CN111223319A - Driving strategy planning method and device and vehicle - Google Patents
Driving strategy planning method and device and vehicle Download PDFInfo
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- CN111223319A CN111223319A CN201811408300.8A CN201811408300A CN111223319A CN 111223319 A CN111223319 A CN 111223319A CN 201811408300 A CN201811408300 A CN 201811408300A CN 111223319 A CN111223319 A CN 111223319A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 124
- 238000009825 accumulation Methods 0.000 claims abstract description 90
- 230000002093 peripheral effect Effects 0.000 claims abstract description 28
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- 238000004590 computer program Methods 0.000 claims description 6
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- G08G1/00—Traffic control systems for road vehicles
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- 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
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Abstract
The disclosure relates to a driving strategy planning method, a driving strategy planning device and a vehicle, which can plan a driving path under the condition of encountering road ponding and avoid splashing water onto other vehicles or pedestrians at the periphery. The method comprises the following steps: acquiring the accumulated water distribution of a water accumulation area in a current lane in front of a vehicle, and acquiring whether the current lane is a side lane; determining whether pedestrians exist in a preset peripheral range of the ponding area or not under the condition that the ponding distribution meets a preset condition and the current lane is a side lane; planning a driving strategy of the vehicle in the case that a pedestrian is present within the predetermined peripheral range of the water-collecting area.
Description
Technical Field
The disclosure relates to the field of vehicles, in particular to a driving strategy planning method and device and a vehicle.
Background
During or after rainfall, some water accumulation areas may exist in the road due to uneven and uneven road surface. For smaller puddles, there is generally no significant problem in keeping the vehicle traveling directly along the current travel path. However, if the puddle is large, the vehicle keeps the current driving path to directly drive, and then a large water splash or water wave is splashed, and water is splashed onto other vehicles around or pedestrians, especially pedestrians, which causes great inconvenience and complaints.
However, there is currently no solution for this situation, whether in an autonomous or manual driving scenario.
Disclosure of Invention
The purpose of the disclosure is to provide a driving strategy planning method, a driving strategy planning device and a vehicle, which can plan a driving path under the condition of encountering road ponding and avoid splashing water onto other vehicles or pedestrians around.
According to a first embodiment of the present disclosure, a driving strategy planning method is provided, which includes: acquiring the accumulated water distribution of a water accumulation area in a current lane in front of a vehicle, and acquiring whether the current lane is a side lane; determining whether pedestrians exist in a preset peripheral range of the ponding area or not under the condition that the ponding distribution meets a preset condition and the current lane is a side lane; planning a driving strategy of the vehicle in the case that a pedestrian is present within the predetermined peripheral range of the water-collecting area.
Optionally, the acquiring of the ponding distribution of the ponding area in the current lane in front of the vehicle is implemented by any one of the following methods:
(1) acquiring the accumulated water distribution of the accumulated water area in a current lane in front of the vehicle by using a camera device arranged at the front end of the vehicle;
(2) acquiring historical ponding data of the current lane under rainfall conditions, and evaluating the ponding distribution of the ponding area in the current lane in front of the vehicle based on the historical ponding data;
(3) acquiring the current rainfall and the road surface three-dimensional image of the current lane, and determining the ponding distribution of the ponding area in the current lane in front of the vehicle according to the current rainfall and the road surface three-dimensional image.
Optionally, the ponding distribution comprises a ponding location, a ponding area, and a ponding depth; the preset condition comprises that the water accumulation area is larger than a preset water accumulation area and the water accumulation depth is larger than a preset water accumulation depth.
Optionally, the planning of the driving strategy of the vehicle in the case that a pedestrian is present in the predetermined peripheral range of the water-collecting area comprises: and under the condition that pedestrians exist in the preset peripheral range of the water accumulation area, planning a driving strategy of the vehicle according to the position relation between the outermost lane line of the side lane and the water accumulation area.
