CN111352418B - Vehicle automatic control method and device based on ultrasonic sensor and electronic equipment - Google Patents
Vehicle automatic control method and device based on ultrasonic sensor and electronic equipment Download PDFInfo
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- CN111352418B CN111352418B CN202010114252.2A CN202010114252A CN111352418B CN 111352418 B CN111352418 B CN 111352418B CN 202010114252 A CN202010114252 A CN 202010114252A CN 111352418 B CN111352418 B CN 111352418B
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
The application provides a vehicle automatic control method and device based on an ultrasonic sensor and electronic equipment, comprising the following steps: if a vehicle driving ready signal sent by the current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; acquiring initial data information sent by an ultrasonic sensor, and generating a planned path of the current vehicle to a driving destination according to the initial data information, the characteristic parameters of the vehicle and the driving destination; and adding the planned path into an electronic map of the area where the current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to a travel destination according to the electronic map. The application avoids installing a large number of sensors on the automatic driving vehicle, reduces the cost of the whole technical scheme, is beneficial to popularization and implementation in practical application, ensures accurate control of the automatic driving vehicle, and improves the efficiency and safety of the automatic driving vehicle, thereby improving the experience of users.
Description
Technical Field
The application relates to the technical field of automatic driving and vehicle control, in particular to a vehicle automatic control method and device based on an ultrasonic sensor and electronic equipment.
Background
Currently, in the automotive industry, automated driving and intelligent vehicle control are major trends. The existing technical scheme is that abundant sensors such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera and the like are installed on a vehicle so as to acquire the real-time position of the vehicle, thereby realizing the automatic running of the vehicle. Although the existing technical scheme can realize automatic running and intelligent vehicle control of the vehicle, the sensor installed on the vehicle is very expensive in total for the vehicle with complete equipment, and therefore, the method is not suitable for popularization and implementation of automatic driving technology.
Disclosure of Invention
In view of the above, the application aims to provide a vehicle automatic control method and device based on an ultrasonic sensor and an electronic device, which avoid installing a large number of sensors on an automatic driving vehicle, reduce the cost of the whole technical scheme, facilitate popularization and implementation in practical application, ensure accurate control of the automatic driving vehicle, and improve the efficiency and safety of the automatic driving vehicle, thereby improving the experience of users.
In a first aspect, an embodiment of the present application provides a vehicle automatic control method based on an ultrasonic sensor, applied to a server, where the method includes:
if a vehicle driving ready signal sent by a current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter;
acquiring initial data information sent by the ultrasonic sensor, and generating a planned path of the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameters and the driving destination;
and adding the planned path into an electronic map of an area where a current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to the travel destination according to the electronic map.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, wherein the vehicle characteristic parameter includes one or more of the following parameters: vehicle length, vehicle height, vehicle width, and vehicle wheelbase.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present application provides a second possible implementation manner of the first aspect, wherein the step of generating the planned path of the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameter and the driving destination includes:
calculating the heading information of the current vehicle according to the vehicle characteristic parameters and the initial data information; acquiring the initial position of the current vehicle according to the initial data information;
and generating a planned path of the current vehicle to the driving destination according to the heading information and the driving destination by taking the starting position as a starting point.
With reference to the second possible implementation manner of the first aspect, the embodiment of the present application provides a third possible implementation manner of the first aspect, wherein the initial data information is initial data information acquired by two adjacent ultrasonic sensors; the step of calculating heading information of the current vehicle according to the vehicle characteristic parameters and the initial data information comprises the following steps:
determining the relative position relation between the current vehicle and the adjacent two ultrasonic sensors according to the vehicle characteristic parameters and the initial data information of the adjacent two ultrasonic sensors;
acquiring the geometric center of the current vehicle according to the relative position relationship so as to establish a coordinate system;
and calculating the heading information of the current vehicle based on the relative position relation and the preset distance between two adjacent ultrasonic sensors in the coordinate system.
With reference to the third possible implementation manner of the first aspect, the embodiment of the present application provides a fourth possible implementation manner of the first aspect, wherein the ultrasonic sensors are disposed on one side of a road of a designated driving area, the preset distances of any two adjacent ultrasonic sensors are the same, and the preset distances are set based on the vehicle length.
