehicle position information, the current driving safety area and the target lane line coordinate.
2. The cruise control method according to claim 1, characterized in that said first obstacle map information is determined by environmental monitoring information collected by said drone through at least one second sensor, each said second sensor being provided on said drone;
the environment monitoring information at least comprises: the road lane line in driving the place ahead the vehicle dynamic and static barrier around the vehicle unmanned aerial vehicle self the flight position and the driving position of vehicle.
3. The cruise control method according to claim 1, characterized in that the vehicle travel information includes at least: a wheel speed signal and a corner signal of the vehicle;
the driving monitoring information at least comprises: the vehicle position information, the driving lane line information and the environment obstacle information of the vehicle.
4. The cruise control method according to claim 1, further comprising, before receiving first obstacle map information transmitted when the unmanned aerial vehicle is following a vehicle at a preset height in front of the vehicle:
the unmanned aerial vehicle flies to a preset height in front of the vehicle based on a takeoff instruction sent by the vehicle;
determining a flight control instruction of the unmanned aerial vehicle according to the acquired current vehicle position information, current running track information and current running speed information;
and sending the flight control instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle follows the vehicle to fly based on the flight control instruction.
5. The cruise control method according to claim 1, wherein said obtaining target obstacle map information of an environment in which the vehicle is located, in combination with the first obstacle map information, based on the obtained second obstacle map information, includes:
acquiring first coordinates of all obstacles and lane lines in the first obstacle map information;
acquiring second coordinates of all obstacles and lane lines in the second obstacle map information;
and if the first coordinate and the second coordinate are not coincident, adding the obstacle and lane line information corresponding to the first coordinate into the second obstacle map information to obtain the target obstacle map information.
6. A cruise control apparatus applied to a vehicle in a cruise control system, the cruise control system further comprising: unmanned aerial vehicle, the device includes:
the first information acquisition module is used for receiving first barrier map information sent by the unmanned aerial vehicle when the unmanned aerial vehicle flies with the vehicle at a preset height in front of the vehicle, wherein the unmanned aerial vehicle flies with the vehicle at the preset height in front of the vehicle according to an instruction sent by the vehicle, the flying range is set according to the models of different vehicles and the environment of a driving road section, and the first barrier map information is temporarily changed and adjusted in a range of keeping normal communication with the vehicle when an emergency occurs; the second information acquisition module is used for acquiring second obstacle map information, and the second obstacle map information is determined based on vehicle running information and driving monitoring information acquired by at least one first sensor arranged on the vehicle;
the information determining module is used for obtaining target obstacle map information of the environment where the vehicle is located according to the obtained second obstacle map information and by combining the first obstacle map information;
the control module is used for determining a target running track according to the target obstacle map information and controlling the vehicle to run along the target running track;
the determining of the target driving track according to the target obstacle map information includes:
acquiring target barrier coordinates and target lane line coordinates in the target barrier map information; the target obstacles are all obstacles appearing in the target obstacle map information, and the coordinates of the target obstacles are the space coordinates corresponding to the target obstacles; the target lane lines are all lane lines appearing in the target obstacle map information, and the coordinates of the target lane lines are the space coordinates corresponding to the target lane lines;
determining a current driving safety area of the vehicle according to the current position information of the vehicle and the coordinates of the target obstacle;
and determining a target driving track according to the current driving safety area and the target lane line coordinate.
7. A cruise control system, comprising: the vehicle and the unmanned aerial vehicle are arranged in the vehicle and can be separated, and the vehicle and the unmanned aerial vehicle carry out information interaction through respective wireless communication modules;
the vehicle is used for controlling the unmanned aerial vehicle to follow the vehicle at a preset height in front of the vehicle;
the unmanned aerial vehicle is used for following the vehicle to fly according to the takeoff instruction of the vehicle, forming first barrier map information and sending the first barrier map information to the vehicle, wherein the unmanned aerial vehicle follows the vehicle at a preset height in front of the vehicle to fly according to the instruction sent by the vehicle, the flying range is set according to the models of different vehicles and the environment of a driving road section, and the unmanned aerial vehicle is temporarily changed and adjusted in a range of keeping normal communication with the vehicle when meeting an emergency;
the vehicle is used for obtaining target obstacle map information of the environment where the vehicle is located according to the obtained second obstacle map information and the first obstacle map information; the system is also used for determining a target running track according to the target obstacle map information and controlling the vehicle to run along the target running track;
the determining of the target driving track according to the target obstacle map information includes:
acquiring target barrier coordinates and target lane line coordinates in the target barrier map information; the target obstacles are all obstacles appearing in the target obstacle map information, and the coordinates of the target obstacles are the space coordinates corresponding to the target obstacles; the target lane lines are all lane lines appearing in the target obstacle map information, and the coordinates of the target lane lines are the space coordinates corresponding to the target lane lines;
determining a current driving safety area of the vehicle according to the current position information of the vehicle and the coordinates of the target obstacle;
and determining a target driving track according to the current driving safety area and the target lane line coordinate.