Optionally, the planning the driving strategy of the vehicle according to the position relationship between the outermost lane line of the side lane and the water accumulation area includes: and under the condition that the outermost lane line of the side lane is covered by the ponding area or the distance between the outermost lane line of the side lane and the edge of the ponding area is smaller than a preset distance threshold value, planning that the vehicle drives through the ponding area in a speed-reducing mode or planning that the vehicle changes the lane to bypass the ponding area.
Optionally, the planning the driving strategy of the vehicle according to the position relationship between the outermost lane line of the side lane and the water accumulation area includes: and under the condition that the distance between the outermost lane line of the side lane and the edge of the ponding area is larger than or equal to the preset distance threshold value, planning that the tire on one side of the outermost lane line of the side lane of the vehicle is close to the side lane runs from the range between the outermost side of the ponding area and the outermost lane line or planning that the vehicle changes lanes to bypass the ponding area.
Optionally, the planning the vehicle to slow down to drive through the water-collecting area includes: planning the vehicle to gradually reduce the speed to drive through the water accumulation area.
Optionally, the planning the vehicle lane change around the water accumulation area comprises: judging whether the adjacent lane of the current lane is a same-direction lane or an opposite-direction lane; when the adjacent lane is the same-direction lane, judging whether other vehicles close to the vehicle in the adjacent lane allow the vehicle to change the lane; planning the vehicle lane change to bypass the ponded region if the other vehicles in the adjacent lane that are close to the vehicle allow the vehicle lane change.
According to a second embodiment of the present disclosure, there is provided a driving strategy planning apparatus, including: the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the accumulated water distribution of a water accumulation area in a current lane in front of a vehicle and acquiring whether the current lane is a side lane; the pedestrian determination module is used for determining whether pedestrians exist in the preset peripheral range of the ponding area or not under the condition that the ponding distribution meets a preset condition and the current lane is a side lane; and the planning module is used for planning the driving strategy of the vehicle under the condition that pedestrians exist in the preset peripheral range of the water accumulation area.
According to a third embodiment of the present disclosure, there is provided a vehicle including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to carry out the steps of the method according to the first embodiment of the disclosure.
By adopting the technical scheme, the driving strategy of the vehicle is planned under the condition that the current lane is the side lane and pedestrians exist in the preset peripheral range of the ponding area, so that the pedestrians are effectively prevented from being splashed when the vehicle passes through the ponding area.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flow chart of a driving strategy planning method according to an embodiment of the present disclosure.
Fig. 2 shows a schematic view of a situation in which the vehicle is driven through the water accumulation zone at a reduced speed.
Fig. 3 shows a schematic view of a scenario in which a vehicle changes lane to bypass a water accumulation area.
Fig. 4 shows a further scenario of the passage of the vehicle through the water-collecting region.
Fig. 5 shows a schematic block diagram of a driving strategy planning apparatus according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional terms such as "front, rear, left, right" is generally relative to the direction in which the vehicle normally travels, unless otherwise specified.
Fig. 1 is a flowchart of a driving strategy planning method according to an embodiment of the present disclosure, and as shown in fig. 1, the method may include the following steps S11 to S13.
In step S11, the water accumulation distribution of the water accumulation region in the current lane in front of the vehicle is acquired, and it is acquired whether the current lane is a side lane.
In the present disclosure, the ponding distribution may include information such as a ponding location, a ponding area, and a ponding depth.
The side lane is a lane close to the pedestrian road. The side lane is the rightmost lane when the intersection provides that the vehicle is traveling to the right, and the side lane is the leftmost lane when the intersection provides that the vehicle is traveling to the left. Since the side lane is closest to the pedestrian road, the vehicle on the side lane is most likely to splash the pedestrians when traveling through the water collection area. The side lane can be determined by GPS positioning, and can also be determined by acquiring images in front of the vehicle through a vehicle-mounted camera. For example, when there is a pedestrian image within a predetermined range on the right side in the image, it may be determined that the current lane is a side lane.
In step S12, in a case where the ponding distribution satisfies a preset condition and the current lane is a side lane, it is determined whether there is a pedestrian within a predetermined peripheral range of the ponding area.
The predetermined peripheral range may be calculated by an embedded algorithm of the vehicle control system, or may be calibrated in advance, which is not limited by the present disclosure. In addition, the distance between a certain point within the predetermined peripheral range and the water-collecting area in the vertical direction along the lane line is usually smaller than a specific value.
In step S13, a driving strategy of the vehicle is planned in a case where a pedestrian is present within the predetermined peripheral range of the water-collecting area.
By adopting the technical scheme, the driving strategy of the vehicle is planned under the condition that the current lane is the side lane and pedestrians exist in the preset peripheral range of the ponding area, so that the pedestrians are effectively prevented from being splashed when the vehicle passes through the ponding area.
In yet another embodiment, the water accumulation distribution may be obtained, for example, by any of the following means.
(1) In a first mode, the accumulated water distribution in the accumulated water area in the current lane ahead of the vehicle is acquired by a camera device provided at the front end of the vehicle. For example, the camera device can obtain the depth distribution of the ponding area through the photosensitive effect, and mark the position of the ponding area on, for example, a high-precision electronic map according to the shot picture to obtain the ponding area of the ponding area.
(2) The second way is to obtain historical ponding data of the current lane under rainfall conditions and evaluate the ponding distribution of the ponding area in the current lane in front of the vehicle based on the historical ponding data. Wherein the historical ponding data records a correspondence between rainfall conditions and ponding distribution. The historical water accumulation data may be stored on a car networking cloud platform or other storage medium. For example, the vehicle may obtain historical water accumulation data of the current lane under rainfall conditions from the internet of vehicles cloud platform, and then evaluate the water accumulation distribution of the water accumulation area in the current lane in front of the vehicle based on the obtained historical water accumulation data.
(3) And the third mode is that the current rainfall and the road surface three-dimensional image of the current lane are obtained, and the ponding distribution of the ponding area in the current lane in front of the vehicle is determined according to the current rainfall and the road surface three-dimensional image. The road surface three-dimensional image of the current lane in front of the vehicle can be obtained by the vehicle from the Internet of vehicles cloud platform. Moreover, the road surface three-dimensional image can be collected and uploaded to an internet of vehicles cloud platform under the non-rainfall condition, for example, when other vehicles drive on the road section in advance, or can be collected by other vehicles in advance and then transmitted to the Vehicle through a Vehicle-to-Vehicle network. After the vehicle acquires the current rainfall and the road surface three-dimensional image of the current lane, a data model of the ponding area can be established, and then the ponding distribution is calculated according to the rainfall and the data module of the road surface three-dimensional image.
In yet another embodiment, the preset conditions include the water accumulation area being greater than a preset water accumulation area and the water accumulation depth being greater than a preset water accumulation depth. The depth and area of the ponding are the measurement indexes of the water quantity of the ponding area. That is to say, when the ponding depth is greater than the preset ponding depth, and the ponding area is greater than the preset ponding area, can think that the water yield in the ponding area is great, has certain influence to the pedestrian, needs the driving strategy of planning vehicle this moment in order to dodge this ponding area as far as possible. If the ponding degree of depth is greater than preset ponding degree of depth, and the ponding area is less than preset ponding area, perhaps, the ponding degree of depth is less than preset ponding degree of depth, and the ponding area is greater than preset ponding area, then all can regard the water yield in this ponding region to be less, has less influence to the pedestrian, and this ponding region need not be dodged at the in-process of traveling to this vehicle. Wherein the preset water accumulation depth and the preset water accumulation area can be obtained by experience or experiment.
In the embodiment, the accumulated water amount of the accumulated water area is inspected through the accumulated water area and the accumulated water depth, the influence on the pedestrian is judged, the data processing is simple, and the speed is high.
In another embodiment, in the case that there is a pedestrian in the predetermined peripheral range of the water-collecting area in step S13, planning a driving strategy of the vehicle includes: and under the condition that pedestrians exist in the preset peripheral range of the water accumulation area, planning a driving strategy of the vehicle according to the position relation between the outermost lane line of the side lane and the water accumulation area. The driving strategy for planning the vehicle according to the position relationship between the outermost lane line of the side lane and the ponding area can be divided into a plurality of situations.
One is that in case the outermost lane line of the side lane is covered by the catchment area or the distance between the outermost lane line of the side lane and the edge of the catchment area is smaller than a predetermined distance threshold (e.g. half a wheel width or other value), in which case water splash will inevitably be splashed if the vehicle is driving directly in the catchment area according to the previous driving plan, so it is necessary to plan the vehicle to drive down through the catchment area or to plan the vehicle to change lane around the catchment area. In this disclosure, the vehicle slowing down through the catchment area means that the wheels of the vehicle will come into contact with the catchment area, i.e. will press through the catchment area and travel at a reduced speed.
In another case, when the distance between the outermost lane line of the side lane and the edge of the ponding area is greater than or equal to the predetermined distance threshold, it is planned that the tire on the side of the vehicle close to the outermost lane line of the side lane travels from the range between the outermost side of the ponding area and the outermost lane line, that is, it is planned that the tire on the side of the outermost lane line of the vehicle close to the side lane does not press the ponding area as much as possible or presses the ponding area with a small contact area, or it is planned that the vehicle changes lane to bypass the ponding area.
The driving strategy of the vehicle for driving through the water accumulation area in a speed reduction mode is that the vehicle drives through the water accumulation area according to the current driving route, but the speed reduction needs to be carried out in advance, for example, the vehicle can be gradually reduced from the current speed to a target speed and then drives through the water accumulation area at the target speed. The target speed is related to the water accumulation area and the water accumulation depth, and can be considered as a safer speed for driving through the water accumulation area, and the target speed can be calibrated in advance and establish a corresponding relation, which is not limited by the disclosure. The target speed may be found by looking up in a database storing a correspondence between speed and water distribution. Namely, a database can be established in advance, and the target speed corresponding to the water accumulation area and the water accumulation depth of the current water accumulation area can be searched from the database. The target speed may also be fixed, for example, 10km/h may be taken.
Fig. 2 shows a schematic view of a situation in which the vehicle is driven through the water accumulation zone at a reduced speed. As shown in fig. 2, the vehicle 1 travels on a side lane, and a pedestrian 2 is present on a sidewalk. The image in front of the vehicle is acquired through the vehicle-mounted camera 4, so that the ponding area 3 in the current lane in front of the vehicle 1 is identified. The dotted line P2 is the current driving route of the vehicle 1, and it can be seen that the vehicle maintains the current driving route during the course of driving through the water-collecting area 3, except that the vehicle 1 starts to decelerate before it enters the water-collecting area 3 so as to be able to drive through the water-collecting area 3 at a low speed at the target speed. In fact, in this case, whether the vehicle changes the current driving route or not may be the case, but when the vehicle passes through the ponding region 3, at least one tire track of the vehicle passes through the ponding region 3.
The driving strategy for a vehicle to change lanes to bypass the water accumulation area is that the vehicle needs to change the current driving route to partially or fully bypass the water accumulation area. For example, the vehicle may temporarily turn onto an adjacent lane to bypass the catchment area. For example, the vehicle may first determine whether a lane adjacent to the current lane is a co-directional lane or an oncoming lane; in the case that the adjacent lane is a same-direction lane, judging whether other vehicles close to the Vehicle in the adjacent lane allow the Vehicle to change the lane, for example, a host Vehicle can express lane change intention to other vehicles in the adjacent lane through a specific signal or Vehicle-to-Vehicle networking and receive response; planning the vehicle lane change to bypass the ponded region if the other vehicles in the adjacent lane that are close to the vehicle allow the vehicle lane change.
Fig. 3 shows a schematic view of a scenario in which a vehicle changes lane to bypass a water accumulation area. As shown in fig. 3, it can be seen from the travel locus P1 of the vehicle that the vehicle 1 temporarily changes its lane from the current side lane to the adjacent non-side lane while passing through the catchment area 3, and then returns to the side lane after bypassing the catchment area 3. Therefore, the influence of the accumulated water splashed in the side lane on the pedestrians is avoided.
Fig. 4 shows a further scenario in which the vehicle travels through a catchment area. As shown in fig. 4, the tire on the side close to the outermost lane line of the side-side lane of the vehicle 1 travels in a range between the outermost and outermost lane lines from the catchment area 3, for example, along the trajectory P3. It can be considered that the vehicle 1 has changed the travel route in the current lane. In this case, the vehicle 1 changes the course trajectory, and when passing through the water accumulation region 3, the trajectory of the wheels near the pedestrian road does not pass through the water accumulation region 3, avoiding splashing.
The following describes a driving strategy planning method according to an embodiment of the present disclosure with reference to a specific example.
First, in step S51, a ponding distribution of a ponding area within a current lane ahead of the vehicle is obtained, wherein the ponding distribution includes a ponding location, a ponding area, and a ponding depth.
Then, in step S52, it is determined whether the water accumulation depth in the current lane is greater than the preset water accumulation depth and the water accumulation area is greater than the preset water accumulation area, if yes, it is determined whether the current lane is the side lane, and if so, it is determined whether there is a pedestrian in the predetermined peripheral range of the water accumulation area. In addition, if the water accumulation depth is greater than the preset water accumulation depth and the water accumulation area is less than the preset water accumulation area, or the water accumulation depth is less than the preset water accumulation depth and the water accumulation area is greater than the preset water accumulation area, ending the process and not carrying out subsequent judgment; if the current lane is a non-side lane, the process is ended, and subsequent judgment is not carried out; if no pedestrian exists in the preset peripheral range of the water accumulation area, the process is ended, and subsequent judgment is not carried out.
Then, in step S53, when a pedestrian is present within the predetermined peripheral range of the catchment area, a driving policy of the vehicle is planned based on the positional relationship between the outermost lane line of the side-side lane and the catchment area. Namely:
in step S531, it is determined whether the outermost lane line of the side lane is covered by the ponding area, if so, step S533 is performed, and if not, step S532 is performed;
in step S532, determining whether the distance between the outermost lane line of the current lane and the edge of the ponding area is smaller than a set threshold, if so, executing step S533, and if not, executing step S534;
in step S533, the vehicle executes a deceleration strategy, preferably gradually reducing the vehicle speed, before entering the water accumulation area;
in step S534, the tire on the side of the vehicle close to the outermost lane line of the current lane travels from the area between the outermost or outer edge of the ponding area and the outermost lane line.
And ending the flow of the driving strategy planning method.
In addition, in step S533, there may be some alternative embodiments of the strategy of the deceleration driving. For example, the host vehicle judges whether the host vehicle can be allowed to temporarily change lanes according to the situation of the adjacent lane; if the lane change is allowed, executing a temporary lane change strategy, and preferably, changing back to the current lane after bypassing the ponding area; if not, a deceleration strategy is executed before the vehicle enters the water accumulation area, and the vehicle speed is preferably gradually reduced.
The driving strategy planning method according to the embodiment of the present disclosure may be applied to an automatic driving system, that is, when a water accumulation area occurs in a route preset by the automatic driving system, the steps of the driving strategy planning method according to the embodiment of the present disclosure described above are performed to temporarily reduce a driving speed or temporarily change a driving route (for example, change a lane or change a route in a current lane). The changes are temporary, the driving experience of a driver cannot be obviously reduced, and meanwhile, the safety of pedestrians around the ponding area is protected. The method may also be applied to a driving assistance system (e.g., a lane keeping system), that is, in the course of executing a current lane keeping strategy, if a water accumulation region occurs in a driving region, the steps of the driving strategy planning method according to the embodiment of the present disclosure are executed, the lane keeping strategy is temporarily suspended, and after the water accumulation region is passed, the lane keeping strategy is resumed. The method can also be applied to manual driving, namely under the condition that a water accumulation area appears in a current lane, the vehicle-mounted system executes the steps of the driving strategy planning method according to the embodiment of the disclosure, and prompts a driver to drive through the optimal driving strategy of the water accumulation area through a display interface.
Fig. 5 shows a schematic block diagram of a driving strategy planning apparatus according to an embodiment of the present disclosure, as shown in fig. 5, the apparatus includes: the acquiring module 51 is used for acquiring the accumulated water distribution of an accumulated water area in a current lane in front of a vehicle and acquiring whether the current lane is a side lane; a pedestrian determination module 52, configured to determine whether there is a pedestrian in a predetermined peripheral range of the ponding area if the ponding distribution satisfies a preset condition and the current lane is a side lane; a planning module 53, configured to plan a driving strategy of the vehicle if a pedestrian is present in the predetermined peripheral range of the water-collecting area.
By adopting the technical scheme, the driving strategy of the vehicle is planned under the condition that the current lane is the side lane and pedestrians exist in the preset peripheral range of the ponding area, so that the pedestrians are effectively prevented from being splashed when the vehicle passes through the ponding area.
Alternatively, the obtaining module 51 may obtain the ponding distribution of the ponding area in the current lane in front of the vehicle by any one of the following manners:
(1) acquiring the accumulated water distribution of the accumulated water area in a current lane in front of the vehicle by using a camera device arranged at the front end of the vehicle;
(2) acquiring historical ponding data of the current lane under rainfall conditions, and evaluating the ponding distribution of the ponding area in the current lane in front of the vehicle based on the historical ponding data;
(3) acquiring the current rainfall and the road surface three-dimensional image of the current lane, and determining the ponding distribution of the ponding area in the current lane in front of the vehicle according to the current rainfall and the road surface three-dimensional image.
Optionally, the ponding distribution comprises a ponding location, a ponding area, and a ponding depth; the preset condition comprises that the water accumulation area is larger than a preset water accumulation area and the water accumulation depth is larger than a preset water accumulation depth.
Optionally, the planning module 53 includes a planning submodule, configured to plan a driving strategy of the vehicle according to a position relationship between an outermost lane line of the side lane and the water accumulation region when there is a pedestrian in the predetermined peripheral range of the water accumulation region.
Optionally, the planning sub-module is further configured to plan that the vehicle decelerates to travel through the ponding area or plan that the vehicle changes lane to bypass the ponding area if the outermost lane line of the side lane is covered by the ponding area or a distance between the outermost lane line of the side lane and an edge of the ponding area is smaller than a predetermined distance threshold.
Optionally, the planning sub-module is further configured to plan that the tire of the vehicle on the side close to the outermost lane line of the side lane runs from the range between the outermost side of the catchment area and the outermost lane line or plan that the vehicle changes lane to bypass the catchment area when the distance between the outermost lane line of the side lane and the edge of the catchment area is greater than or equal to the predetermined distance threshold.
Optionally, the planning the vehicle to slow down to drive through the water-collecting area includes: planning the vehicle to gradually reduce the speed to drive through the water accumulation area.
Optionally, the planning the vehicle lane change around the water accumulation area comprises: judging whether the adjacent lane of the current lane is a same-direction lane or an opposite-direction lane; when the adjacent lane is the same-direction lane, judging whether other vehicles close to the vehicle in the adjacent lane allow the vehicle to change the lane; planning the vehicle lane change to bypass the ponded region if the other vehicles in the adjacent lane that are close to the vehicle allow the vehicle lane change.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Based on the same inventive concept, the present disclosure also provides a vehicle. The vehicle includes a memory and a processor. The memory has stored thereon a computer program. The processor is used for executing the computer program in the memory to realize the steps of the driving strategy planning method provided by the present disclosure.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A driving strategy planning method is characterized by comprising the following steps:
acquiring the accumulated water distribution of a water accumulation area in a current lane in front of a vehicle, and acquiring whether the current lane is a side lane;
determining whether pedestrians exist in a preset peripheral range of the ponding area or not under the condition that the ponding distribution meets a preset condition and the current lane is a side lane;
planning a driving strategy of the vehicle in the case that a pedestrian is present within the predetermined peripheral range of the water-collecting area.
2. The method of claim 1, wherein the obtaining of the ponding distribution of the ponding area in the current lane ahead of the vehicle is achieved by any one of:
(1) acquiring the accumulated water distribution of the accumulated water area in a current lane in front of the vehicle by using a camera device arranged at the front end of the vehicle;
(2) acquiring historical ponding data of the current lane under rainfall conditions, and evaluating the ponding distribution of the ponding area in the current lane in front of the vehicle based on the historical ponding data;
(3) acquiring the current rainfall and the road surface three-dimensional image of the current lane, and determining the ponding distribution of the ponding area in the current lane in front of the vehicle according to the current rainfall and the road surface three-dimensional image.
3. The method of claim 2,
the accumulated water distribution comprises an accumulated water position, an accumulated water area and an accumulated water depth;
the preset condition comprises that the water accumulation area is larger than a preset water accumulation area and the water accumulation depth is larger than a preset water accumulation depth.
4. The method according to any one of claims 1 to 3, wherein planning the driving strategy of the vehicle in the presence of pedestrians in the predetermined perimeter range of the water-collecting area comprises:
and under the condition that pedestrians exist in the preset peripheral range of the water accumulation area, planning a driving strategy of the vehicle according to the position relation between the outermost lane line of the side lane and the water accumulation area.
5. The method according to claim 4, wherein the planning of the driving strategy of the vehicle according to the position relationship between the outermost lane line of the side lane and the water accumulation area comprises:
and under the condition that the outermost lane line of the side lane is covered by the ponding area or the distance between the outermost lane line of the side lane and the edge of the ponding area is smaller than a preset distance threshold value, planning that the vehicle drives through the ponding area in a speed-reducing mode or planning that the vehicle changes the lane to bypass the ponding area.
6. The method according to claim 4, wherein the planning of the driving strategy of the vehicle according to the position relationship between the outermost lane line of the side lane and the water accumulation area comprises:
and under the condition that the distance between the outermost lane line of the side lane and the edge of the ponding area is larger than or equal to the preset distance threshold value, planning that the tire on one side of the outermost lane line of the side lane of the vehicle is close to the side lane runs from the range between the outermost side of the ponding area and the outermost lane line or planning that the vehicle changes lanes to bypass the ponding area.
7. The method of claim 5, wherein said planning said vehicle to slow down through said water-holding area comprises:
planning the vehicle to gradually reduce the speed to drive through the water accumulation area.
8. The method of claim 5 or 6, wherein said planning said vehicle lane change around said water-accumulation zone comprises:
judging whether the adjacent lane of the current lane is a same-direction lane or an opposite-direction lane;
when the adjacent lane is the same-direction lane, judging whether other vehicles close to the vehicle in the adjacent lane allow the vehicle to change the lane;
planning the vehicle lane change to bypass the ponded region if the other vehicles in the adjacent lane that are close to the vehicle allow the vehicle lane change.
9. A driving strategy planning apparatus, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the accumulated water distribution of a water accumulation area in a current lane in front of a vehicle and acquiring whether the current lane is a side lane;
the pedestrian determination module is used for determining whether pedestrians exist in the preset peripheral range of the ponding area or not under the condition that the ponding distribution meets a preset condition and the current lane is a side lane;
and the planning module is used for planning the driving strategy of the vehicle under the condition that pedestrians exist in the preset peripheral range of the water accumulation area.
10. A vehicle, characterized in that the vehicle comprises:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 8.
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