With reference to the first aspect, the embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the method further includes:
receiving real-time data information sent by the ultrasonic sensor at one side of a lane where the current vehicle is located in the automatic running process of the current vehicle;
and calculating the real-time position and the real-time heading of the current vehicle according to the real-time data information so as to monitor the automatic running process of the current vehicle.
In a second aspect, an embodiment of the present application further provides an automatic vehicle control device based on an ultrasonic sensor, applied to a server, where the device includes:
the starting module is used for starting the ultrasonic sensor at one side of the lane where the current vehicle is located if the vehicle driving ready signal sent by the current vehicle is obtained; wherein the vehicle-ready signal includes a travel destination and a vehicle characteristic parameter;
the generation module is used for acquiring initial data information sent by the ultrasonic sensor and generating a planned path of the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameters and the driving destination;
and the adding module is used for adding the planned path to an electronic map of an area where the current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically runs to the running destination according to the electronic map.
With reference to the second aspect, embodiments of the present application provide a first possible implementation manner of the second aspect, wherein the vehicle characteristic parameter includes one or more of the following parameters: vehicle length, vehicle height, vehicle width, and vehicle wheelbase.
In a third aspect, an embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the steps of the method for automatically controlling a vehicle based on an ultrasonic sensor according to the first aspect are implemented when the processor executes the computer program.
In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor performs the steps of the method for automatically controlling a vehicle based on an ultrasonic sensor according to the first aspect.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a vehicle automatic control method and device based on an ultrasonic sensor and electronic equipment, comprising the following steps: if a vehicle driving ready signal sent by the current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter; acquiring initial data information sent by an ultrasonic sensor, and generating a planned path of the current vehicle to a driving destination according to the initial data information, the characteristic parameters of the vehicle and the driving destination; and adding the planned path into an electronic map of the area where the current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to a travel destination according to the electronic map. The application avoids installing a large number of sensors on the automatic driving vehicle, reduces the cost of the whole technical scheme, is beneficial to popularization and implementation in practical application, ensures accurate control of the automatic driving vehicle, and improves the efficiency and safety of the automatic driving vehicle, thereby improving the experience of users.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a vehicle automatic control method based on an ultrasonic sensor according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle automatic control method based on an ultrasonic sensor according to an embodiment of the present application;
FIG. 3 is a flowchart of another vehicle automatic control method based on an ultrasonic sensor according to an embodiment of the present application;
fig. 4 is an application scenario diagram of a vehicle automatic control method based on an ultrasonic sensor according to an embodiment of the present application;
fig. 5 is a schematic diagram of a vehicle automatic control device based on an ultrasonic sensor according to an embodiment of the present application.
Icon:
10-starting up a module; 20-a generation module; 30-adding a module; 1-an ultrasonic sensor; 2-an automatic travel area control unit; 3-a vehicle controller; 4-a target path; 5-target position.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Aiming at the problems that the total cost of the sensors installed on the vehicles with complete equipment is high and the sensors are not suitable for popularization and implementation of the automatic driving technology in the prior art, the embodiment of the application provides the vehicle automatic control method and device based on the ultrasonic sensor and the electronic equipment, so that a large number of sensors are prevented from being installed on the automatic driving vehicle, the cost of the whole technical scheme is reduced, the popularization and implementation in practical application are facilitated, the accurate control of the automatic driving vehicle is ensured, the efficiency and safety of the automatic driving vehicle are improved, and the user experience is improved.
In order to facilitate understanding of the present embodiment, a vehicle automatic control method based on an ultrasonic sensor provided in the embodiment of the present application is first described in detail below.
Embodiment one:
in the embodiment of the application, a plurality of ultrasonic sensors are arranged on one side of a road in an automatic running area of a vehicle along the direction of the road, each ultrasonic sensor has a specific coordinate position, and the automatic running vehicle on the road in front of the ultrasonic sensor can be detected. In practical application, the automatic driving area of the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment of the application meets the following conditions: firstly, the road in the automatic driving area is a single lane, namely only one vehicle can pass through, so that the problem of inaccurate detection results caused by the fact that an ultrasonic sensor detects two vehicles simultaneously is avoided; secondly, install a plurality of ultrasonic sensor in the one side of the road of automatic region of traveling, and, the distance of predetermineeing between arbitrary adjacent two ultrasonic sensor is the same, should predetermine the distance and set up for based on the vehicle length, and common predetermineeing the distance is not more than half of vehicle length to guarantee that arbitrary vehicle can be detected by two ultrasonic sensor simultaneously, improved the detection precision of automatic driving vehicle real-time position, and then improved the accurate control of automatic driving vehicle.
In addition, in practical application, the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment of the application is applied to a server, an automatic driving area control unit is arranged in the server, as shown in fig. 1, a plurality of ultrasonic sensors 1 arranged on one side of a road are all in communication connection with the automatic driving area control unit 2, and a vehicle controller 3 in a vehicle automatically driven on the road is also all in communication connection with the automatic driving area control unit, so that the vehicle can be ensured to automatically drive in an automatic driving area, and a large number of sensors are prevented from being arranged on the automatic driving vehicle, thereby reducing the cost of the whole technical scheme and being beneficial to popularization and implementation in practical application.
On the basis of fig. 1, for a server provided with an automatic driving area control unit, an embodiment of the present application provides a vehicle automatic control method based on an ultrasonic sensor, and fig. 2 is a flowchart of the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment of the present application, as shown in fig. 2, the method includes the following steps:
step S102, if a vehicle driving ready signal sent by a current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter;
specifically, the user first selects a travel destination before the current vehicle is automatically driven, and sets the current vehicle to automatically travel, thereby generating a vehicle driving ready signal of the current vehicle. At this time, the vehicle controller of the current vehicle transmits the vehicle driving ready signal to the automatic traveling area control unit, and when the automatic traveling area control unit receives the vehicle driving ready signal, generates a start signal and transmits the start signal to a plurality of ultrasonic sensors installed on the side of the road on which the current vehicle is located, to start the plurality of ultrasonic sensors.
In addition, in order to ensure that the current vehicle can accurately automatically drive in the automatic driving area, the vehicle driving ready signal sent by the vehicle controller of the current vehicle not only comprises the driving destination of the current vehicle, but also comprises vehicle characteristic parameters of the current vehicle, wherein the vehicle characteristic parameters comprise one or more of the following parameters: the vehicle length, the vehicle height, the vehicle width and the vehicle wheelbase are used for enabling the automatic driving area control unit to conduct path planning on the current vehicle according to the vehicle characteristic parameters of the current vehicle.
Step S104, initial data information sent by an ultrasonic sensor is obtained, and a planned path of the current vehicle to the driving destination is generated according to the initial data information, the characteristic parameters of the vehicle and the driving destination;
in practical application, after the ultrasonic sensor is started, starting to detect the current vehicle, obtaining initial data information of the current vehicle, and sending the initial data information to the automatic driving area control unit; at this time, the automatic travel area control unit performs path planning for the current vehicle according to the initial data information, the vehicle characteristic parameter, and the travel destination, and generates a planned path for the current vehicle to travel to the travel destination.
Step S106, the planned path is added to the electronic map of the area where the current vehicle is located, and the electronic map is sent to the current vehicle, so that the current vehicle automatically travels to a travel destination according to the electronic map.
After the automatic running area control unit generates the planned path of the current vehicle, the planned path is further added into the electronic map of the area where the current vehicle is located, so that the electronic map is sent to the vehicle controller of the current vehicle, and the vehicle controller controls the current vehicle to automatically run to a running destination along the planned path according to the electronic map, so that the automatic running of the current vehicle in the automatic running area is realized.
The vehicle automatic control method based on the ultrasonic sensor provided by the embodiment of the application comprises the following steps: if a vehicle driving ready signal sent by the current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter; acquiring initial data information sent by an ultrasonic sensor, and generating a planned path of the current vehicle to a driving destination according to the initial data information, the characteristic parameters of the vehicle and the driving destination; and adding the planned path into an electronic map of the area where the current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to a travel destination according to the electronic map. The application avoids installing a large number of sensors on the automatic driving vehicle, reduces the cost of the whole technical scheme, is beneficial to popularization and implementation in practical application, ensures accurate control of the automatic driving vehicle, and improves the efficiency and safety of the automatic driving vehicle, thereby improving the experience of users.
Further, on the basis of fig. 2, the embodiment of the application also provides another vehicle automatic control method based on an ultrasonic sensor, and fig. 3 is a flowchart of another vehicle automatic control method based on an ultrasonic sensor, provided in the embodiment of the application, as shown in fig. 3, the method includes the following steps:
step S202, if a vehicle driving ready signal sent by a current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter;
step S204, obtaining initial data information sent by an ultrasonic sensor;
the initial data information is acquired by two ultrasonic sensors which are adjacently arranged.
Step S206, calculating the heading information of the current vehicle according to the characteristic parameters of the vehicle and the initial data information; acquiring the initial position of the current vehicle according to the initial data information;
in practical application, according to initial data information sent by the ultrasonic sensors, the automatic driving area control unit can acquire initial information of a current vehicle, and at the moment, the automatic driving area control unit can determine the relative position relation between the current vehicle and two adjacent ultrasonic sensors according to vehicle characteristic parameters of the current vehicle and the initial data information of the two adjacent ultrasonic sensors; then, acquiring the geometric center of the current vehicle according to the relative position relationship to establish a coordinate system; and calculating the heading information of the current vehicle based on the relative position relation and the preset distance between the two adjacent ultrasonic sensors in the coordinate system.
Specifically, as shown in fig. 4, a plurality of ultrasonic sensors are installed at one side of a road in an automatic traveling area, a preset distance between any two adjacent ultrasonic sensors is Δy, and the preset distance Δy is less than half of the length of the vehicle to ensure that the current vehicle can be detected by the two adjacent ultrasonic sensors at the same time. At this time, the rated distance between the vehicle path and the ultrasonic sensor is set as d_side, at this time, there is a point at the front d_side of each ultrasonic sensor, and a smooth path can be generated by using the three spline interpolation method from these points, and this path is the target path 4 of the current vehicle.
In practical application, as shown in fig. 4, if the i-th and i+1th ultrasonic sensors detect the current vehicle and the i-th ultrasonic sensor detects a distance d_sr (i) from the current vehicle, the i+1th ultrasonic sensor detects a distance d_sr (i+1) from the current vehicle, at this time, the relative heading of the current vehicle corresponding to the target path may be obtained according to the following equation:
wherein, ψ is the relative heading of the current vehicle corresponding to the target path, D_SR (i) is the distance between the ith ultrasonic sensor and the current vehicle, D_SR (i+1) is the distance between the ith ultrasonic sensor and the current vehicle, and ΔY is the preset distance.
At this time, the lateral coordinates of the current vehicle with respect to the target path can be obtained according to the following equation:
X＝0.5*(D_SR(i)+D_SR(i+1))+0.5*W-D_side (2)
wherein X is the transverse coordinate of the current vehicle corresponding to the target path, D_SR (i) is the distance between the ith ultrasonic sensor and the current vehicle, D_SR (i+1) is the distance between the ith ultrasonic sensor and the current vehicle, W is the vehicle width of the current vehicle, and D_side is the rated distance between the vehicle path and the ultrasonic sensor.
The current vehicle is corresponding to the transverse coordinate X of the target path and is a vector, if X is larger than 0, the current vehicle is at the right side of the target path, if X is smaller than 0, the current vehicle is at the left side of the target path, and transverse control is needed to be carried out on the current vehicle so that the current vehicle is located at the target path; if X is 0, then the current vehicle is on the target path at this time, and lateral control of the current vehicle is not required.
In addition, there is a need to perform longitudinal control on the current vehicle, where the longitudinal control includes control of the start, stop and speed of the current vehicle, and specifically, the longitudinal coordinates of the current vehicle with respect to the target path may be obtained according to the following equation:
Y＝0.5*(Y_SR(i)+Y_SR(i+1)) (3)
where Y is the vertical coordinate of the current vehicle corresponding to the target path, y_sr (i) is the vertical coordinate of the ith ultrasonic sensor in the coordinate system, and y_sr (i+1) is the vertical coordinate of the ith+1th ultrasonic sensor in the coordinate system. In addition, in the embodiment of the present application, the accuracy of the longitudinal coordinate of the current vehicle is ±0.5 x (L- Δy), where Δy is a preset distance, and L is the vehicle length of the current vehicle.
At this time, the heading information of the current vehicle, which includes the front wheel demand corner for lateral control and the demand torque of the motor or engine of the current vehicle for longitudinal control, may be calculated from the vehicle characteristic parameters and the initial data information. Specifically, the front wheel demand rotation angle of the current vehicle may be calculated according to the following equation:
wherein delta is the front wheel demand rotation angle of the current vehicle, psi is the relative heading of the current vehicle corresponding to the target path, L ω For the vehicle wheelbase of the current vehicle, L d The distance between the target position 5 of the current vehicle and the current position is d, which is the lateral distance between the current vehicle and the target path, and the size of d is the absolute value of the lateral coordinate X of the current vehicle corresponding to the target path.
For longitudinal control of the current vehicle, the required torque of the current vehicle may be calculated according to the following equation:
wherein T is q For the current vehicle's required torque, ε is the current vehicle's speed difference, K p P-term parameters, K, adjusted for PID (Proportional-Integral-Derivative) I I parameter, K for PID regulation d The D parameter is regulated by PID, and t is time.
Wherein, the speed difference of the current vehicle can be calculated according to the following formula:
ε＝V Veh_req -V Veh (6)
wherein epsilon is the speed difference value of the current vehicle, V Veh_req For the target speed of the current vehicle, V Veh Is the actual speed of the current vehicle.
Step S208, generating a planning path of the current vehicle to the driving destination according to the heading information and the driving destination by taking the starting position as a starting point;
accordingly, a planned path of the current vehicle toward the travel destination is generated from the target path, the heading information, and the travel destination, starting from the start position.
Step S210, adding the planned path to an electronic map of the area where the current vehicle is located, and sending the electronic map to the current vehicle, so that the current vehicle automatically travels to a travel destination according to the electronic map.
Further, the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment of the application further comprises the following steps: receiving real-time data information sent by an ultrasonic sensor on one side of a lane where a current vehicle is located in the automatic running process of the current vehicle; and calculating the real-time position and the real-time heading of the current vehicle according to the real-time data information so as to monitor the automatic running process of the current vehicle. The real-time position and the real-time heading of the current vehicle can be calculated according to the formulas (1) to (6), so that the automatic running process of the current vehicle is monitored, the accurate automatic running of the current vehicle to a running destination is ensured, the efficiency and the safety of the automatic driving vehicle are improved, and the experience of a user is improved.
On the basis of the above embodiment, the embodiment of the present application further provides an automatic vehicle control device based on an ultrasonic sensor, which is applied to a server, and fig. 5 is a schematic diagram of the automatic vehicle control device based on the ultrasonic sensor provided by the embodiment of the present application, as shown in fig. 5, where the device includes:
the starting module 10 is used for starting an ultrasonic sensor at one side of a lane where the current vehicle is located if a vehicle driving ready signal sent by the current vehicle is obtained; wherein the vehicle-ready signal includes a travel destination and a vehicle characteristic parameter;
the generating module 20 is configured to acquire initial data information sent by the ultrasonic sensor, and generate a planned path from the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameter and the driving destination;
the adding module 30 is configured to add the planned path to an electronic map of an area where the current vehicle is located, and send the electronic map to the current vehicle, so that the current vehicle automatically travels to a travel destination according to the electronic map.
Further, the vehicle characteristic parameters include one or more of the following: vehicle length, vehicle height, vehicle width, and vehicle wheelbase.
The vehicle automatic control device based on the ultrasonic sensor provided by the embodiment of the application comprises: if a vehicle driving ready signal sent by the current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter; acquiring initial data information sent by an ultrasonic sensor, and generating a planned path of the current vehicle to a driving destination according to the initial data information, the characteristic parameters of the vehicle and the driving destination; and adding the planned path into an electronic map of the area where the current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to a travel destination according to the electronic map. The application avoids installing a large number of sensors on the automatic driving vehicle, reduces the cost of the whole technical scheme, is beneficial to popularization and implementation in practical application, ensures accurate control of the automatic driving vehicle, and improves the efficiency and safety of the automatic driving vehicle, thereby improving the experience of users.
The embodiment of the application also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment are realized when the processor executes the computer program.
The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is run by a processor, the steps of the vehicle automatic control method based on the ultrasonic sensor provided by the embodiment are executed.
The computer program product provided by the embodiment of the present application includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to perform the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the automatic vehicle control device based on the ultrasonic sensor described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
In addition, in the description of embodiments of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. An automatic vehicle control method based on an ultrasonic sensor, which is applied to a server, the method comprising:
if a vehicle driving ready signal sent by a current vehicle is obtained, starting an ultrasonic sensor on one side of a lane where the current vehicle is located; wherein the vehicle driving ready signal comprises a current vehicle driving destination and a vehicle characteristic parameter;
acquiring initial data information sent by the ultrasonic sensor, and generating a planned path of the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameters and the driving destination;
adding the planned path to an electronic map of an area where a current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically travels to the travel destination according to the electronic map;
wherein the vehicle characteristic parameters include one or more of the following: vehicle length, vehicle height, vehicle width, and vehicle wheelbase;
calculating the heading information of the current vehicle according to the vehicle characteristic parameters and the initial data information; acquiring the initial position of the current vehicle according to the initial data information;
and generating a planned path of the current vehicle to the driving destination according to the heading information and the driving destination by taking the starting position as a starting point.
2. The ultrasonic sensor-based vehicle automatic control method according to claim 1, wherein the initial data information is initial data information acquired by two ultrasonic sensors arranged adjacently; the step of calculating heading information of the current vehicle according to the vehicle characteristic parameters and the initial data information comprises the following steps:
determining the relative position relation between the current vehicle and the adjacent two ultrasonic sensors according to the vehicle characteristic parameters and the initial data information of the adjacent two ultrasonic sensors;
acquiring the geometric center of the current vehicle according to the relative position relationship so as to establish a coordinate system;
and calculating the heading information of the current vehicle based on the relative position relation and the preset distance between two adjacent ultrasonic sensors in the coordinate system.
3. The ultrasonic sensor-based vehicle automatic control method according to claim 2, wherein the ultrasonic sensors are provided on one side of a road of a designated traveling area, the preset distances of any adjacent two of the ultrasonic sensors are the same, and the preset distances are set based on the vehicle length.
4. The ultrasonic sensor-based vehicle automatic control method according to claim 1, characterized in that the method further comprises:
receiving real-time data information sent by the ultrasonic sensor at one side of a lane where the current vehicle is located in the automatic running process of the current vehicle;
and calculating the real-time position and the real-time heading of the current vehicle according to the real-time data information so as to monitor the automatic running process of the current vehicle.
5. An automatic vehicle control device based on an ultrasonic sensor, characterized in that it is applied to a server, said device comprising:
the starting module is used for starting the ultrasonic sensor at one side of the lane where the current vehicle is located if the vehicle driving ready signal sent by the current vehicle is obtained; wherein the vehicle-ready signal includes a travel destination and a vehicle characteristic parameter;
the generation module is used for acquiring initial data information sent by the ultrasonic sensor and generating a planned path of the current vehicle to the driving destination according to the initial data information, the vehicle characteristic parameters and the driving destination;
the adding module is used for adding the planned path to an electronic map of an area where a current vehicle is located, and sending the electronic map to the current vehicle so that the current vehicle automatically runs to the running destination according to the electronic map;
wherein the vehicle characteristic parameters include one or more of the following: vehicle length, vehicle height, vehicle width, and vehicle wheelbase;
calculating the heading information of the current vehicle according to the vehicle characteristic parameters and the initial data information; acquiring the initial position of the current vehicle according to the initial data information;
and generating a planned path of the current vehicle to the driving destination according to the heading information and the driving destination by taking the starting position as a starting point.
6. The ultrasonic sensor-based vehicle automatic control device according to claim 5, wherein the vehicle characteristic parameters include one or more of the following parameters: vehicle length, vehicle height, vehicle width, and vehicle wheelbase.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the automatic vehicle control method based on an ultrasonic sensor as claimed in any one of the preceding claims 1-4.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the ultrasonic sensor-based vehicle automatic control method according to any one of the preceding claims 1 to 4.
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