8. A vehicle, characterized by comprising:
the system comprises at least one sensor, a controller and a display, wherein the sensor is used for monitoring vehicle position information, driving lane line information and environmental obstacle information;
at least one memory for storing executable instructions;
at least one vehicle control unit for carrying out the method according to any one of claims 1 to 5 when executing executable instructions stored in the memory.
9. A readable storage medium having stored thereon executable instructions, wherein the executable instructions, when executed by a processor, implement the method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036538.3A CN111169479B (en) | 2020-01-14 | 2020-01-14 | Cruise control method, device and system, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010036538.3A CN111169479B (en) | 2020-01-14 | 2020-01-14 | Cruise control method, device and system, vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111169479A CN111169479A (en) | 2020-05-19 |
| CN111169479B true CN111169479B (en) | 2021-12-07 |
Family
ID=70651036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010036538.3A Active CN111169479B (en) | 2020-01-14 | 2020-01-14 | Cruise control method, device and system, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111169479B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111710181A (en) * | 2020-05-30 | 2020-09-25 | 芜湖扬宇机电技术开发有限公司 | Safe driving method in cluster fog |
| CN111882855A (en) * | 2020-07-29 | 2020-11-03 | 深圳市元征科技股份有限公司 | Autonomous self-service fleet management method and device |
| CN112258840A (en) * | 2020-10-23 | 2021-01-22 | 北京百度网讯科技有限公司 | Image acquisition control method, device, equipment and storage medium |
| CN112558608B (en) * | 2020-12-11 | 2023-03-17 | 重庆邮电大学 | Vehicle-mounted machine cooperative control and path optimization method based on unmanned aerial vehicle assistance |
| CN112866953B (en) * | 2021-01-28 | 2023-07-04 | 上汽通用五菱汽车股份有限公司 | Unmanned aerial vehicle control device, method, system and medium based on terminal internet of vehicles |
| CN112964265A (en) * | 2021-03-02 | 2021-06-15 | 恒大新能源汽车投资控股集团有限公司 | Obstacle area marking method and device, electronic equipment and storage medium |
| CN112977441A (en) * | 2021-03-03 | 2021-06-18 | 恒大新能源汽车投资控股集团有限公司 | Driving decision method and device and electronic equipment |
| CN113060131B (en) * | 2021-04-16 | 2022-08-05 | 中国第一汽车股份有限公司 | Obstacle map generation method and device, vehicle and storage medium |
| CN113418534A (en) * | 2021-06-30 | 2021-09-21 | 一汽奔腾轿车有限公司 | Vehicle-mounted intelligent health map system |
| CN114030482A (en) * | 2021-11-09 | 2022-02-11 | 英博超算(南京)科技有限公司 | Method and system for screening obstacles in automatic driving assistance process |
| CN114296480A (en) * | 2021-12-31 | 2022-04-08 | 上海洛轲智能科技有限公司 | Obstacle detection method, traffic determination method, device, aircraft and vehicle |
| CN114935939A (en) * | 2022-05-09 | 2022-08-23 | 北京航天发射技术研究所 | Real-time path planning system and planning method based on accompanying unmanned aerial vehicle |
| CN115061484A (en) * | 2022-06-08 | 2022-09-16 | 中国第一汽车股份有限公司 | Vehicle carrying unmanned aerial vehicle, navigation method, device and storage medium |
| CN115195890B (en) * | 2022-07-19 | 2024-01-19 | 岚图汽车科技有限公司 | Vehicle running control method and related equipment |
| CN117555340B (en) * | 2024-01-12 | 2024-04-09 | 北京集度科技有限公司 | Path planning method and related device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597077A (en) * | 2019-01-02 | 2019-04-09 | 奇瑞汽车股份有限公司 | A kind of detection system based on unmanned plane |
| CN110606071A (en) * | 2019-09-06 | 2019-12-24 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205247213U (en) * | 2015-12-25 | 2016-05-18 | 北京中飞艾维航空科技有限公司 | Hi -Fix cruise system of use on unmanned aerial vehicle |
| KR102286005B1 (en) * | 2016-12-28 | 2021-08-04 | 한화디펜스 주식회사 | Cruise control system and cruise control method thereof |
| US10796204B2 (en) * | 2017-02-27 | 2020-10-06 | Huawei Technologies Co., Ltd. | Planning system and method for controlling operation of an autonomous vehicle to navigate a planned path |
| CN109426255A (en) * | 2017-09-04 | 2019-03-05 | 中兴通讯股份有限公司 | Automatic driving vehicle control method, device and storage medium based on unmanned plane |
| CN108447291B (en) * | 2018-04-03 | 2020-08-14 | 南京锦和佳鑫信息科技有限公司 | Intelligent road facility system and control method |
| CN109737983B (en) * | 2019-01-25 | 2022-02-22 | 北京百度网讯科技有限公司 | Method and device for generating a travel route |
| CN109871020B (en) * | 2019-03-18 | 2022-06-17 | 爱驰汽车（上海）有限公司 | Vehicle-mounted automatic driving system, method, equipment and storage medium |
| CN110119147B (en) * | 2019-05-09 | 2022-07-08 | 深圳市速腾聚创科技有限公司 | Vehicle automatic driving method, device, computer equipment and storage medium |
| KR20190098735A (en) * | 2019-08-01 | 2019-08-22 | 엘지전자 주식회사 | Vehicle terminal and operation method thereof |
| CN110562248B (en) * | 2019-09-17 | 2020-09-25 | 浙江吉利汽车研究院有限公司 | Automatic parking system and automatic parking method based on unmanned aerial vehicle |
-
2020
- 2020-01-14 CN CN202010036538.3A patent/CN111169479B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597077A (en) * | 2019-01-02 | 2019-04-09 | 奇瑞汽车股份有限公司 | A kind of detection system based on unmanned plane |
| CN110606071A (en) * | 2019-09-06 | 2019-12-24 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111169479A (en) | 2020-05-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111169479B (en) | Cruise control method, device and system, vehicle and storage medium | |
| US10726280B2 (en) | Traffic signal analysis system | |
| CN110281920B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN112689588B (en) | Control method and device for automatically driving vehicle | |
| CN113968216B (en) | Vehicle collision detection method and device and computer readable storage medium | |
| CN110928286B (en) | Method, apparatus, medium and system for controlling automatic driving of vehicle | |
| CN110928284A (en) | Method, apparatus, medium, and system for assisting control of automatic driving of vehicle | |
| US20180056998A1 (en) | System and Method for Multi-Vehicle Path Planning Technical Field | |
| CN110271547B (en) | Vehicle control device, vehicle control method, and storage medium | |
| WO2018179359A1 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
| CN110271542B (en) | Vehicle control device, vehicle control method, and storage medium | |
| JPWO2018123014A1 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
| CN111258318A (en) | Automatic driving system of sanitation vehicle and control method thereof | |
| JP6692935B2 (en) | Vehicle control device, vehicle control method, and vehicle control program | |
| WO2022009900A1 (en) | Automated driving device and vehicle control method | |
| US20230138981A1 (en) | Autonomous Vehicle Navigation in Response to an Oncoming Train on a Railroad Track | |
| CN111665835B (en) | Vehicle control system and vehicle control method | |
| CN117836184A (en) | Complementary control system for autonomous vehicle | |
| JP7315101B2 (en) | Obstacle information management device, obstacle information management method, vehicle device | |
| US20190171213A1 (en) | Autonomous driving system based on electronic map and electronic compass | |
| CN112829762A (en) | Vehicle running speed generation method and related equipment | |
| US20220203985A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN117813227A (en) | Complementary control system for autonomous vehicles | |
| CN115176296B (en) | Travel support device, travel support method, and travel support program | |
| CN115454036A (en) | Remote operation request system, remote operation request method, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |